A full-body liquid cooling cooperative control method and system for embodied intelligent robots

Abstract

The application discloses a kind of whole body liquid cooling collaborative control method and system for embodied intelligent robot, comprising: driving double redundancy pump array to establish circulation power, equal distribution to each branch through isobaric cavity water supply manifold;According to the difference of heat source power level and thermal characteristic, active flow regulation based on real-time temperature feedback is executed to joint branch, passive throttle constant flow control is executed to battery group branch, and no-throttle priority flow supply control is executed to computing chip branch;Guide cooling liquid to flow through microchannel cold plate attached to the surface of each heat source to absorb heat, and use micro membrane box energy accumulator to absorb thermal expansion and buffer pressure fluctuation;Heat is collected to heat dissipation terminal to discharge, and pump and valve are dynamically adjusted according to temperature, pressure and flow data to maintain thermal equilibrium.The application can realize the collaborative management and differentiated heat dissipation of whole body heat source, improve the continuous high-power operation capability of robot, and guarantee reliability and reduce volume and weight through double redundancy pump and micro accumulator design.

Description

Technical Field

[0001] This invention relates to the field of robot thermal management technology, and in particular to a whole-body liquid cooling collaborative control method and system for embodied intelligent robots. Background Technology

[0002] Embossed intelligent robots are rapidly developing towards higher power and higher dynamics, with single-unit operating power exceeding 5kW. However, most mainstream robots of this type currently lack efficient active cooling systems, severely limiting their continuous operation under high-power conditions. Existing technologies mainly rely on passive cooling methods, i.e., heat dissipation through the robot's shell structure via heat conduction and natural convection. This approach typically has a cooling capacity of less than 500W, making it difficult to support the overall heat load of a kW-level system. Some robots employ localized air cooling solutions, installing fans in the chest cavity or head for limited heat dissipation, or using external liquid cooling equipment for circulating cooling. However, these solutions all have significant shortcomings. For example, localized air cooling has insufficient power and cannot achieve unified and coordinated management of multiple heat sources throughout the body. External liquid cooling solutions require dragging cables and external equipment, severely limiting the robot's range of motion and mobility.

[0003] Specifically, existing technologies suffer from the following drawbacks: insufficient heat dissipation power, with current solutions unable to meet the demands of high-power operation at the kW level; lack of a whole-body coordination mechanism, resulting in isolated heat accumulation in each joint and component, and a lack of a unified thermal management architecture; and external auxiliary cooling solutions limiting the robot's autonomous mobility. Therefore, there is an urgent need for an active liquid cooling method that can achieve unified management of the whole-body heat source, possess strong heat dissipation capabilities, and not affect the robot's autonomous mobility. Summary of the Invention

[0004] The main objective of this invention is to provide a whole-body liquid-cooled collaborative control method for embodied intelligent robots.

[0005] Another objective of this invention is to propose a whole-body liquid-cooled collaborative control system for embodied intelligent robots.

[0006] The third objective of this invention is to provide a computer device.

[0007] A fourth objective of this invention is to provide a non-transitory computer-readable storage medium.

[0008] To achieve the above objectives, a first aspect of the present invention proposes a whole-body liquid-cooled collaborative control method for embodied intelligent robots, comprising:

[0009] The dual redundant pump array is driven to establish the coolant circulation power and deliver the coolant to the water supply manifold with an isobaric chamber design to achieve pressure equalization of multiple branch inlets; Based on the power level and thermal characteristics of each heat source, active flow regulation based on real-time temperature feedback is implemented for the joint branch, passive throttling and constant flow control is implemented for the battery pack branch, and non-throttling priority flow control is implemented for the computing chip branch. The coolant is guided to flow through a microchannel cold plate attached to the surface of the joint motor, computing chip and battery pack to absorb heat, and a micro membrane accumulator is used to absorb the thermal expansion of the coolant and buffer system pressure fluctuations. The system collects the heat-carrying coolant and directs it to the heat dissipation terminal to release heat into the environment. It also dynamically adjusts the pump speed and valve opening based on temperature, pressure, and flow data monitored by sensors to maintain system thermal balance and safe operation.

