Control circuit, circuit control method, circuit control device, and control system

Abstract

This invention proposes a control circuit, a circuit control method, a circuit control device, and a control system. The control circuit, used to control a controlled device, includes: a switching circuit; an output circuit connected to the controlled device via the switching circuit; and a first monitoring circuit connected to the output circuit, used to monitor the number of level changes of a first signal output by the output circuit within a preset time period, and output a second signal based on the number of level changes being greater than or equal to a preset threshold. When the first monitoring circuit outputs the second signal, the switching circuit is disconnected. In this embodiment, by latching the disconnected state of the switching circuit after determining that the output level of the output circuit is repeatedly oscillating high and low, the possibility of continuous oscillation of the signal in a dual-channel redundant safety output circuit design can be avoided, improving circuit reliability and mitigating EMC electromagnetic interference problems caused by output oscillation.

Description

Technical Field

[0001] This invention relates to the field of circuit technology, and more specifically, to a control circuit, a circuit control method, a circuit control device, and a control system. Background Technology

[0002] In related technologies, the safety output circuit of the robot control system's safety board outputs a 24V level used in industrial applications. This safety output circuit is connected to controlled devices such as servo motors via a switching circuit. This safety circuit has dual outputs, with a second monitoring circuit monitoring the consistency of the two outputs. If the two outputs are inconsistent, the safety output circuit is determined to have a fault and will shut down the switching circuit to protect the downstream servo motors. The off state of this switch can be latched; for example, after pressing the emergency stop switch, the switch remains off even after the fault is cleared, until the system is reset and then re-engaged. However, under certain conditions, the off state cannot be latched, such as when the robot is in a jog state in teach mode (pressing the button once triggers an action, and the switch disconnects after each action to stop the machine). If there is a fault in the dual outputs, causing inconsistency between the two outputs, after the switching circuit is turned off, since both outputs are disconnected, the detection circuit will determine that the dual outputs are consistent and turn the switch back on. This may cause the switching circuit to switch repeatedly for a period of time, which will cause circuit oscillation and lead to EMC (Electromagnetic Compatibility) electromagnetic interference problems. Summary of the Invention

[0003] The present invention aims to solve at least one of the technical problems existing in the prior art or related art.

[0004] Therefore, one aspect of the present invention is to provide a control circuit.

[0005] Another aspect of the present invention is to provide a circuit control method.

[0006] Another aspect of the present invention is to provide a circuit control device.

[0007] Another aspect of the present invention is to provide a control system.

[0008] In view of this, according to one aspect of the present invention, a control circuit is provided for controlling a controlled device. The control circuit includes: a switching circuit; an output circuit connected to the controlled device via the switching circuit; and a first monitoring circuit connected to the output circuit for monitoring the number of level changes of a first signal output by the output circuit within a preset time, and outputting a second signal based on the number of level changes being greater than or equal to a preset threshold. When the first monitoring circuit outputs the second signal, the switching circuit is in an open state.

[0009] In this technical solution, the control circuit includes a switching circuit and an output circuit. The switching circuit is located between the output circuit and the controlled device, enabling the control of both the output circuit and the controlled device to be turned on or off. The output circuit transmits control signals to the controlled device, and can output 24V high and low level signals to control the controlled device. In the event of an internal fault in the output circuit, the switching circuit will be turned off to protect the downstream controlled device. This off state of the switching circuit can be latched and maintained; for example, after pressing the emergency stop switch, the switch remains off even after the fault is cleared, until the system is reset and then turned on again. However, under certain conditions, the off state cannot be set to latch, such as when the robot is in a jog state in teach mode (pressing the button once triggers an action, and the switch opens after each action to stop the machine). In this case, if there is a fault in the dual outputs, the switching circuit may repeatedly switch on and off over a period of time, causing oscillation in the output circuit and leading to EMC electromagnetic interference problems.

[0010] To address this, this embodiment of the invention includes a first monitoring circuit in the control circuit. This first monitoring circuit monitors the level changes of a first signal in the output circuit. Each time the level of the first signal changes within a preset time period, it is counted, thus accumulating the number of level changes within that preset time period. Further, this number of level changes is compared with a pre-stored preset threshold. If the number of level changes exceeds the preset threshold, it indicates that the switching circuit has been repeatedly switched on and off over a period of time, posing a risk of circuit oscillation. In this case, the first monitoring circuit outputs a second signal, namely a circuit oscillation fault signal. At this time, if the switching circuit is in the off state, the presence of this circuit oscillation fault signal prevents the switching circuit from reopening. If the switching circuit is in the on state, the presence of this circuit oscillation fault signal causes the switching circuit to disconnect. In other words, as long as this circuit oscillation fault signal exists, the disconnected state of the switching circuit is latched, keeping it in the disconnected state.

[0011] In this embodiment of the invention, by setting a first monitoring circuit, after detecting repeated high and low oscillations of the output level of the output circuit, the output circuit oscillates a fault signal, which latches the open state of the switching circuit, avoids the possibility of continuous oscillation of the output signal, improves the reliability of the circuit, and at the same time improves the EMC electromagnetic interference problem caused by output oscillation.

[0012] Furthermore, the embodiments of the present invention can be implemented using both hardware and software circuits, which can reduce costs and development time.

[0013] The control circuit according to the present invention may further have the following additional technical features:

[0014] In the above technical solution, the output circuit includes a first output circuit and a second output circuit connected in parallel; the control circuit also includes a second monitoring circuit, which is connected to the switching circuit, the first output circuit and the second output circuit, and is used to monitor the third signal of the first output circuit and the fourth signal of the second output circuit; wherein, when the first monitoring circuit does not output the second signal, the switching circuit is open and the first signal is low level because the third signal and the fourth signal are different; when the third signal and the fourth signal are the same, the switching circuit is turned on and the first signal is high level.

[0015] In this technical solution, the output circuit includes a first output circuit and a second output circuit. That is, the output circuit adopts a dual-channel redundant design for safety output circuits to ensure the safety of the control circuit's control process of the controlled device.

