WO2020087227A1 - Système de commande de robot, procédé et module de surveillance de battements du cœur, et support d'informations - Google Patents

Système de commande de robot, procédé et module de surveillance de battements du cœur, et support d'informations Download PDF

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Publication number
WO2020087227A1
WO2020087227A1 PCT/CN2018/112486 CN2018112486W WO2020087227A1 WO 2020087227 A1 WO2020087227 A1 WO 2020087227A1 CN 2018112486 W CN2018112486 W CN 2018112486W WO 2020087227 A1 WO2020087227 A1 WO 2020087227A1
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signal
level register
register
sampling time
signal value
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PCT/CN2018/112486
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English (en)
Chinese (zh)
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张鹏飞
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深圳配天智能技术研究院有限公司
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Priority to PCT/CN2018/112486 priority Critical patent/WO2020087227A1/fr
Priority to CN201880087114.0A priority patent/CN111801656B/zh
Publication of WO2020087227A1 publication Critical patent/WO2020087227A1/fr

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    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F11/00—Error detection; Error correction; Monitoring
    • G06F11/28—Error detection; Error correction; Monitoring by checking the correct order of processing

Definitions

  • This application relates to the technical field of industrial control, in particular to a robot control system, a heartbeat monitoring method, a monitoring module, and a storage medium.
  • Heartbeat monitoring is a method used to determine whether the monitored module is in a normal state in an industrial robot control system.
  • Industrial robot control systems generally require a high level of safety, so a separate safety module will be designed to monitor the health status of the monitored modules such as logic control modules, main control modules, drive modules, and power supply modules.
  • the monitoring mechanism is: the monitored module sends a stable heartbeat signal, generally a 24V square wave signal 20 ⁇ 5000Hz, which is monitored by the security module. When the heartbeat signal is lost, the security module determines that the monitored module has an abnormal state. Perform a safe stop action to ensure safety.
  • the existing heartbeat monitoring method is that the safety module sends out the sampling signal, and the monitored module sends out the sampling signal.
  • the register is located in the security module and uses the sampling signal to sample the sampled signal to obtain the signal value of the sampled signal.
  • the register registers the signal value. Compare the signal value obtained at the same time with the registered value of the register. The signal value is different from the register value of the register, and it is determined that the heartbeat exists.
  • FIG. 1 is a schematic diagram of an embodiment of a prior art robot heartbeat monitoring method. Waveform A is the sampled signal and waveform B is the sampled signal. In Figure 1, t1, t2, and t3 are the sampling time.
  • the signal value of the sampled signal acquired at the sampling time is represented by 101, and the registered value of the sampling time register is represented by 102.
  • the acquired signal value of the sampled signal 101 is 0, and the initial registered value of the register 102 is 0; at time t2, the acquired signal value of the sampled signal 101 is 1, and the register stores the signal value 1 in itself
  • the register needs a period of time to store the acquired signal value 1 into itself. This period of time is called the time window.
  • the register can store the acquired signal value of the sampled signal Stored in itself, and the time window of the register is less than the sampling period of the sampled signal, that is, the register will not be able to store the acquired signal value 1 in itself at time t2, but will store the signal value 1 in itself before the next sampling time t3, Therefore, the signal value of the sampled signal acquired at time t2 and the registered value of the register are 1 and 0 respectively; at time t3, the signal value of the sampled signal acquired and the registered value of the register are 1 and 1, respectively.
  • the sampling time it is triggered to determine whether the signal value 101 of the sampled signal is the same as the registered value 102 of the register.
  • the heartbeat of the monitored module exists, and if the same, it is determined that the heartbeat of the monitored module does not exist. Since the signal value 101 of the sampled signal acquired at time t1 is the same as the registered value 102 of the register, it is determined that the heartbeat of the monitored module at time t1 does not exist; the signal value 101 of the sampled signal acquired at t2 is different from the registered value 102 of the register, It is determined that the heartbeat of the monitored module exists at time t2; the signal value 101 of the sampled signal acquired at time t3 is the same as the registered value 102 of the register, and it is determined that the heartbeat of the monitored module does not exist at time t3.
  • FIG. 2 is a schematic diagram of judging metastable state in the prior art robot heartbeat monitoring method.
  • the safety module and the monitored module are relatively independent, the clock signal has different sources and is usually a cross-board signal, so the square wave of the sampled signal and the sampled signal has a metastable state, the phase difference is unstable, and the polar Susceptible to interference, chip device performance will be affected.