[0010] In one embodiment of the present invention, the active flow regulation of the joint branch based on real-time temperature feedback includes: Real-time temperature data is collected by a temperature sensor installed on the surface of the joint motor, and the real-time temperature data is compared with a preset safe temperature threshold to generate a temperature deviation signal. The valve opening adjustment amount is calculated based on the temperature deviation signal, and the valve opening adjustment amount is converted into a PWM modulation signal and sent to the high-speed solenoid valve to dynamically adjust the valve opening, thereby realizing the active regulation of the coolant flow rate of the joint branch.

[0011] In one embodiment of the present invention, the passive throttling and constant current control of the battery pack branch includes: Based on the design thermal load and allowable temperature rise parameters of the battery pack, the required rated coolant flow rate of the branch is calculated in advance, and the orifice size of the throttling gasket is determined according to the rated coolant flow rate; A throttling gasket with the specified orifice size is fixedly installed in the pipeline of the corresponding branch. The local resistance loss generated by the fixed orifice size limits the flow rate of the branch to the range of the rated coolant flow rate, thereby achieving passive constant flow control without moving parts.

[0012] In one embodiment of the present invention, the step of performing non-throttling priority current supply control on the computing chip branch includes: The branch in the water supply manifold that is directly connected to the microchannel cold plate of the computing chip is identified as the highest priority flow path. No throttling gaskets, regulating valves or flow limiting elements are installed in the pipeline of the highest priority flow path. By utilizing the equal pressure generated by the isobaric chamber design of the water supply manifold, the coolant flows directly through the microchannel cold plate on the surface of the computing chip at the maximum flow rate allowed by the system, prioritizing the heat dissipation needs of the computing chip.

[0013] In one embodiment of the present invention, the method of driving the dual redundant pump array to establish coolant circulation power includes: Under normal system operating conditions, the two pumps in the dual redundant pump array are controlled to operate simultaneously at a balanced load speed lower than their respective rated speeds. The system monitors the operating status parameters of the two pumps in real time. When a failure is detected in one of the pumps, it automatically increases the speed of the other normal pump to maintain the minimum circulating pressure and flow required by the system, thus putting the system into a degraded operation mode.

[0014] In one embodiment of the present invention, the method of using a micro diaphragm accumulator to absorb the thermal expansion of the coolant and buffer system pressure fluctuations includes: A micro diaphragm accumulator is connected in parallel to the main coolant circulation circuit. The micro diaphragm accumulator has an elastic diaphragm inside that divides the cavity into a coolant side and a pre-charged gas side. When the coolant expands in volume due to increased temperature, it pushes the elastic diaphragm to compress the pre-charged gas side to accommodate the expanded coolant volume; when the pressure in the pipeline fluctuates instantaneously, the elastic deformation of the elastic diaphragm absorbs the pressure peak and releases the stored liquid, preventing cavitation at the pump inlet.

[0015] In one embodiment of the present invention, the step of dynamically adjusting the pump speed and valve opening based on temperature, pressure, and flow data monitored by sensors to maintain system thermal balance and safe operation includes: According to the preset priority order of each heat source, the temperature sensor feedback data of each heat source is processed to generate a comprehensive temperature control command. Based on the comprehensive temperature control command, the overall speed of the dual redundant pump array is adjusted to compensate for system pressure changes, and the valve opening of the joint branch is adjusted in conjunction with the control command. When abnormal system pressure is detected or flow data indicates a serious leak, the emergency shutdown protection logic is triggered and pipeline valves are closed to cut off coolant circulation.

[0016] To achieve the above objectives, a second aspect of the present invention provides a whole-body liquid-cooled collaborative control system for embodied intelligent robots, comprising: The power source module includes a dual redundant pump array for establishing coolant circulation power; The water supply manifold adopts an equal pressure chamber design to distribute coolant to multiple parallel branches and ensure that the inlet pressure of each branch is equal. Multiple microchannel cold plates are attached to the surfaces of the robot joint motors, computing chips and battery packs to guide coolant to flow over the heat source surfaces to absorb heat. A heat dissipation terminal is used to collect the coolant carrying heat and discharge the heat to the environment; The control unit is used to implement differentiated flow distribution strategies based on the power level and thermal characteristics of each heat source, to perform active flow regulation based on real-time temperature feedback for the joint branch, to perform passive throttling and constant flow control for the battery pack branch, to perform non-throttling priority flow control for the computing chip branch, and to dynamically adjust the pump speed and valve opening based on temperature, pressure and flow data monitored by sensors to maintain system thermal balance and safe operation.