[0016] The control circuit also includes a second monitoring circuit. The first input terminal of this second monitoring circuit is connected to the first output circuit, the second input terminal is connected to the second output circuit, and the output terminal is connected to the switch circuit. This second monitoring circuit is used to diagnose the third signal of the first output circuit and the fourth signal of the second output circuit, and controls the switching circuit based on the diagnostic results. Specifically, if a fault occurs in either the first or second output circuit, causing the two signals to be inconsistent (i.e., one signal is open while the other is normal), the switch circuit is turned off, and the output signal of the output circuit is low. If neither the first nor the second output circuit has a problem, and the two signals are consistent, the switch circuit is turned on, and the output signal of the output circuit is high.

[0017] However, it should be noted that "two signals in sync" includes both signals being normal. In this case, the circuit will function normally after the switch circuit is turned on. However, "two signals in sync" also includes both signals being off. In this case, the second monitoring circuit mistakenly believes that monitoring has returned to normal and reconnects the switched circuit. After the switch circuit is reconnected, because the fault persists, the second monitoring circuit will again turn off the switch circuit due to the inconsistency between the signals from the first and second output circuits. This repeated switching causes circuit oscillation.

[0018] To address the aforementioned issues, this embodiment of the invention, by latching the open state of the switching circuit after determining that the output level of the output circuit has repeatedly oscillated between high and low, can avoid the possibility of the safety output circuit signal in the dual-channel redundant design oscillating continuously, thereby improving the reliability of the circuit and mitigating the EMC electromagnetic interference problem caused by output oscillation.

[0019] In any of the above technical solutions, the switching circuit includes: a first switching circuit connected between the first output circuit and the controlled device; and a second switching circuit connected between the second output circuit and the controlled device.

[0020] In this technical solution, the switching circuit includes a first switching circuit and a second switching circuit. Specifically, the input terminal of the first switching circuit is connected to the first output circuit, and the output terminal of the first switching circuit is connected to the controlled device. The first switching circuit is used to control the conduction or cutoff of the first output circuit and the controlled device. The input terminal of the second switching circuit is connected to the second output circuit, and the output terminal of the second switching circuit is connected to the controlled device. The second switching circuit is used to control the conduction or cutoff of the second output circuit and the controlled device.

[0021] The above method enables a dual-channel redundant safety output circuit to ensure the safety of the control circuit's control process over the controlled device.

[0022] In any of the above technical solutions, the first monitoring circuit is also used to reset the number of level changes of the first signal within a preset time to zero.

[0023] In this technical solution, the statistical counting of the number of output signal level changes is performed periodically. That is, the number of output signal level changes is monitored within a preset time period. After determining the open / closed state of the switching circuit based on the number of output signal level changes monitored within that preset time period, the number of output signal level changes monitored within that preset time period is cleared, and the accumulation of the number of output signal level changes continues for the next preset time period. For example, if the number of output signal level changes monitored within the current preset time period is less than a preset threshold, the number of output signal level changes monitored within the current preset time period is cleared to zero before accumulating the number of output signal level changes for the next preset time period.

[0024] By using the above-mentioned zeroing method, we do not respond to a small number of level changes caused by occasional interference, that is, we do not accumulate occasional interference, thus avoiding misjudgment due to accumulated occasional interference.

[0025] In any of the above technical solutions, the first monitoring circuit is also used to not output the second signal in response to the set signal.

[0026] In this technical solution, after the open state of the switching circuit is latched and kept in the open state, the switching circuit can only be restored after the output circuit is cleared of the fault and the system is reset (i.e., power is restored and the reset button is pressed). Specifically, when the operator discovers the fault, they power off the circuit. After clearing the fault, the operator powers on the circuit. Upon power-on, the output state of the first monitoring circuit is reset to its initial state, i.e., no signal is output. Since the first monitoring circuit has no signal output, the switching circuit will not be latched into the open state, and the control circuit operates normally.

[0027] According to another aspect of the present invention, a circuit control method is proposed for a control circuit as described in any of the above technical solutions. The circuit control method includes: monitoring the number of level changes of a first signal output by an output circuit within a preset time period through a first monitoring circuit; and controlling a switch circuit to be in an open state based on the number of level changes being greater than or equal to a preset threshold.

[0028] In this technical solution, the control circuit includes a switching circuit and an output circuit. The switching circuit is located between the output circuit and the controlled device, enabling the control of both the output circuit and the controlled device to be turned on or off. The output circuit transmits control signals to the controlled device, and can output 24V high and low level signals to control the controlled device. In the event of an internal fault in the output circuit, the switching circuit will be turned off to protect the downstream controlled device. This off state of the switching circuit can be latched and maintained; for example, after pressing the emergency stop switch, the switch remains off even after the fault is cleared, until the system is reset and then turned on again. However, under certain conditions, the off state cannot be set to latch, such as when the robot is in a jog state in teach mode (pressing the button once triggers an action, and the switch opens after each action to stop the machine). In this case, if there is a fault in the dual outputs, the switching circuit may repeatedly switch on and off over a period of time, causing oscillation in the output circuit and leading to EMC electromagnetic interference problems.

[0029] To address this, this embodiment of the invention includes a first monitoring circuit in the control circuit. This first monitoring circuit monitors the level changes of a first signal in the output circuit. Each time the level of the first signal changes within a preset time period, it is counted, thus accumulating the number of level changes within that preset time period. Further, this number of level changes is compared with a pre-stored preset threshold. If the number of level changes exceeds the preset threshold, it indicates that the switching circuit has been repeatedly switched on and off over a period of time, posing a risk of circuit oscillation. In this case, the first monitoring circuit outputs a second signal, namely a circuit oscillation fault signal. At this time, if the switching circuit is in the off state, the presence of this circuit oscillation fault signal prevents the switching circuit from reopening. If the switching circuit is in the on state, the presence of this circuit oscillation fault signal causes the switching circuit to disconnect. In other words, as long as this circuit oscillation fault signal exists, the disconnected state of the switching circuit is latched, keeping it in the disconnected state.