  • the signal value 201 of the sampled signal jumps to 0, because the register needs to register the signal value 0 through the time window t, and the impact ends within the time window t, that is, the sampled signal returns to the high state after the time window t. Therefore, the signal value 201 of the sampled signal acquired at time t2 is 0, and the register value 202 of the register at time t2 is equal to the signal value of the sampled signal acquired at last t1 0; the signal value of the sampled signal acquired at t3 201 is 1, and the register value 202 of the register at time t3 is equal to the value 1 stored at time t2 after time window t. At the same time, it is triggered at the sampling time to determine whether the heartbeat of the monitored module exists.
  • the acquired signal value 201 of the monitored module and the register value 202 of the register are both 0, and at time t3, the acquired signal value 201 of the monitored module Both the registered value 202 of the register and the register jump to 1 directly, resulting in a missing signal, causing the security module to misjudge that the heartbeat signal of the monitored module does not exist. Therefore, when the existing heartbeat monitoring method is adopted, the judgment state value may be abruptly changed due to changes in the external environment, which may result in missed signal sampling and trigger false alarms.
  • the technical problem mainly solved by the present application is the problem of false alarms caused by the signal leakage caused by the interference of the external environment during the existing heartbeat monitoring.
  • the first technical solution adopted by the present application is to provide a heartbeat monitoring method for a robot control system.
  • the heartbeat monitoring method includes: receiving a sampled signal sent by a monitored module, and using the sampled signal to sample The signal is sampled; at the current sampling time, the signal value of the sampled signal at the current sampling time is obtained, and the signal value of the sampled signal at the previous sampling time is stored in the first-level register in the multi-level register as the current sampling time.
  • the signal value of the first level register, the signal value of the nth level register in the multilevel register at the previous sampling time is stored in the n + 1th level register of the multilevel register as the signal of the n + 1th level register at the current sampling time Value, where n is an integer in the interval [1, k], and k + 1 is the number of levels in the multi-level register; the signal values of two adjacent level registers in the multi-level register at the same sampling time are compared within a preset time, if If there are different signal values of two adjacent registers, it is determined that the monitored module has a heartbeat signal.
  • the heartbeat monitoring module includes a multi-level register, a sampling clock source and a processor, and between the multi-level registers Signal connection, the sampling clock source provides the sampling signal, the processor performs the following steps when it is working: receiving the sampled signal sent by the monitoring module, and using the sampling signal to sample the sampled signal; at the current sampling time, obtaining the current sampling time
  • the signal value of the sampled signal, the signal value of the sampled signal at the previous sampling time is stored in the first-level register in the multi-level register as the signal value of the first-level register at the current sampling time, and the n-th in the multi-level register
  • the signal value of the level register at the last sampling time is stored in the n + 1th level register of the multilevel register as the signal value of the n + 1th level register at the current sampling time, where n is an integer in the interval [1, k], k + 1 is the number
  • the third technical solution adopted by the present application is to provide a robot control system including a monitored module and a heartbeat monitoring module as described above, the heartbeat monitoring module is connected to the monitored module, and the heartbeat is monitored The module is used to determine whether the monitored module has a heartbeat signal.
  • the fourth technical solution adopted by the present application is to provide a storage medium that stores program data, and the program data can be executed to implement any of the heartbeat monitoring methods described above.
  • the present application introduces a multi-level register judgment mechanism to obtain the signal value of the sampled signal at the current sampling time and store the signal value of the sampled signal at the previous sampling time
  • the first-level register in the multi-level register is used as the signal value of the first-level register at the current sampling time
  • the signal value of the n-th register in the multi-level register at the last sampling time is stored in the n + of the multi-level register
  • the level 1 register serves as the signal value of the n + 1 level register at the current sampling time, and then compares the signal values of the adjacent two level registers at the same sampling time. If the signal values of the adjacent two level registers are different, it is determined that there is a heartbeat signal. It can effectively avoid the problem of false alarm caused by signal leakage caused by the interference of the external environment, which can improve the resistance to external temperature changes and magnetic field interference.
  • FIG. 1 is a schematic diagram of an embodiment of a prior art robot heartbeat monitoring method
  • FIG. 2 is a schematic diagram of the judgment of metastable state in the prior art robot heartbeat monitoring method
  • FIG. 3 is a schematic flowchart of an embodiment of a heartbeat monitoring method provided by this application.
  • FIG. 4 is a schematic diagram of the principle of the first embodiment of the heartbeat monitoring method provided by this application.
  • FIG. 5 is a schematic diagram of the principle of the second embodiment of the heartbeat monitoring method provided by this application.