[0017] To achieve the above objectives, a third aspect of this application provides a computer device comprising a processor and a memory; wherein the processor runs a program corresponding to the executable program code stored in the memory, for implementing a whole-body liquid-cooled collaborative control method for an embodied intelligent robot as described in the first aspect embodiment.

[0018] To achieve the above objectives, a fourth aspect of this application provides a non-transitory computer-readable storage medium storing a computer program that, when executed by a processor, implements a whole-body liquid-cooled collaborative control method for an embodied intelligent robot as described in the first aspect embodiment.

[0019] The embodiments of the present invention have the following beneficial effects: This invention achieves precise cooling management and improves heat dissipation efficiency by employing a differentiated flow distribution strategy, using three methods—active regulation, passive constant flow, and non-throttling priority flow supply—to address different heat sources. Through a dual-redundant pump array design, it automatically switches to a degraded operation mode in the event of a single pump failure, avoiding the risk of single-point failure. The use of a micro-diaphragm accumulator to absorb thermal expansion and buffer pressure fluctuations significantly reduces the system's weight and volume. The isobaric chamber water supply manifold design ensures uniform flow distribution across multiple branches. A tiered alarm and emergency shutdown protection mechanism guarantees the safe operation of the system under various operating conditions. Attached Figure Description

[0020] The above and / or additional aspects and advantages of the present invention will become apparent and readily understood from the following description of the embodiments taken in conjunction with the accompanying drawings, wherein: Figure 1 A flowchart of a whole-body liquid-cooled collaborative control method for embodied intelligent robots provided in an embodiment of the present invention; Figure 2 This is an overall architecture diagram of the whole-body liquid cooling synergistic control system provided in an embodiment of the present invention; Figure 3 A schematic diagram illustrating the differentiated flow distribution principle of the dynamic characteristics of the heat source provided in this embodiment of the invention; Figure 4 This is a structural diagram of a whole-body liquid-cooled collaborative control system for an embodied intelligent robot, provided as an embodiment of the present invention. Detailed Implementation

[0021] It should be noted that, unless otherwise specified, the embodiments and features described in the present invention can be combined with each other. The present invention will now be described in detail with reference to the accompanying drawings and embodiments.

[0022] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0023] The following describes, with reference to the accompanying drawings, a whole-body liquid-cooled collaborative control method for embodied intelligent robots, according to an embodiment of the present invention.

[0024] Example 1 This embodiment provides a whole-body liquid-cooled collaborative control method for embodied intelligent robots, such as... Figure 1 As shown, the method includes the following steps: S1 drives a dual redundant pump array to establish coolant circulation power and delivers coolant to the water supply manifold with an isobaric chamber design to achieve pressure equalization at the inlet of multiple branches.

[0025] S2, based on the power level and thermal characteristics of each heat source, performs active flow regulation based on real-time temperature feedback for the joint branch, passive throttling and constant flow control for the battery pack branch, and non-throttling priority flow control for the computing chip branch.

[0026] S3 guides the coolant through a microchannel cold plate attached to the surface of the joint motor, computing chip, and battery pack to absorb heat, and uses a micro diaphragm accumulator to absorb the thermal expansion of the coolant and buffer system pressure fluctuations.

[0027] S4 collects the coolant carrying heat to the heat dissipation terminal to release heat to the environment, and dynamically adjusts the pump speed and valve opening according to the temperature, pressure and flow data monitored by the sensor to maintain the system thermal balance and safe operation.

[0028] The following section provides a detailed explanation of each of the above steps, using a complete system workflow as an example.

[0029] First, after the system is powered on, it performs a self-test to confirm that the communication of each temperature sensor, pressure sensor, and flow sensor is normal, the dual pumps are not stuck, the solenoid valves respond normally, and the accumulator pre-charge pressure is within the set range. After the self-test passes, the dual pumps start at low speed and gradually increase the speed to build up the system pressure to the working pressure (approximately 30-100 kPa). The solenoid valves open at the preset opening degree, and the coolant circulation is established, thereby completing the circulation power establishment and branch pressure equalization described in step S1.

