CN-121989224-A - Robot control method, device, electronic equipment and medium

CN121989224ACN 121989224 ACN121989224 ACN 121989224ACN-121989224-A

Abstract

The embodiment of the invention provides a robot control method, a device, electronic equipment and a medium, wherein the method comprises the steps of determining the safe movement speed of a robot; the safe movement speed is the maximum movement speed allowed to be reached in the safe temperature range of the controller of the robot, the real-time temperature of the controller and the current movement speed of the robot are obtained, and the movement speed of the robot is adjusted according to the real-time temperature, the preset temperature, the current movement speed of the robot and the maximum safe movement speed, so that the temperature of the controller is reduced. Therefore, the damage caused by the overhigh temperature of the controller is avoided, the production efficiency of the robot and the service lives of the robot and the controller are influenced, the movement speed of the robot is adjusted based on the real-time temperature, the preset temperature, the current movement speed and the maximum safe movement speed of the robot, the speed reduction of the movement speed of the robot by one cutter is avoided, the robot is enabled to run at a high speed in a safe range, and the generation efficiency of the robot is improved.

Inventors

ZHENG YIPENG
YANG YIQING
WANG QI
YUAN SHIQI

Assignees

珠海格力智能装备有限公司
珠海格力数控机床有限公司

Dates

Publication Date: 20260508
Application Date: 20251219

Claims (12)

1. A method of controlling a robot, the method comprising: Determining the safe movement speed of the robot, wherein the safe movement speed is the maximum movement speed allowed to be reached within the safe temperature range of a controller of the robot; acquiring the real-time temperature of the controller and the current movement speed of the robot; and adjusting the movement speed of the robot according to the real-time temperature, the preset temperature, the current movement speed of the robot and the safe movement speed so as to reduce the temperature of the controller.
2. The robot control method according to claim 1, wherein the adjusting the movement speed of the robot to decrease the temperature of the controller according to the real-time temperature, the preset temperature, the current movement speed of the robot, and the safe movement speed comprises: The configuration movement speed is the maximum movement speed allowed to be reached by the factory configuration of the robot; determining the minimum movement speed of the configuration movement speed and the safety speed as a first target movement speed of the robot; And adjusting the movement speed of the robot according to the real-time temperature, the preset temperature, the current movement speed of the robot and the first target movement speed so as to reduce the temperature of the controller.
3. The robot control method according to claim 2, wherein the adjusting the movement speed of the robot according to the real-time temperature, the preset temperature, the current movement speed of the robot, and the first target movement speed comprises: when the real-time temperature is greater than or equal to a preset temperature, determining a reference speed of the robot according to the real-time temperature, the preset temperature and the current movement speed of the robot; Determining a second moving target speed of the robot according to the reference speed and the first target moving speed; and adjusting the movement speed of the robot to the second target movement speed.
4. A robot control method according to claim 3, characterized in that the method further comprises: And when the real-time temperature is smaller than the preset temperature, the movement speed of the robot is increased to the first target movement speed.
5. A robot control method according to claim 3, wherein the determining the reference speed of the robot based on the real-time temperature, the preset temperature, and the current movement speed of the robot comprises: Calculating the temperature difference between the real-time temperature and the preset temperature; calculating the product of a preset coefficient and the temperature difference; and determining the reference speed of the robot according to the current movement speed of the robot and the product.
6. The robot control method according to claim 1, wherein the determining the safe moving speed of the robot includes: Acquiring a proportionality constant of heat loss power and square motion speed of the robot; determining heat loss power of the robot; Determining a maximum safe temperature of the robot; And determining the safe movement speed of the robot according to the maximum safe temperature of the robot, the heat loss power and the proportionality constant.
7. The robot control method of claim 6, wherein the determining the maximum safe temperature of the robot comprises: Acquiring the total heat conduction coefficient, the ambient temperature and the heat capacity of a controller of the robot; determining a temperature change rate of the controller according to the total heat conduction coefficient of the controller, the ambient temperature, the heat capacity and the real-time temperature of the controller; And adjusting a preset safety temperature threshold according to the temperature change rate to obtain the maximum safety temperature of the robot.
8. The robot control method of claim 6, wherein the determining the heat loss power of the robot comprises: and determining the product of the proportionality constant of the heat loss power of the robot and the square of the motion speed of the robot as the heat loss power of the robot.
9. A robot control method according to claim 3, wherein the determining the second target movement speed of the robot from the reference speed and the first target movement speed comprises: And determining the minimum movement speed of the reference speed and the first target movement speed as a second target movement speed of the robot.
10. A robot control device, the device comprising: the speed determining module is used for determining the safe movement speed of the robot, wherein the safe movement speed is the maximum movement speed allowed to be reached within the safe temperature range of the controller of the robot; The acquisition module is used for acquiring the real-time temperature of the controller and the current movement speed of the robot; and the speed adjusting module is used for adjusting the movement speed of the robot according to the real-time temperature, the preset temperature, the current movement speed of the robot and the safe movement speed so as to reduce the temperature of the controller.
11. An electronic device comprising a processor, a memory and a program or instruction stored on the memory and executable on the processor, which program or instruction when executed by the processor implements the steps of the robot control method as claimed in claims 1-9.
12. A readable storage medium, characterized in that the readable storage medium has stored thereon a program or instructions which, when executed by a processor, implement the steps of the robot control method according to claims 1-9.