  • FIG. 6 is a schematic diagram of the principle of metastable filtering according to an embodiment of the heartbeat monitoring method provided by this application;
  • FIG. 7 is a schematic structural diagram of an embodiment of a robot control system provided by this application.
  • FIG. 8 is a schematic structural diagram of an embodiment of a storage medium provided by this application.
  • FIG. 3 is a schematic flowchart of an embodiment of a heartbeat monitoring method provided by the present application. The method includes:
  • S301 Receive the sampled signal sent by the monitored module, and use the sampled signal to sample the sampled signal.
  • the monitored module provides the sampled signal
  • the heartbeat monitoring module provides the sampled signal.
  • the frequency of the sampled signal is greater than 2 to 4 times the frequency of the sampled signal.
  • the multi-level register is located in the heartbeat monitoring module, and the number of levels of the multi-level register in this application is two or more levels.
  • the sampling signal is a square wave signal
  • the sampling time is the rising edge time of the square wave signal.
  • the sampling time may also be set to the falling edge time of the square wave signal or other times different from the rising and falling edges.
  • the sampling signal may not be set to the square wave signal. This is not specifically limited.
  • FIG. 4 is a schematic diagram of the principle of the first embodiment of the heartbeat monitoring method provided by the present application.
  • the signal value of the sampled signal B is 1, while in the low state, the signal value of the sampled signal B is 0.
  • the sample value is only used to distinguish the waveform state of the sampled signal B, and the signal value is not limited to 1 and 0.
  • the sampled signal B is provided by the sampled clock source in the monitored module, and the sampled signal is provided by the sampled clock source in the heartbeat monitoring module.
  • the sampled signal is a 2kHz B square wave signal, and the sampled signal is a 10kHz A square wave signal.
  • the B square wave signal is sampled at the rising edge of the A square wave signal.
  • the time corresponding to the rising edge of the A square wave signal is the sampling time, and the B square wave signal is sampled at the sampling time.
  • the high and low states of the B square wave signal are represented by 1 and 0, respectively. In other embodiments, other values may also be used, which is not limited herein.
  • the frequency of the sampled signal may not be 2 kHz, and the sampled signal may not be 10 kHz, but the frequency of the sampled signal A is greater than 2 to 4 times the frequency of the sampled signal B.
  • the frequencies of the sampled signal B and the sampled signal A can be set according to specific conditions, as long as the multiple relationship is ensured, which is not specifically limited here.
  • a metastable state may occur during the signal transmission across the clock domain.
  • the sample clock source and the sampled clock source pass by The synchronization processing of the synchronizer can reduce the probability of metastable propagation.
  • S302 At the current sampling time, acquire the signal value of the sampled signal at the current sampling time, and store the signal value of the sampled signal at the previous sampling time in the first-level register in the multi-level register as the first level at the current sampling time
  • the signal value of the register, the signal value of the nth level register in the multilevel register at the previous sampling time is stored in the n + 1th level register of the multilevel register as the signal value of the n + 1th level register at the current sampling time,
  • n is an integer in the interval [1, k]
  • k + 1 is the number of levels in the multi-level register.
  • the value of k is 1, and the number of levels of the multi-level register is two levels, that is, it includes the first level register 402 and the second level register 403.
  • the signal value of the sampled signal at the previous sampling time is stored in the first-stage register 402 as the signal value of the first-stage register 402 at the current sampling time, and the first-stage register 402 at the last sampling time
  • the signal value is stored in the second-stage register 403 as the signal value of the second-stage register 403 at the current sampling time.
  • the sampled signal B is sampled at the current sampling time t1, at this time the sampled signal B is in a low state, that is, the sampled signal B corresponding to the sampling time t1
  • the signal value 401 is 0, and the initial values of the first level register 402 and the second level register 403 at the sampling time t1 are both 0; at the current sampling time t2, the sampled signal B is sampled, and the sampling time t2 corresponds to the
  • the signal value 401 of the sampled signal B is 1, and the signal value 0 of the sampled signal B at the last sampling time t1 is stored in the first-stage register 402 as the signal value of the first-stage register 402 at t2, that is, the first time at t2
  • the signal value of the level register 402 is 0, and the signal value 0 of the first level register 402 at the last sampling time t1 is stored in the second level register 403 as the signal value of the second level register 403 at time
  • FIG. 5 is a schematic diagram of the principle of the second embodiment of the heartbeat monitoring method provided by this application. Unlike FIG. 4, in this embodiment, the value of k is 2 and the number of registers is three. That is, the registers in FIG. 5 include a first-level register 502, a second-level register 503, and a third-level register 504.