[0030] In this embodiment of the invention, by setting a first monitoring circuit, after detecting repeated high and low oscillations of the output level of the output circuit, the output circuit oscillates a fault signal, which latches the open state of the switching circuit, avoids the possibility of continuous oscillation of the output signal, improves the reliability of the circuit, and at the same time improves the EMC electromagnetic interference problem caused by output oscillation.

[0031] The circuit control method of the present invention may further include the following additional technical features:

[0032] In the above technical solution, the circuit control method further includes: monitoring the third signal of the first output circuit and the fourth signal of the second output circuit of the output circuit through the second monitoring circuit of the control circuit; when the first monitoring circuit does not output the second signal, controlling the switch circuit to open based on the difference between the third signal and the fourth signal, and controlling the switch circuit to turn on based on the difference between the third signal and the fourth signal.

[0033] In this technical solution, the output circuit includes a first output circuit and a second output circuit. That is, the output circuit adopts a dual-channel redundant design for safety output circuits to ensure the safety of the control circuit's control process of the controlled device.

[0034] The control circuit also includes a second monitoring circuit. The first input terminal of this second monitoring circuit is connected to the first output circuit, the second input terminal is connected to the second output circuit, and the output terminal is connected to the switch circuit. This second monitoring circuit is used to diagnose the third signal of the first output circuit and the fourth signal of the second output circuit, and controls the switching circuit based on the diagnostic results. Specifically, if a fault occurs in either the first or second output circuit, causing the two signals to be inconsistent (i.e., one signal is open while the other is normal), the switch circuit is turned off, and the output signal of the output circuit is low. If neither the first nor the second output circuit has a problem, and the two signals are consistent, the switch circuit is turned on, and the output signal of the output circuit is high.

[0035] However, it should be noted that "two signals in sync" includes both signals being normal. In this case, the circuit will function normally after the switch circuit is turned on. However, "two signals in sync" also includes both signals being off. In this case, the second monitoring circuit mistakenly believes that monitoring has returned to normal and reconnects the switched circuit. After the switch circuit is reconnected, because the fault persists, the second monitoring circuit will again turn off the switch circuit due to the inconsistency between the signals from the first and second output circuits. This repeated switching causes circuit oscillation.

[0036] To address the aforementioned issues, this embodiment of the invention, by latching the open state of the switching circuit after determining that the output level of the output circuit has repeatedly oscillated between high and low, can avoid the possibility of the safety output circuit signal in the dual-channel redundant design oscillating continuously, thereby improving the reliability of the circuit and mitigating the EMC electromagnetic interference problem caused by output oscillation.

[0037] In any of the above technical solutions, the circuit control method further includes: clearing the number of level changes of the first signal within a preset time period to zero.

[0038] In this technical solution, the statistical counting of the number of output signal level changes is performed periodically. That is, the number of output signal level changes is monitored within a preset time period. After determining the open / closed state of the switching circuit based on the number of output signal level changes monitored within that preset time period, the number of output signal level changes monitored within that preset time period is cleared, and the accumulation of the number of output signal level changes continues for the next preset time period. For example, if the number of output signal level changes monitored within the current preset time period is less than a preset threshold, the number of output signal level changes monitored within the current preset time period is cleared to zero before accumulating the number of output signal level changes for the next preset time period.

[0039] By using the above-mentioned zeroing method, we do not respond to a small number of level changes caused by occasional interference, that is, we do not accumulate occasional interference, thus avoiding misjudgment due to accumulated occasional interference.

[0040] In any of the above technical solutions, the circuit control method further includes: acquiring a set signal; and controlling the first monitoring circuit to reset in response to the set signal.

[0041] In this technical solution, after the switch circuit is latched into its open state and remains in that state, it can only be restored after the output circuit is cleared of the fault and the system is reset (i.e., power is restored and the reset button is pressed). Specifically, when the operator discovers a fault, they power off the circuit. After clearing the fault, the operator powers on the circuit, which generates a set signal, resetting the output state of the first monitoring circuit to its initial state, i.e., no signal output. Since the first monitoring circuit has no signal output, the switch circuit will not be latched into the open state, and the control circuit operates normally.

[0042] According to another aspect of the present invention, a circuit control device is provided for a control circuit as described in any of the above technical solutions. The circuit control device includes: a control module, configured to acquire the number of level changes of a first signal output by an output circuit within a preset time period monitored by a first monitoring circuit, and to control a switch circuit to be in an open state based on the number of level changes being greater than or equal to a preset threshold.

[0043] In this technical solution, the control circuit includes a switching circuit and an output circuit. The switching circuit is located between the output circuit and the controlled device, enabling the control of both the output circuit and the controlled device to be turned on or off. The output circuit transmits control signals to the controlled device, and can output 24V high and low level signals to control the controlled device. In the event of an internal fault in the output circuit, the switching circuit will be turned off to protect the downstream controlled device. This off state of the switching circuit can be latched and maintained; for example, after pressing the emergency stop switch, the switch remains off even after the fault is cleared, until the system is reset and then turned on again. However, under certain conditions, the off state cannot be set to latch, such as when the robot is in a jog state in teach mode (pressing the button once triggers an action, and the switch opens after each action to stop the machine). In this case, if there is a fault in the dual outputs, the switching circuit may repeatedly switch on and off over a period of time, causing oscillation in the output circuit and leading to EMC electromagnetic interference problems.

[0044] To address this, this embodiment of the invention includes a first monitoring circuit in the control circuit. This first monitoring circuit monitors the level changes of a first signal in the output circuit. Each time the level of the first signal changes within a preset time period, it is counted, thus accumulating the number of level changes within that preset time period. Further, this number of level changes is compared with a pre-stored preset threshold. If the number of level changes exceeds the preset threshold, it indicates that the switching circuit has been repeatedly switched on and off over a period of time, posing a risk of circuit oscillation. In this case, the first monitoring circuit outputs a second signal, namely a circuit oscillation fault signal. At this time, if the switching circuit is in the off state, the presence of this circuit oscillation fault signal prevents the switching circuit from reopening. If the switching circuit is in the on state, the presence of this circuit oscillation fault signal causes the switching circuit to disconnect. In other words, as long as this circuit oscillation fault signal exists, the disconnected state of the switching circuit is latched, keeping it in the disconnected state.

