Title:
ROBOT CONTROL SYSTEM, HEARTBEAT MONITORING METHOD AND MODULE, AND STORAGE MEDIUM
Document Type and Number:
WIPO Patent Application WO/2020/087227
Kind Code:
A1
Abstract:
A robot control system, a heartbeat monitoring method and module (703), and a storage medium (801). The heartbeat monitoring method comprises: receiving a signal (B) to be sampled transmitted by a monitored module (708), and using a sampling signal (A) to sample the signal (B); acquiring a signal value (401, 501, 601) of the signal (B) at a current sampling time point (t1, t2, t3, t4), storing, in a first-stage register (402, 502, 602) of a multi-stage register, a signal value (401, 501, 601) of the signal (B) at a previous sampling time point (t1, t2, t3, t4), using the signal value as a signal value of the first-stage register (402, 502, 602) at the current sampling time point, storing, in an (n+1)th-stage register of the multi-stage register, a signal value of an nth-stage register of the multi-stage register at the previous sampling time point, and using the signal value as a signal value of the (n+1)th-stage register at the current sampling time point; and comparing signal values of each pair of adjacent registers of the multi-stage register at the same sampling time point (t1, t2, t3, t4) within a preset time, and if the signal values of any pair of adjacent registers are different, determining that a heartbeat signal is present in the monitored module (708). The design effectively avoids the issue of a false alarm resulting from failed signal sampling caused by interference from the external environment.
Inventors:
ZHANG PENGFEI (CN)
Application Number:
PCT/CN2018/112486
Publication Date:
May 07, 2020
Filing Date:
October 29, 2018
Export Citation:
Assignee:
SHENZHEN A & E INTELLIGENT TECH INST CO LTD (CN)
International Classes:
G06F11/28
Domestic Patent References:
| WO2008126325A1 | 2008-10-23 |
Foreign References:
| CN103246585A | 2013-08-14 | |||
| US20180095855A1 | 2018-04-05 | |||
| US20170257287A1 | 2017-09-07 | |||
| JP2018055226A | 2018-04-05 | |||
| CN107193680A | 2017-09-22 |
Attorney, Agent or Firm:
CHINA WISPRO INTELLECTUAL PROPERTY LLP. (CN)
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