  • the signal value of the sampled signal B at the previous sampling time is stored in the first-stage register 502 as the signal value of the first-stage register 502 at the current sampling time, and the first-stage register 502 at the last sampling time
  • the signal value of the second level register 503 is stored as the signal value of the second level register 503 at the current sampling time
  • the signal value of the second level register 503 at the previous sampling time is stored in the third level register 504 as the current sampling time
  • the signal value 501 of the sampled signal B is 0, and the initial signal values of the first level register 502, the second level register 503, and the third level register 504 are all 0; at time t2, the The signal value of the sampled signal B is 1, and the signal value 0 of the sampled signal B at time t1 is stored in the first-stage register 502 as the signal value of the first-stage register 502 at t2, that is, the signal value of the first-stage register 502 at t2 Is 0, the signal value 0 of the first-level register 502 at time t1 is stored in the second-level register 503 as the signal value of the second-level register 503 at time t2, and the signal value 0 of the second register 503 at t1 is stored
  • the third-level register 504 serves as the signal value of the third-level register 504 at time t2; at time t3, the signal value of the sampled signal B is 1, and the first-level register 502 and the second-level register 50
  • the number of levels of the register may also be other levels than two levels and three levels, which is not specifically limited in this application.
  • Step 303 Compare the signal values of the adjacent two-level registers in the multi-level register at the same sampling time within a preset time. If there are different signal values of the adjacent two-level registers, it is determined that the monitored module has a heartbeat signal.
  • the signal value of the first-level register 402 is 0 and the signal value of the second-level register 403 is 1 at the same sampling time, or if the signal value of the first-level register 402 is 1 and the second-level register The signal value of 403 is 0, it is determined that the monitored module has a heartbeat signal.
  • whether the heartbeat signal exists in the monitored module is determined by judging whether the signal values of the adjacent second-level register 503 and the third-level register 504 at the same sampling time are the same. Specifically, at the same sampling time t1, the same sampling time t2, and the same sampling time t3, the signal values of the adjacent second-level register 503 and the third-level register 504 are all the same 0, then the time t1, t2, t3 are determined There is no heartbeat signal in the next monitored module; at the same sampling time t4, the signal values of the adjacent second-level register 503 and the third-level register 504 are different, and the two are 1 and 0 respectively, then the monitored module is determined at time t4 There is a heartbeat signal; at the same sampling time t5, the signal values of the adjacent second-level register 503 and the third-level register 504 are all the same 0, it is determined that there is no heartbeat signal at the monitored module at time t5.
  • the signal value of the second level register 503 is 0 and the signal value of the third level register 504 is 1 at the same sampling time, or if the signal value of the second level register 503 is 1 and the third level register The signal value of 504 is 0, it is determined that the monitored module has a heartbeat signal.
  • the error data can be filtered by the heartbeat monitoring method of the present application.
  • FIG. 6 is a schematic diagram of the principle of metastable filtering according to an embodiment of the heartbeat monitoring method provided by the present application.
  • the signal value 601 of the sampled signal B is 0, and the initial signal values of the first-stage register 602 and the second-stage register 603 are both 0.
  • the sampled signal B changes from the high state 1 to the low state 0, the time window t of the register is less than the sampling time interval, and within the sampling time window t, the sampled signal B changes from low The state returns to the high state.
  • the signal value 601 of the sampled signal B is 0, and the signal value 0 of the sampled signal B at time t1 is stored in the first-stage register 602 as the signal value of the first-stage register 602 at time t2, that is, the The signal value of the first-level register 602 is 0, and the signal value 0 of the first-level register 602 at time t1 is stored in the second-level register 603 as the signal value of the second-level register 603 at t2, that is, the second level at t2
  • the signal value of the register 603 is 0.
  • the signal value 601 of the sampled signal B is 1, and the signal value of the sampled signal B at time t2 is stored in the first stage register 602 as the signal value of the first stage register 602 at t3.
  • the signal value at time t2 is 0, but the signal value of the sampled signal is stored in the first-stage register 602 after the time window t, and the signal value of the sampled signal has been restored to the high state 1 after the time window t , That is, when the time window t passes through the time window t, the signal value of the sampled signal B stored in the first-stage register 602 is 1, so the signal value of the first-stage register 602 at time t3 is 1, and the first-stage register 602 is at the time
  • the signal value 0 of t2 is stored in the second level register 603 as the signal value of the second level register 603 at time t3, that is, the signal value of the second level register 603 at time t3 is 0.