[0045] In this embodiment of the invention, by setting a first monitoring circuit, after detecting repeated high and low oscillations of the output level of the output circuit, the output circuit oscillates a fault signal, which latches the open state of the switching circuit, avoids the possibility of continuous oscillation of the output signal, improves the reliability of the circuit, and at the same time improves the EMC electromagnetic interference problem caused by output oscillation.

[0046] The circuit control device according to the present invention may further have the following additional technical features:

[0047] In the above technical solution, the control module is also used to acquire the third signal of the first output circuit of the output circuit monitored by the second monitoring circuit of the control circuit, the fourth signal of the second output circuit of the output circuit, and, when the first monitoring circuit does not output the second signal, to control the switch circuit to open based on the difference between the third signal and the fourth signal, and to control the switch circuit to turn on based on the difference between the third signal and the fourth signal.

[0048] In this technical solution, the output circuit includes a first output circuit and a second output circuit. That is, the output circuit adopts a dual-channel redundant design for safety output circuits to ensure the safety of the control circuit's control process of the controlled device.

[0049] The control circuit also includes a second monitoring circuit. The first input terminal of this second monitoring circuit is connected to the first output circuit, the second input terminal is connected to the second output circuit, and the output terminal is connected to the switch circuit. This second monitoring circuit is used to diagnose the third signal of the first output circuit and the fourth signal of the second output circuit, and controls the switching circuit based on the diagnostic results. Specifically, if a fault occurs in either the first or second output circuit, causing the two signals to be inconsistent (i.e., one signal is open while the other is normal), the switch circuit is turned off, and the output signal of the output circuit is low. If neither the first nor the second output circuit has a problem, and the two signals are consistent, the switch circuit is turned on, and the output signal of the output circuit is high.

[0050] However, it should be noted that "two signals in sync" includes both signals being normal. In this case, the circuit will function normally after the switch circuit is turned on. However, "two signals in sync" also includes both signals being off. In this case, the second monitoring circuit mistakenly believes that monitoring has returned to normal and reconnects the switched circuit. After the switch circuit is reconnected, because the fault persists, the second monitoring circuit will again turn off the switch circuit due to the inconsistency between the signals from the first and second output circuits. This repeated switching causes circuit oscillation.

[0051] To address the aforementioned issues, this embodiment of the invention, by latching the open state of the switching circuit after determining that the output level of the output circuit has repeatedly oscillated between high and low, can avoid the possibility of the safety output circuit signal in the dual-channel redundant design oscillating continuously, thereby improving the reliability of the circuit and mitigating the EMC electromagnetic interference problem caused by output oscillation.

[0052] In any of the above technical solutions, the control module is also used to clear the number of level changes of the first signal within a preset time.

[0053] In this technical solution, the statistical counting of the number of output signal level changes is performed periodically. That is, the number of output signal level changes is monitored within a preset time period. After determining the open / closed state of the switching circuit based on the number of output signal level changes monitored within that preset time period, the number of output signal level changes monitored within that preset time period is cleared, and the accumulation of the number of output signal level changes continues for the next preset time period. For example, if the number of output signal level changes monitored within the current preset time period is less than a preset threshold, the number of output signal level changes monitored within the current preset time period is cleared to zero before accumulating the number of output signal level changes for the next preset time period.

[0054] By using the above-mentioned zeroing method, we do not respond to a small number of level changes caused by occasional interference, that is, we do not accumulate occasional interference, thus avoiding misjudgment due to accumulated occasional interference.

[0055] In any of the above technical solutions, the control module is further configured to acquire a set signal and, in response to the set signal, control the first monitoring circuit to reset.

[0056] In this technical solution, after the switch circuit is latched into its open state and remains in that state, it can only be restored after the output circuit is cleared of the fault and the system is reset (i.e., power is restored and the reset button is pressed). Specifically, when the operator discovers a fault, they power off the circuit. After clearing the fault, the operator powers on the circuit, which generates a set signal, resetting the output state of the first monitoring circuit to its initial state, i.e., no signal output. Since the first monitoring circuit has no signal output, the switch circuit will not be latched into the open state, and the control circuit operates normally.

[0057] According to another aspect of the present invention, a control system is provided, which includes a control circuit as described in any of the above technical solutions; and a controlled device.

[0058] The control system provided by the present invention includes the control circuit of any of the above-described technical solutions, and therefore the control system includes all the beneficial effects of the control circuit of any of the above-described technical solutions.

[0059] Additional aspects and advantages of the invention will become apparent in the following description or may be learned by practice of the invention. Attached Figure Description

[0060] The above and / or additional aspects and advantages of the present invention will become apparent and readily understood from the description of the embodiments taken in conjunction with the following drawings, in which:

[0061] Figure 1 One of the schematic diagrams of the control circuit according to an embodiment of the present invention is shown;

[0062] Figure 2 A second schematic diagram of the control circuit according to an embodiment of the present invention is shown;

[0063] Figure 3 A schematic diagram illustrating the working logic of the control module according to an embodiment of the present invention is shown;

[0064] Figure 4 One of the schematic flowcharts of the circuit control method according to an embodiment of the present invention is shown;

[0065] Figure 5 A second schematic flowchart of the circuit control method according to an embodiment of the present invention is shown;

[0066] Figure 6 The third schematic flowchart of the circuit control method according to an embodiment of the present invention is shown;

[0067] Figure 7 A schematic block diagram of a circuit control device according to an embodiment of the present invention is shown.