[0030] After entering the steady-state operation phase, the control unit continuously collects the temperature of each heat source and adjusts the pump speed and valve opening according to the temperature deviation to maintain the temperature of each heat source within a safe range. The priority is: calculation chip > battery > joint. This process corresponds to the continuous execution of steps S2 to S4. Regarding fault detection and response, when a single pump fault is detected, the system automatically switches to full-load operation of that single pump. When a leak is detected, an alarm or shutdown is triggered depending on the severity. Upon receiving a shutdown command, the solenoid valve closes, the pump slows down and stops, and the system depressurizes.

[0031] Furthermore, such as Figure 2 As shown, the overall architecture of the whole-body liquid cooling collaborative control system includes a power source module (dual redundant pump arrays P1 / P2 and a micro membrane accumulator A, installed under the robot's back), a water supply manifold M (arranged along the spine, with an isobaric chamber design), 10 parallel cooling branches, a heat dissipation terminal (evaporative cooling backpack 4.8kW), and a sensor network. Among them, the 10 parallel cooling branches include 8 joint cooling plates, all of which are actively controlled by PWM solenoid valves (0.86 L / min for shoulder / hip joints and 0.57 L / min for elbow / knee joints), 1 SoC cooling plate with direct connection without throttling (0.72 L / min), and 1 battery cooling plate with throttling pad for constant flow (0.43 L / min).

[0032] Taking a certain type of humanoid robot as an example, the overall layout of the liquid cooling circulation system is explained. The robot's heat sources include two shoulder joints (high power), two hip joints (high power), two elbow joints (low power), two knee joints (low power), one SoC computing unit, and one battery pack. The layout is as follows: the main pump and accumulator are installed under the robot's back; the water supply manifold is arranged along the spine and branches to each heat source; the return water flows back to the heat dissipation terminal (back backpack); the pipeline is arranged along the torso and the inner sides of the limbs, avoiding the joint movement areas.

[0033] Example 2 This embodiment describes in detail the specific implementation method of traffic allocation and control.

[0034] First, from the perspective of flow calculation principles, the flow of each branch is calculated according to the heat balance formula. Calculation. Based on the dynamic characteristics of the heat source, it is divided into three categories: (1) Dynamic heat source (8-channel joint motor): 600W for shoulder / hip joint corresponds to 0.86 L / min × 4 channels = 3.44 L / min, 400W for elbow / knee joint corresponds to 0.57 L / min × 4 channels = 2.28 L / min, totaling 5.72 L / min for 8 joints, all controlled by PWM active control; (2) Constant priority heat source (SoC 500W): 0.72 L / min, direct connection without throttling; (3) Quasi-steady-state heat source (300W battery): 0.43 L / min, constant flow with throttling pad. Total system flow = 5.72 + 0.72 + 0.43 = 6.87 L / min.

[0035] In this embodiment, the water supply manifold adopts an isobaric chamber design, with an internal pressure stabilizing chamber to ensure consistent inlet pressure for each branch. Branch control employs three methods: all joint motors (8 channels) use high-speed solenoid valves (response time less than 50ms) with PWM modulation to control valve opening, adjusting flow rate based on joint temperature sensor feedback; the battery uses stainless steel orifice plate throttling gaskets, with orifice diameter determined according to design flow rate, ensuring high reliability due to the absence of moving parts, and achieving quasi-steady-state control with temperature monitoring; the SoC branch is directly connected to the water supply manifold without any throttling elements, ensuring maximum flow supply.

[0036] Taking a certain type of robot as an example, when the design temperature rise is 10K, the preferred flow rate range for a single branch is: 0.8-1.0 L / min for large joints, 0.5-0.7 L / min for small joints, 0.6-0.8 L / min for the SoC, and 0.4-0.6 L / min for the battery. These values ​​are for illustrative purposes only; in actual design, they should be recalculated and determined based on the specific heat source parameters of the robot.

[0037] In this embodiment, the cooling flow rate is determined based on the principle of heat balance:

[0038] in Let be the volumetric flow rate (m³ / s) of the i-th branch. The heat source power (W) of this branch. This refers to the density of the coolant (approximately 1000 kg / m³). This is the specific heat capacity of the coolant (approximately 4180 J / (kg·K)). To allow for a temperature rise (design value 10 K).