  • the signal value 601 of the sampled signal B is 1, and the signal value 1 of the sampled signal B at time t3 is stored in the first-stage register 602 as the signal value of the first-stage register 602 at t4, that is, the The signal value of the first-level register 602 is 1, and the signal value 1 of the first-level register 602 at time t3 is stored in the second-level register 603 as the signal value of the second-level register 603 at t4, that is, the second level at t4
  • the signal value of the register 603 is 1.
  • the signal values of the first-level register 602 and the second-level register 603 are all the same 0, it is determined that there is no heartbeat signal of the monitored module at times t1 and t2; at time t3, If the signal values of the first level register 602 and the second level register 603 are different, it is determined that there is a heartbeat signal at the monitored module at time t3; at time t4, the signal values of the first level register 602 and the second level register 603 are the same If it is 1, it is determined that there is no heartbeat signal for the monitored module at time t1 and t2.
  • the values of the first-level register 602 and the second-level register 603 at t2, t3, and t4 are (0-0), (0-1), (1-1), and the first-level register 602 and the second
  • the value of the level register 603 jumps directly from (0-0) to (1-1), which can filter out erroneous data and effectively avoid false alarms caused by signal misses due to interference from the external environment.
  • the problem can further improve the resistance to external temperature changes and magnetic field interference.
  • this application introduces a multi-level register judgment mechanism to obtain the signal value of the sampled signal at the current sampling time and store the signal value of the sampled signal at the previous sampling time into the first-level register in the multi-level register as The signal value of the first level register at the current sampling time, the signal value of the nth level register in the multilevel register at the previous sampling time is stored in the n + 1th level register of the multilevel register as the n + th level of the current sampling time The signal value of the level 1 register, and then compare the signal value of the adjacent two level registers at the same sampling time, if the signal value of the adjacent two level registers are different, it is determined that there is a heartbeat signal, which can effectively avoid the signal caused by the interference of the external environment.
  • the problem of false alarm caused by missed mining can further improve the resistance to external temperature changes and magnetic field interference.
  • the present application also provides a heartbeat monitoring module for a robot control system.
  • the heartbeat monitoring module includes a multi-level register, a sampling clock source and a processor, and a signal connection between the multi-level registers, the sampling clock source provides a sampling signal, and the processor is working Perform the following steps: receive the sampled signal sent by the monitored module, use the sampled signal to sample the sampled signal; at the current sampling time, obtain the signal value of the sampled signal at the current sampling time, and sample the last sampled time
  • the signal value of the signal is stored in the first-level register in the multi-level register as the signal value of the first-level register at the current sampling time, and the signal value of the n-th register in the multi-level register at the previous sampling time is stored in the multi-level register
  • the n + 1th level register of the register is used as the signal value of the n + 1th level register at the current sampling time, where n is an integer in the interval [1, k], and k + 1 is the number of levels of
  • the frequency of the sampled signal is greater than 2 to 4 times the frequency of the sampled signal;
  • the sampled signal is a square wave signal, and the current sampling time is the rising edge time of the square wave signal;
  • the hardware of the heartbeat monitoring module is CPLD firmware;
  • the monitored module includes a main control module and a logic control module.
  • the heartbeat monitoring module is coupled to the main control module and the logic control module to determine whether the heartbeat signal exists in the main control module and the logic control module.
  • the multi-level register includes a first-level register and a second-level register.
  • the signal value of the sampled signal at the current sampling time is acquired, and the signal value of the sampled signal at the previous sampling time is stored.
  • Enter the first-level register as the signal value of the first-level register at the current sampling time and store the signal value of the first-level register at the previous sampling time into the second-level register as the signal value of the second-level register at the current sampling time;
  • the signal values of the first-level register and the second-level register at the same sampling time are compared within a preset time, and if there is a case where the signal values of the two are different, it is determined that the monitored module has a heartbeat signal.
  • the multi-level register includes a first-level register, a second-level register, and a third-level register.
  • the signal value of the sampled signal at the current sampling time is acquired, and the The signal value of the sampled signal is stored in the first-level register as the signal value of the first-level register at the current sampling time, and the signal value of the first-level register at the previous sampling time is stored in the second-level register as the second value of the current sampling time
  • the signal value of the second level register at the last sampling time is stored in the third level register as the signal value of the third level register at the current sampling time.