[0068] in, Figure 1 and Figure 2 The correspondence between the reference numerals and component names in the attached drawings is as follows:

[0069] 102 Switching circuit, 104 Output circuit, 106 First monitoring circuit, 108 Second monitoring circuit, 1022 First switching circuit, 1024 Second switching circuit, 1042 First output circuit, 1044 Second output circuit, 1422 First sub-output circuit, 1424 First STO circuit, 1426 Second sub-output circuit, 1428 Second STO circuit, 200 Controlled device. Detailed Implementation

[0070] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present invention.

[0071] It should be noted that all directional indications (such as up, down, left, right, front, back, etc.) in the embodiments of the present invention are only used to explain the relative positional relationship and movement of each component in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indication will also change accordingly.

[0072] Furthermore, in this invention, descriptions involving "first," "second," etc., are for descriptive purposes only and should not be construed as indicating or implying their 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.

[0073] In this invention, unless otherwise explicitly specified and limited, the terms "connection," "fixed," etc., should be interpreted broadly. For example, "fixed" can mean a fixed connection, a detachable connection, or an integral part; it can mean a mechanical connection or an electrical connection; it can mean a direct connection or an indirect connection through an intermediate medium; it can mean the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0074] Furthermore, the technical solutions of the various embodiments of the present invention can be combined with each other, but only if they are feasible for those skilled in the art. If the combination of technical solutions is contradictory or cannot be implemented, it should be considered that such combination of technical solutions does not exist and is not within the scope of protection claimed by the present invention.

[0075] The control circuit, circuit control method, circuit control device, control system, and readable storage medium provided in the embodiments of the present invention will be described in detail below with reference to the accompanying drawings and through specific embodiments and application scenarios.

[0076] Example 1

[0077] This invention provides a control circuit for controlling the controlled device 200. Figure 1 A schematic diagram of the control circuit according to an embodiment of the present invention is shown. The control circuit includes: a switching circuit 102, an output circuit 104, and a first monitoring circuit 106.

[0078] The output terminal of the output circuit 104 is connected to the input terminal of the switch circuit 102, the output terminal of the switch circuit 102 is connected to the controlled device 200, and the first monitoring circuit 106 is connected to the output circuit 104. The first monitoring circuit 106 can count the number of level changes of the output signal (i.e., the first signal) of the output circuit 104 within a preset time. When it is determined that the number of level changes exceeds the preset threshold set by the operator, it outputs a second signal and controls the switch circuit 102 to be in the off state based on the second signal.

[0079] In this technical solution, the control circuit can be the control circuit on the safety board of the robot system. The robot system also includes a controlled device 200, such as a servo motor. The output end of the control circuit is connected to the controlled device 200, and the input end of the control circuit is connected to the controller, safety door, stop switch, etc.

[0080] The aforementioned control circuit includes a switching circuit 102 and an output circuit 104. The switching circuit 102 is located between the output circuit 104 and the controlled device 200, enabling the control of the connection and disconnection of both. The output circuit 104 transmits control signals to the controlled device 200, and can output 24V high and low level signals to control the controlled device 200. In the event of an internal fault in the output circuit 104, the switching circuit 102 will be shut down to protect the downstream controlled device 200. This shut-off state of the switching circuit 102 can be latched and maintained; for example, after pressing the emergency stop switch, the switch remains off even after the fault is cleared, until the system is reset and reconnected. However, under certain conditions, the shut-off state cannot be latched, such as when the robot is in a jog state in teach mode (pressing the button once triggers an action, and the switch disconnects after each action to stop the machine). At this time, if there is a fault in the dual output, the switching circuit 102 may repeatedly switch on and off for a period of time, which will cause the output circuit 104 to oscillate, thus bringing about EMC electromagnetic interference problems.

[0081] To address this, this embodiment of the invention includes a first monitoring circuit 106 in the control circuit. The first monitoring circuit 106 monitors the level changes of the first signal from the output circuit 104. Each time the level of the first signal changes within a preset time period, it is counted, thus accumulating the number of level changes within the preset time period. Further, this number of level changes is compared with a pre-stored preset threshold. If the number of level changes exceeds the preset threshold, it indicates that the switch circuit 102 has been repeatedly switched on and off over a period of time, posing a risk of circuit oscillation. The first monitoring circuit 106 then outputs a second signal, namely a circuit oscillation fault signal. At this time, if the switch circuit 102 is in the off state, due to the presence of this circuit oscillation fault signal, the switch circuit 102 will not be reopened. If the switch circuit 102 is in the on state, due to the presence of this circuit oscillation fault signal, the switch circuit 102 will be disconnected. In other words, as long as this circuit oscillation fault signal exists, the disconnected state of the switch circuit 102 is latched, keeping it in the disconnected state.

[0082] It should be noted that the number of level changes includes the number of times a level changes from low to high, or from high to low, or from high to low and then back to high, or from low to high and then back to low; no specific limitation is made here.

[0083] In this embodiment of the invention, by setting a first monitoring circuit 106, after detecting repeated high and low oscillations of the output level of the output circuit 104, the output circuit 104 oscillates a fault signal, which latches the open state of the switching circuit 102, avoiding the possibility of continuous oscillation of the output signal, improving the reliability of the circuit, and improving the EMC electromagnetic interference problem caused by output oscillation.

[0084] Furthermore, the embodiments of the present invention can be implemented using both hardware and software circuits, which can reduce costs and development time.

[0085] Example 2

[0086] In this embodiment, such as Figure 2 As shown, the output circuit 104 includes a first output circuit 1042 and a second output circuit 1044 connected in parallel.

[0087] The control circuit further includes a second monitoring circuit 108, which is connected to the switch circuit 102, the first output circuit 1042, and the second output circuit 1044 respectively. It can monitor the third signal of the first output circuit 1042 and the fourth signal of the second output circuit 1044. Since the first monitoring circuit 106 does not output the second signal, if the third signal and the fourth signal are inconsistent, the switch circuit 102 is turned off, making the first signal low. If the third signal and the fourth signal are consistent, the switch circuit 102 is turned on, making the first signal high.

[0088] In this technical solution, the output circuit includes a first output circuit 1042 and a second output circuit 1044. That is, the output circuit adopts a dual-channel redundant design for safety output circuits to ensure the safety of the control circuit's control process of the controlled device 200.