[0039] The throttling gasket is a stainless steel orifice plate, and the relationship between its orifice diameter and flow rate is determined by the orifice plate throttling formula:

[0040] Where Q is the volumetric flow rate. Here, A is the flow coefficient (approximately 0.6-0.65 for thin-walled orifice plates), and A is the cross-sectional area of ​​the orifice plate. To reduce pressure drop, The value is the coolant density. Taking a battery design flow rate of 0.43 L / min and a throttling pressure drop of 15 kPa as an example, the required orifice plate diameter is approximately 1.63 mm.

[0041] Next, as Figure 3 As shown in the diagram, based on the dynamic characteristics of the heat source, the left side represents the water supply manifold M (with an isobaric design), the right side represents the return water manifold, and the middle section has three representative branches connected in parallel. Each branch, from left to right, includes: a water supply interface, a flow control element, a cold plate, a temperature sensor T, and a return water interface. The design flow rate of each branch is determined by the heat balance formula. Sure( Design value 10K).

[0042] The first type of branch (dynamic heat source - joint motor, 8 channels in total): a high-speed solenoid valve V (response time <50ms, PWM modulation) and a joint cooling plate are connected in series. The solenoid valve adjusts the PWM duty cycle to control the flow rate based on real-time feedback from the temperature sensor T. The designed flow rate for the shoulder / hip joint is 0.86 L / min (600W), and for the elbow / knee joint it is 0.57 L / min (400W). The control logic is: increased temperature deviation - increased duty cycle - increased flow rate - cooling; conversely, decreased duty cycle - energy saving.

[0043] The second type of branch (constant priority heat source - SoC computing chip, 1 channel): directly connected in series with the SoC cold plate without any throttling element. This branch always supplies liquid at full pressure from the water supply manifold to ensure that the heat source with the narrowest temperature tolerance receives the highest flow priority and the fastest response speed. The design flow rate is 0.72 L / min (500W).

[0044] The third type of branch (quasi-steady-state heat source - battery pack, 1 path): a series throttling gasket R (stainless steel orifice plate, no moving parts, orifice diameter determined by the orifice plate throttling formula) and a battery cold plate. The throttling gasket provides fixed flow resistance to limit the flow rate to the design value of 0.43 L / min (300W), operating with a "constant flow as the main method and temperature monitoring as a secondary method" strategy.

[0045] The total system flow rate is 6.87 L / min. Due to the isobaric design of the water supply manifold, the flow rates of each branch are decoupled and do not interfere with each other. Temperature sensor signals from each branch are fed into the control unit (CU), which coordinates the pump speed and solenoid valve opening according to priority: SoC > battery > joint.

[0046] The system employs a dual-redundant pump array to enhance reliability. Under normal operating conditions, both pumps operate at speeds below their rated speeds to balance the load and extend their lifespan. When a single pump failure is detected, the other pump is automatically boosted to its rated speed to maintain system operation. The system can degrade until maintenance is complete. This dual-redundancy design avoids the risk of system failure due to a single point of failure.

[0047] The dual-pump fault switching strategy is as follows: (1) Fault detection: cross-verification is performed by the pump outlet pressure sensor and the main pipeline flow sensor. When the pressure drops by more than 30% and the flow drops synchronously, it is determined that the pump is faulty. The confirmation time is 200ms. (2) Switching execution: after the fault is confirmed, the speed of the remaining pump is linearly increased to the rated speed. The ramp-up time is 500ms to avoid water hammer effect. (3) Degraded operation: when the single pump is running at full load, the system heat dissipation capacity drops to 70% of the design value. The control unit notifies the robot main control system to limit the motion power.

[0048] Furthermore, the system also includes a miniature diaphragm accumulator to absorb the thermal expansion of the coolant and buffer pressure fluctuations. Traditional liquid cooling systems require a 2-3L expansion tank, which is unacceptable in terms of size and weight for mobile robots. This system uses a miniature diaphragm accumulator instead of a traditional expansion tank, with a capacity ranging from 50-200ml and a weight of approximately 0.2-0.5kg. The accumulator contains an elastic diaphragm, with coolant on one side and pre-charged gas on the other. When the coolant expands due to temperature rise, the diaphragm compresses the gas to absorb the expansion. When the robot's vigorous movement causes pressure fluctuations, the diaphragm elastically buffers the pressure, preventing pump cavitation.