  • the signal values of the second-level register and the third-level register at the same sampling time are compared within a preset time, and if there is a case where the signal values of the two are different, it is determined that the monitored module has a heartbeat signal.
  • FIG. 7 is a schematic structural diagram of an embodiment of a robot control system provided by this application.
  • the robot control system includes a monitored module 708 and a heartbeat monitoring module 703 as described above.
  • the heartbeat monitoring module 703 is connected to the monitored module 708.
  • the heartbeat monitoring module 703 is used to determine whether the monitored module 708 exists Heartbeat signal.
  • the monitored module 708 is used to provide the sampled signal.
  • the monitored module 708 includes a main control module 701 and a logic control module 702, and the heartbeat monitoring module 703 is connected to the main control module 701 and the logic control module 702. To determine whether there is a heartbeat signal in the main control module 701 and the logic control module 702.
  • Each monitored module 708 has a corresponding signal clock source.
  • the main control module 701 has a signal clock source 706, and the logic control module 702 has a signal clock source 707.
  • the monitored module 708 may further include other functional modules, which is not specifically limited.
  • the hardware of the heartbeat monitoring module 703 is CPLD firmware.
  • the heartbeat monitoring module 703 includes a first-level register, a second-level register, a sampling clock source 704 and a processor 705, and the sampling clock source 704 and processor 705 Coupling.
  • the signal connection between the first level register and the second level register, the sampling clock source 704 is used to provide a sampling signal.
  • the frequency of the sampled signal is greater than 2 to 4 times the frequency of the sampled signal.
  • the processor 705 is used to execute the heartbeat monitoring method described in any of the above embodiments.
  • the number of levels of the multi-level register in the heartbeat monitoring module 703 may also be other levels, which is not specifically limited in this application.
  • FIG. 8 is a schematic structural diagram of an embodiment of the storage medium provided by the present application.
  • the storage medium 801 stores program data 802, and the program data 802 can be executed. To implement the heartbeat monitoring method described in any of the above embodiments.
  • the present application introduces a multi-level register judgment mechanism to obtain the signal value of the sampled signal at the current sampling time and store the signal value of the sampled signal at the previous sampling time
  • the first-level register in the multi-level register is used as the signal value of the first-level register at the current sampling time
  • the signal value of the n-th register in the multi-level register at the last sampling time is stored in the n + of the multi-level register
  • the level 1 register serves as the signal value of the n + 1 level register at the current sampling time, and then compares the signal values of the adjacent two level registers at the same time.
  • the signal values of the adjacent two level registers are different, it is determined that there is a heartbeat signal, which can be effective It can avoid the problem of false alarm caused by signal leakage caused by the interference of the external environment, and can improve the resistance to external temperature changes and magnetic field interference.

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Abstract

L'invention concerne un système de commande de robot, un procédé et un module de surveillance de battements du cœur (703), et un support d'informations (801). Le procédé de surveillance de battements du cœur consiste à : recevoir un signal (B) à échantillonner transmis par un module surveillé (708), et utiliser un signal d'échantillonnage (A) pour échantillonner le signal (B) ; acquérir une valeur de signal (401, 501, 601) du signal (B) à un instant d'échantillonnage actuel (t1, t2, t3, t4) ; stocker, dans un registre de premier étage (402, 502, 602) d'un registre à étages multiples, une valeur de signal (401, 501, 601) du signal (B) à un instant d'échantillonnage précédent (t1, t2, t3, t4), utiliser la valeur de signal en tant que valeur de signal du registre de premier étage (402, 502, 602) à l'instant d'échantillonnage actuel, stocker, dans un registre de (n+1)ème étage du registre à étages multiples, une valeur de signal d'un registre de nème étage du registre à étages multiples à l'instant d'échantillonnage précédent, et utiliser la valeur de signal en tant que valeur de signal du registre à (n+1)ème étage à l'instant d'échantillonnage actuel ; et comparer des valeurs de signal de chaque paire de registres adjacents du registre à étages multiples au même instant d'échantillonnage (t1, t2, t3, t4) dans un laps de temps prédéfini, et si les valeurs de signal de n'importe quelle paire de registres adjacents sont différentes, déterminer qu'un signal de battement du cœur est présent dans le module surveillé (708). La conception évite efficacement le problème d'une fausse alarme résultant d'un échantillonnage de signal défaillant provoqué par une interférence provenant de l'environnement externe.
PCT/CN2018/112486 2018-10-29 2018-10-29 Système de commande de robot, procédé et module de surveillance de battements du cœur, et support d'informations WO2020087227A1 (fr)

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