[0089] The control circuit also includes a second monitoring circuit 108. The first input terminal of the second monitoring circuit 108 is connected to the first output circuit 1042, the second input terminal is connected to the second output circuit 1044, and the output terminal is connected to the switch circuit 102. The second monitoring circuit 108 is used to diagnose the third signal of the first output circuit 1042 and the fourth signal of the second output circuit 1044, and controls the switching of the switch circuit 102 based on the diagnostic results. Specifically, if either the first output circuit 1042 or the second output circuit 1044 malfunctions, causing the two signals to be inconsistent (i.e., one signal is open while the other is normal), the switch circuit 102 is turned off, and the output signal of the output circuit 104 is low. If neither the first output circuit 1042 nor the second output circuit 1044 malfunctions, and the two signals are consistent, the switch circuit 102 is turned on, and the output signal of the output circuit 104 is high.

[0090] However, it should be noted that "two signals in sync" includes both signals being normal. In this case, the circuit will function normally after switch circuit 102 is turned on. However, "two signals in sync" also includes both signals being off. In this case, the second monitoring circuit 108 mistakenly believes that monitoring has returned to normal and reconnects the switched circuit 102. After switch circuit 102 is reconnected, because the fault persists, the second monitoring circuit 108 will again turn off switch circuit 102 due to the inconsistency between the signals from the first output circuit 1042 and the second output circuit 1044. This repeated switching causes circuit oscillation.

[0091] Additionally, it should be noted that the first output circuit 1042 includes a first sub-output circuit 1422 and a first STO (Safe Torque Off) circuit 1424, and the second output circuit 1044 includes a second sub-output circuit 1426 and a second STO circuit 1428. Both the first STO circuit 1424 and the second STO circuit 1428 have a safe torque off detection function. The first sub-output circuit 1422 and the second sub-output circuit 1426 include control components. The third signal is the feedback signal of the first STO circuit 1424, and the fourth signal is the feedback signal of the second STO circuit 1428. The second monitoring circuit 108 can be divided into a first sub-monitoring circuit and a second sub-monitoring circuit. The first sub-monitoring circuit monitors the third signal, and the second sub-monitoring circuit monitors the fourth signal.

[0092] To address the aforementioned issues, this embodiment of the invention, by latching the open state of the switching circuit after determining that the output level of the output circuit has repeatedly oscillated between high and low, can avoid the possibility of the safety output circuit signal in the dual-channel redundant design oscillating continuously, thereby improving the reliability of the circuit and mitigating the EMC electromagnetic interference problem caused by output oscillation.

[0093] Example 3

[0094] In this embodiment, such as Figure 2 As shown, the switching circuit 102 includes a first switching circuit 1022 and a second switching circuit 1024, wherein the first switching circuit 1022 is connected between the first output circuit 1042 and the controlled device 200; and the second switching circuit 1024 is connected between the second output circuit 1044 and the controlled device 200.

[0095] In this technical solution, the switching circuit 102 includes a first switching circuit 1022 and a second switching circuit 1024. Specifically, the input terminal of the first switching circuit 1022 is connected to the first output circuit 1042, and the output terminal of the first switching circuit 1022 is connected to the controlled device 200. The first switching circuit 1022 is used to control the connection or disconnection between the first output circuit 1042 and the controlled device 200. The input terminal of the second switching circuit 1024 is connected to the second output circuit 1044, and the output terminal of the second switching circuit 1024 is connected to the controlled device 200. The second switching circuit 1024 is used to control the connection or disconnection between the second output circuit 1044 and the controlled device 200.

[0096] The above method enables a dual-channel redundant safety output circuit to ensure the safety of the control circuit's control process over the controlled device 200.

[0097] Example 4

[0098] In this embodiment, the first monitoring circuit 106 is also used to reset the number of level changes of the first signal within a preset time period to zero.

[0099] In this technical solution, the statistical counting of the number of output signal level changes is performed periodically. That is, the number of output signal level changes is monitored within a preset time period. After determining the open / closed state of the switching circuit based on the number of output signal level changes monitored within that preset time period, the number of output signal level changes monitored within that preset time period is cleared, and the accumulation of the number of output signal level changes continues for the next preset time period. For example, if the number of output signal level changes monitored within the current preset time period is less than a preset threshold, the number of output signal level changes monitored within the current preset time period is cleared to zero before accumulating the number of output signal level changes for the next preset time period.

[0100] By using the above-mentioned zeroing method, we do not respond to a small number of level changes caused by occasional interference, that is, we do not accumulate occasional interference, thus avoiding misjudgment due to accumulated occasional interference.

[0101] Example 5

[0102] In this embodiment, the first monitoring circuit 106 is also configured to not output a second signal in response to a set signal.

[0103] In this technical solution, after the open state of the switching circuit is latched and kept in the open state, the switching circuit can only be restored after the output circuit is cleared of the fault and the system is reset (i.e., power is restored and the reset button is pressed). Specifically, when the operator discovers the fault, they power off the circuit. After clearing the fault, the operator powers on the circuit. After power-on, the output state of the first monitoring circuit 106 is reset to its initial state, that is, no signal is output. Since the first monitoring circuit 106 has no signal output, the switching circuit will not be latched into the open state, and the control circuit works normally.

[0104] Example 6

[0105] In this embodiment, such as Figure 3 As shown, the operating logic of the first monitoring circuit is divided into three parts:

[0106] (1) System input section: Monitoring the oscillation of the output circuit. That is, monitoring the number of times the level of the output signal of the output circuit changes.

[0107] (2) System Logic Section: Oscillation Counting and Oscillation Count Reset. Specifically, the number of level changes of the output signal of the output circuit within a preset time is counted, and if the number of level changes exceeds a preset threshold, a circuit oscillation fault signal is generated, causing the switching circuit to remain in the open state. At the same time, filtering is added to prevent false alarms, and a clock generation circuit is set to issue a reset signal to periodically reset the number of level changes, preventing false alarms due to interference and accumulated interference.