[0049] The water supply manifold employs an isobaric chamber design to ensure consistent inlet pressure across all branches, achieving uniform distribution. Dedicated microchannel cold plates are designed for different heat source types: the joint cold plate conforms to the motor housing and accommodates joint rotation; the chip cold plate utilizes a microchannel structure for high heat flux density dissipation; and the battery cold plate features large-area bonding for uniform heat dissipation. Flexible PU or silicone tubing is used to accommodate joint movement, and the tubing routing avoids the joint's range of motion to prevent bending. Quick-connect fittings are installed at key locations for easy maintenance.

[0050] In addition, the system is equipped with temperature sensors, pressure sensors, and flow sensors. Temperature sensors are distributed at the inlet and outlet of each cold plate to monitor the temperature of the heat source; pressure sensors are installed at the pump outlet and the end of the system to monitor the system pressure; and flow sensors are installed on the main pipeline to monitor the total flow rate of the system. The control unit executes temperature feedback control, pressure maintenance control, and fault response control based on sensor feedback. The goal of temperature feedback control is to maintain the temperature of each heat source within a safe range, with priority given to the computing chip, then the battery, and finally the joints. Fault response control includes: increasing the speed of the remaining pumps when a single pump fails, triggering an alarm and limiting robot power when the temperature exceeds the limit, and triggering shutdown protection when the pressure is abnormal.

[0051] Example 3 This embodiment describes in detail the specific implementation of the control system and safety mechanism.

[0052] First, the control strategy includes temperature feedback control, pressure maintenance control, and fault response control. Temperature feedback control adjusts pump speed and valve opening based on temperature deviation, with priority given to the SoC (System-on-Chips) over the battery, and then over the joint. Pressure maintenance control adjusts pump speed to compensate for pressure changes. In fault response control, if a single pump fails, the speed of the remaining pumps is increased; if the temperature exceeds the limit, an alarm is triggered and robot power is limited; and if the pressure is abnormal, shutdown protection is triggered.

[0053] Secondly, the safety protection mechanisms include leak detection, overheat protection, and power failure protection. Leak detection is achieved through pressure monitoring, flow balance monitoring, and liquid level monitoring. Minor leaks trigger audible and visual alarms, while severe leaks automatically stop the pump and close the solenoid valve. Specifically, leak detection employs a triple monitoring mechanism: pressure monitoring (system pressure below the set lower limit for 10% for 2 seconds), flow balance monitoring (supply and return water flow difference exceeding 5% of total flow for 3 seconds), and liquid level monitoring (abnormal drop in accumulator liquid level).

[0054] Furthermore, the overheat protection adopts a temperature-level alarm strategy. Level 1 warning: Joint motor winding 85°C / battery 50°C / SoC chip 75°C, prompting a reduction in power; Level 2 power limitation: Joint motor winding 105°C / battery 60°C / SoC chip 95°C, forcibly limiting power to 50%, solenoid valve opening limited to 50%, and robot power limited to 50%; Level 3 shutdown: Joint motor winding 125°C / battery 80°C / SoC chip 115°C, emergency pump shutdown and shutdown.

[0055] Finally, regarding power failure protection, the solenoid valve adopts a normally closed type that automatically closes when power is lost, and is equipped with a backup supercapacitor power supply (>10 seconds) to support orderly shutdown.

[0056] Example 4 This invention also provides a whole-body liquid-cooled collaborative control system for embodied intelligent robots, such as... Figure 4 As shown, the system 10 includes: The power source module 100 includes a dual redundant pump array for establishing coolant circulation power.

[0057] The water supply manifold 200 features an equal pressure chamber design to distribute coolant to multiple parallel branches and ensure equal pressure at the inlet of each branch.

[0058] Multiple microchannel cold plates 300 are respectively attached to the surfaces of the robot joint motor, computing chip and battery pack, to guide the coolant to flow through the heat source surface to absorb heat.

[0059] The heat dissipation terminal 400 is used to collect the coolant carrying heat and discharge the heat to the environment.

[0060] The control unit 500 is used to implement differentiated flow distribution strategies based on the power level and thermal characteristics of each heat source, to perform active flow regulation based on real-time temperature feedback for the joint branch, to perform passive throttling and constant flow control for the battery pack branch, and to perform non-throttling priority flow control for the computing chip branch, and to dynamically adjust the pump speed and valve opening based on temperature, pressure and flow data monitored by sensors to maintain system thermal balance and safe operation.