Description

Robot control method, device, electronic equipment and medium Technical Field The present invention relates to the field of robot control, and in particular, to a robot control method, a robot control device, an electronic apparatus, and a readable storage medium. Background With the development of modern industrial automation, industrial robots become key equipment for core production links such as automobile manufacturing, electronic assembly and logistics storage, but with the expansion of the application range of robots and the increase of working intensity, the overheating problem of control cabinets of robots is increasingly remarkable, and many robots are burnt out due to the fact that the temperature of the control cabinets is too high, so that production lines are stopped, and obviously, the overheating of the control cabinets of the robots becomes a main factor affecting the production efficiency and the service life of the equipment. Disclosure of Invention In view of the above problems, embodiments of the present invention have been made to provide a robot control method, a robot control device, an electronic apparatus, and a readable storage medium that overcome or at least partially solve the above problems. In a first aspect, an embodiment of the present invention provides a robot control method, including: Determining the safe movement speed of the robot, wherein the safe movement speed is the maximum movement speed allowed to be reached within the safe temperature range of a controller of the robot; acquiring the real-time temperature of the controller and the current movement speed of the robot; and adjusting the movement speed of the robot according to the real-time temperature, the preset temperature, the current movement speed of the robot and the safe movement speed so as to reduce the temperature of the controller. Optionally, the adjusting the movement speed of the robot according to the real-time temperature, the preset temperature, the current movement speed of the robot and the safe movement speed to reduce the temperature of the controller includes: The configuration movement speed is the maximum movement speed allowed to be reached by the factory configuration of the robot; determining the minimum movement speed of the configuration movement speed and the safety speed as a first target movement speed of the robot; And adjusting the movement speed of the robot according to the real-time temperature, the preset temperature, the current movement speed of the robot and the first target movement speed so as to reduce the temperature of the controller. Optionally, the adjusting the movement speed of the robot according to the real-time temperature, the preset temperature, the current movement speed of the robot, and the first target movement speed includes: when the real-time temperature is greater than or equal to a preset temperature, determining a reference speed of the robot according to the real-time temperature, the preset temperature and the current movement speed of the robot; Determining a second target movement speed of the robot according to the reference speed and the first target movement speed; and adjusting the movement speed of the robot to the second target movement speed. Optionally, the method further comprises: And when the real-time temperature is smaller than the preset temperature, the movement speed of the robot is increased to the first target movement speed. Optionally, the determining the reference speed of the robot according to the real-time temperature, the preset temperature and the current movement speed of the robot includes: Calculating the temperature difference between the real-time temperature and the preset temperature; calculating the product of a preset coefficient and the temperature difference; and determining the reference speed of the robot according to the current movement speed of the robot and the product. Optionally, the determining the safe motion speed of the robot includes: Acquiring a proportionality constant of heat loss power and square motion speed of the robot; determining heat loss power of the robot; Determining a maximum safe temperature of the robot; And determining the safe movement speed of the robot according to the maximum safe temperature of the robot, the heat loss power and the proportionality constant. Optionally, the determining the maximum safe temperature of the robot includes: Acquiring the total heat conduction coefficient, the ambient temperature and the heat capacity of a controller of the robot; determining a temperature change rate of the controller according to the total heat conduction coefficient of the controller, the ambient temperature, the heat capacity and the real-time temperature of the controller; And adjusting a preset safety temperature threshold according to the temperature change rate to obtain the maximum safety temperature of the robot. Optionally, the determining the heat loss power of the r