[0108] (3) System output section: Output circuit oscillation fault signal.

[0109] Example 7

[0110] This invention provides a circuit control method for a control circuit as described in any of the above technical solutions, the control circuit including an output circuit and a first monitoring circuit. Figure 4 A schematic flowchart of one embodiment of the circuit control method of the present invention is shown. The circuit control method includes:

[0111] Step 402: The first monitoring circuit monitors the number of level changes of the first signal output by the output circuit within a preset time.

[0112] Step 404: If the number of level changes is greater than or equal to a preset threshold, keep the switching circuit in the off state.

[0113] In this technical solution, the control circuit can be the control circuit on the safety board of the robot system. The robot system also includes a controlled device, such as a servo motor. The output end of the control circuit is connected to the controlled device, and the input end of the control circuit is connected to the controller, safety door, stop switch, etc.

[0114] The aforementioned control circuit includes a switching circuit and an output circuit. The switching circuit is located between the output circuit and the controlled device, enabling the control of both circuits to be turned on or off. The output circuit transmits control signals to the controlled device, outputting 24V high and low level signals for control. In the event of an internal fault in the output circuit, the switching circuit will be shut down to protect the downstream controlled device. This off state can be latched; for example, after pressing the emergency stop switch, the switch remains off even after the fault is cleared, until the system is reset. However, under certain conditions, the off state cannot be latched, such as when the robot is in a teach-mode jogging state (pressing a button once triggers an action, and the switch disconnects after each action to stop the machine). In this situation, if there is a fault in the dual outputs, the switching circuit may repeatedly switch on and off over a period of time, causing oscillation in the output circuit and leading to EMC electromagnetic interference problems.

[0115] To address this, this embodiment of the invention includes a first monitoring circuit in the control circuit. This first monitoring circuit monitors the level changes of a first signal in the output circuit. Each time the level of the first signal changes within a preset time period, it is counted, thus accumulating the number of level changes within that preset time period. Further, this number of level changes is compared with a pre-stored preset threshold. If the number of level changes exceeds the preset threshold, it indicates that the switching circuit has been repeatedly switched on and off over a period of time, posing a risk of circuit oscillation. In this case, the first monitoring circuit outputs a second signal, namely a circuit oscillation fault signal. At this time, if the switching circuit is in the off state, the presence of this circuit oscillation fault signal prevents the switching circuit from reopening. If the switching circuit is in the on state, the presence of this circuit oscillation fault signal causes the switching circuit to disconnect. In other words, as long as this circuit oscillation fault signal exists, the disconnected state of the switching circuit is latched, keeping it in the disconnected state.

[0116] It should be noted that the number of level changes includes the number of times a level changes from low to high, or from high to low, or from high to low and then back to high, or from low to high and then back to low; no specific limitation is made here.

[0117] In this embodiment of the invention, by setting a first monitoring circuit, after detecting repeated high and low oscillations of the output level of the output circuit, the output circuit oscillates a fault signal, which latches the open state of the switching circuit, avoids the possibility of continuous oscillation of the output signal, improves the reliability of the circuit, and at the same time improves the EMC electromagnetic interference problem caused by output oscillation.

[0118] Example 8

[0119] The circuit control method is applied to a control circuit, which includes an output circuit, a first monitoring circuit, and a second monitoring circuit. The output circuit includes a first output circuit and a second output circuit. Figure 5 A second schematic flowchart of a circuit control method according to an embodiment of the present invention is shown. The circuit control method includes:

[0120] Step 502: The third signal of the first output circuit and the fourth signal of the second output circuit are obtained through the second monitoring circuit. If the third signal and the fourth signal are inconsistent, the switch circuit is controlled to open. If the third signal and the fourth signal are consistent, the switch circuit is controlled to open.

[0121] Step 504: The first monitoring circuit monitors the number of level changes of the first signal output by the output circuit within a preset time.

[0122] Step 506: Determine whether the number of level changes is greater than or equal to a preset threshold. If the number of level changes is greater than or equal to the preset threshold, proceed to step 508; otherwise, return to step 502.

[0123] Step 508: Keep the switching circuit in the open state.

[0124] In this technical solution, the output circuit includes a first output circuit and a second output circuit. That is, the output circuit adopts a dual-channel redundant design for safety output circuits to ensure the safety of the control circuit's control process of the controlled device.

[0125] The control circuit also includes a second monitoring circuit. The first input terminal of this second monitoring circuit is connected to the first output circuit, the second input terminal is connected to the second output circuit, and the output terminal is connected to the switch circuit. This second monitoring circuit is used to diagnose the third signal of the first output circuit and the fourth signal of the second output circuit, and controls the switching circuit based on the diagnostic results. Specifically, if a fault occurs in either the first or second output circuit, causing the two signals to be inconsistent (i.e., one signal is open while the other is normal), the switch circuit is turned off, and the output signal of the output circuit is low. If neither the first nor the second output circuit has a problem, and the two signals are consistent, the switch circuit is turned on, and the output signal of the output circuit is high.

[0126] However, it should be noted that "two signals in sync" includes both signals being normal. In this case, the circuit will function normally after the switch circuit is turned on. However, "two signals in sync" also includes both signals being off. In this case, the second monitoring circuit mistakenly believes that monitoring has returned to normal and reconnects the switched circuit. After the switch circuit is reconnected, because the fault persists, the second monitoring circuit will again turn off the switch circuit due to the inconsistency between the signals from the first and second output circuits. This repeated switching causes circuit oscillation.

[0127] To address the aforementioned issues, this embodiment of the invention, by latching the open state of the switching circuit after determining that the output level of the output circuit has repeatedly oscillated between high and low, can avoid the possibility of the safety output circuit signal in the dual-channel redundant design oscillating continuously, thereby improving the reliability of the circuit and mitigating the EMC electromagnetic interference problem caused by output oscillation.