[0061] The system also includes a miniature diaphragm accumulator, connected in parallel to the main coolant circulation loop, used to absorb the thermal expansion of the coolant and buffer system pressure fluctuations. The miniature diaphragm accumulator has a capacity ranging from 50 to 200 ml and weighs approximately 0.2 to 0.5 kg. It has an internal elastic diaphragm with coolant on one side and pre-charged gas on the other. When the coolant expands due to temperature rise, the diaphragm compresses the gas to absorb the expansion. When the robot's violent movements cause pressure fluctuations, the diaphragm elastically buffers the pressure to prevent pump cavitation.

[0062] The system is also equipped with temperature sensors, pressure sensors, and flow sensors. Temperature sensors are distributed at the inlet and outlet of each cold plate to monitor the temperature of the heat source; pressure sensors are installed at the pump outlet and the end of the system to monitor the system pressure; and flow sensors are installed on the main pipeline to monitor the total flow rate of the system. The control unit executes temperature feedback control, pressure maintenance control, and fault response control based on sensor feedback. The goal of temperature feedback control is to maintain the temperature of each heat source within a safe range, with priority given to the computing chip, then the battery, and finally the joints. Fault response control includes: increasing the speed of the remaining pumps when a single pump fails, triggering an alarm and limiting robot power when the temperature exceeds the limit, and triggering shutdown protection when the pressure is abnormal.

[0063] The system also features safety protection mechanisms, including leak detection, overheat protection, and power failure protection. Leak detection is achieved through pressure monitoring, flow balance monitoring, and liquid level monitoring. Minor leaks trigger audible and visual alarms, while severe leaks automatically stop the pump and close the solenoid valves. Overheat protection employs a temperature-level alarm strategy: a level 1 alarm prompts a power reduction, a level 2 alarm forces power limitation, and a level 3 alarm triggers an emergency shutdown. For power failure protection, the solenoid valves are normally closed and automatically close upon power failure, and a backup supercapacitor power supply supports orderly shutdown.

[0064] Example 5 To implement the methods of the above embodiments, the present invention also provides a computer device, which includes a memory and a processor; wherein the processor runs a program corresponding to the executable program code by reading executable program code stored in the memory, so as to implement the various steps of the methods described above.

[0065] Example 6 To implement the above embodiments, this application also proposes a non-transitory computer-readable storage medium storing a computer program thereon, which, when executed by a processor, implements the method described in the foregoing embodiments.

[0066] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

[0067] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0068] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this invention, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

Claims

1. A whole-body liquid-cooled collaborative control method for embodied intelligent robots, characterized in that, Includes the following steps: The dual redundant pump array is driven to establish the coolant circulation power and deliver the coolant to the water supply manifold with an isobaric chamber design to achieve pressure equalization of multiple branch inlets; Based on the power level and thermal characteristics of each heat source, active flow regulation based on real-time temperature feedback is implemented for the joint branch, passive throttling and constant flow control is implemented for the battery pack branch, and non-throttling priority flow control is implemented for the computing chip branch. The coolant is guided to flow through a microchannel cold plate attached to the surface of the joint motor, computing chip and battery pack to absorb heat, and a micro membrane accumulator is used to absorb the thermal expansion of the coolant and buffer system pressure fluctuations. The system collects the heat-carrying coolant and directs it to the heat dissipation terminal to release heat into the environment. It also dynamically adjusts the pump speed and valve opening based on temperature, pressure, and flow data monitored by sensors to maintain system thermal balance and safe operation.

2. The method according to claim 1, characterized in that, The active flow regulation of the joint branch based on real-time temperature feedback includes: Real-time temperature data is collected by a temperature sensor installed on the surface of the joint motor, and the real-time temperature data is compared with a preset safe temperature threshold to generate a temperature deviation signal. The valve opening adjustment amount is calculated based on the temperature deviation signal, and the valve opening adjustment amount is converted into a PWM modulation signal and sent to the high-speed solenoid valve to dynamically adjust the valve opening, thereby realizing the active regulation of the coolant flow rate of the joint branch.

3. The method according to claim 1, characterized in that, The passive throttling and constant current control of the battery pack branch includes: Based on the design thermal load and allowable temperature rise parameters of the battery pack, the required rated coolant flow rate of the branch is calculated in advance, and the orifice size of the throttling gasket is determined according to the rated coolant flow rate; A throttling gasket with the specified orifice size is fixedly installed in the pipeline of the corresponding branch. The local resistance loss generated by the fixed orifice size limits the flow rate of the branch to the range of the rated coolant flow rate, thereby achieving passive constant flow control without moving parts.

4. The method according to claim 1, characterized in that, The implementation of non-throttling priority current supply control for the computing chip branch includes: The branch in the water supply manifold that is directly connected to the microchannel cold plate of the computing chip is identified as the highest priority flow path. No throttling gaskets, regulating valves or flow limiting elements are installed in the pipeline of the highest priority flow path. By utilizing the equal pressure generated by the isobaric chamber design of the water supply manifold, the coolant flows directly through the microchannel cold plate on the surface of the computing chip at the maximum flow rate allowed by the system, prioritizing the heat dissipation needs of the computing chip.

5. The method according to claim 1, characterized in that, The drive for the dual redundant pump array to establish coolant circulation power includes: Under normal system operating conditions, the two pumps in the dual redundant pump array are controlled to operate simultaneously at a balanced load speed lower than their respective rated speeds. The system monitors the operating status parameters of the two pumps in real time. When a failure is detected in one of the pumps, it automatically increases the speed of the other normal pump to maintain the minimum circulating pressure and flow required by the system, thus putting the system into a degraded operation mode.

6. The method according to claim 1, characterized in that, The method of using a micro diaphragm accumulator to absorb the thermal expansion of the coolant and buffer system pressure fluctuations includes: A micro diaphragm accumulator is connected in parallel to the main coolant circulation circuit. The micro diaphragm accumulator has an elastic diaphragm inside that divides the cavity into a coolant side and a pre-charged gas side. When the coolant expands in volume due to increased temperature, it pushes the elastic diaphragm to compress the pre-charged gas side to accommodate the expanded coolant volume; when the pressure in the pipeline fluctuates instantaneously, the elastic deformation of the elastic diaphragm absorbs the pressure peak and releases the stored liquid, preventing cavitation at the pump inlet.

7. The method according to claim 1, characterized in that, The method of dynamically adjusting pump speed and valve opening based on temperature, pressure, and flow data monitored by sensors to maintain system thermal balance and safe operation includes: According to the preset priority order of each heat source, the temperature sensor feedback data of each heat source is processed to generate a comprehensive temperature control command. Based on the comprehensive temperature control command, the overall speed of the dual redundant pump array is adjusted to compensate for system pressure changes, and the valve opening of the joint branch is adjusted in conjunction with the control command. When abnormal system pressure is detected or flow data indicates a serious leak, the emergency shutdown protection logic is triggered and pipeline valves are closed to cut off coolant circulation.

8. A whole-body liquid-cooled collaborative control system for embodied intelligent robots, used to implement the method of any one of claims 1-7, characterized in that, include: The power source module includes a dual redundant pump array for establishing coolant circulation power; The water supply manifold adopts an equal pressure chamber design to distribute coolant to multiple parallel branches and ensure that the inlet pressure of each branch is equal. Multiple microchannel cold plates are attached to the surfaces of the robot joint motors, computing chips and battery packs to guide coolant to flow over the heat source surfaces to absorb heat. A heat dissipation terminal is used to collect the coolant carrying heat and discharge the heat to the environment; The control unit is used to implement differentiated flow distribution strategies based on the power level and thermal characteristics of each heat source, to perform active flow regulation based on real-time temperature feedback for the joint branch, to perform passive throttling and constant flow control for the battery pack branch, to perform non-throttling priority flow control for the computing chip branch, and to dynamically adjust the pump speed and valve opening based on temperature, pressure and flow data monitored by sensors to maintain system thermal balance and safe operation.

9. A computer device, characterized in that, Including processor and memory; The processor reads executable program code stored in the memory to run a program corresponding to the executable program code, so as to implement a whole-body liquid-cooled collaborative control method for embodied intelligent robots as described in any one of claims 1-7.

10. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that, When the program is executed by the processor, it implements a whole-body liquid-cooled collaborative control method for embodied intelligent robots as described in any one of claims 1-7.

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