[0128] Example 9

[0129] The circuit control method is applied to a control circuit, which includes an output circuit, a first monitoring circuit, and a second monitoring circuit. The output circuit includes a first output circuit and a second output circuit. Figure 6 A third schematic flowchart of a circuit control method according to an embodiment of the present invention is shown. The circuit control method includes:

[0130] Step 602: The third signal of the first output circuit and the fourth signal of the second output circuit are obtained through the second monitoring circuit. If the third signal and the fourth signal are inconsistent, the switch circuit is controlled to open. If the third signal and the fourth signal are consistent, the switch circuit is controlled to open.

[0131] Step 604: The first monitoring circuit monitors the number of level changes of the first signal output by the output circuit within a preset time.

[0132] Step 606: Determine whether the number of level changes is greater than or equal to a preset threshold. If the number of level changes is greater than or equal to the preset threshold, proceed to step 608; otherwise, return to step 602.

[0133] Step 608: Keep the switching circuit in the open state;

[0134] Step 610: Clear the number of level changes of the first signal to zero.

[0135] In this technical solution, the statistical counting of the number of output signal level changes is performed periodically. That is, the number of output signal level changes is monitored within a preset time period. After determining the open / closed state of the switching circuit based on the number of output signal level changes monitored within that preset time period, the number of output signal level changes monitored within that preset time period is cleared, and the accumulation of the number of output signal level changes continues for the next preset time period. For example, if the number of output signal level changes monitored within the current preset time period is less than a preset threshold, the number of output signal level changes monitored within the current preset time period is cleared to zero before accumulating the number of output signal level changes for the next preset time period.

[0136] By using the above-mentioned zeroing method, we do not respond to a small number of level changes caused by occasional interference, that is, we do not accumulate occasional interference, thus avoiding misjudgment due to accumulated occasional interference.

[0137] Example 10

[0138] In this embodiment, the circuit control method further includes: receiving a set signal set by the operator; and, based on the set signal, resetting the output signal of the first monitoring circuit to its initial state, i.e., no second signal output.

[0139] In this technical solution, after the switch circuit is latched into its open state and remains in that state, it can only be restored after the output circuit is cleared of the fault and the system is reset (i.e., power is restored and the reset button is pressed). Specifically, when the operator discovers a fault, they power off the circuit. After clearing the fault, the operator powers on the circuit, which generates a set signal, resetting the output state of the first monitoring circuit to its initial state, i.e., no signal output. Since the first monitoring circuit has no signal output, the switch circuit will not be latched into the open state, and the control circuit operates normally.

[0140] Example 11

[0141] This invention provides a circuit control device for a control circuit as described in any of the above technical solutions, the control circuit including an output circuit and a first monitoring circuit. Figure 7A schematic block diagram of a circuit control device 700 according to an embodiment of the present invention is shown. The circuit control device 700 includes a control module 702, which is capable of acquiring the number of level changes of a first signal output by the output circuit monitored by the first monitoring circuit within a preset time period, and keeping the switching circuit in an open state if the number of level changes is greater than or equal to a preset threshold.

[0142] In this technical solution, the control circuit can be the control circuit on the safety board of the robot system. The robot system also includes a controlled device, such as a servo motor. The output end of the control circuit is connected to the controlled device, and the input end of the control circuit is connected to the controller, safety door, stop switch, etc.

[0143] The aforementioned control circuit includes a switching circuit and an output circuit. The switching circuit is located between the output circuit and the controlled device, enabling the control of both circuits to be turned on or off. The output circuit transmits control signals to the controlled device, outputting 24V high and low level signals for control. In the event of an internal fault in the output circuit, the switching circuit will be shut down to protect the downstream controlled device. This off state can be latched; for example, after pressing the emergency stop switch, the switch remains off even after the fault is cleared, until the system is reset. However, under certain conditions, the off state cannot be latched, such as when the robot is in a teach-mode jogging state (pressing a button once triggers an action, and the switch disconnects after each action to stop the machine). In this situation, if there is a fault in the dual outputs, the switching circuit may repeatedly switch on and off over a period of time, causing oscillation in the output circuit and leading to EMC electromagnetic interference problems.

[0144] To address this, this embodiment of the invention includes a first monitoring circuit in the control circuit. This first monitoring circuit monitors the level changes of a first signal in the output circuit. Each time the level of the first signal changes within a preset time period, it is counted, thus accumulating the number of level changes within that preset time period. Further, this number of level changes is compared with a pre-stored preset threshold. If the number of level changes exceeds the preset threshold, it indicates that the switching circuit has been repeatedly switched on and off over a period of time, posing a risk of circuit oscillation. In this case, the first monitoring circuit outputs a second signal, namely a circuit oscillation fault signal. At this time, if the switching circuit is in the off state, the presence of this circuit oscillation fault signal prevents the switching circuit from reopening. If the switching circuit is in the on state, the presence of this circuit oscillation fault signal causes the switching circuit to disconnect. In other words, as long as this circuit oscillation fault signal exists, the disconnected state of the switching circuit is latched, keeping it in the disconnected state.

[0145] It should be noted that the number of level changes includes the number of times a level changes from low to high, or from high to low, or from high to low and then back to high, or from low to high and then back to low; no specific limitation is made here.

[0146] In this embodiment of the invention, by setting a first monitoring circuit, after detecting repeated high and low oscillations of the output level of the output circuit, the output circuit oscillates a fault signal, which latches the open state of the switching circuit, avoids the possibility of continuous oscillation of the output signal, improves the reliability of the circuit, and at the same time improves the EMC electromagnetic interference problem caused by output oscillation.

[0147] Example 12

[0148] In this embodiment, the control module 702 is further configured to acquire the third signal of the first output circuit monitored by the second monitoring circuit and the fourth signal of the second output circuit; when the third signal and the fourth signal are inconsistent, the control switch circuit is turned off; when the third signal and the fourth signal are consistent, the control switch circuit is turned on.

[0149] In this technical solution, the output circuit includes a first output circuit and a second output circuit. That is, the output circuit adopts a dual-channel redundant design for safety output circuits to ensure the safety of the control circuit's control process of the controlled device.

[0150] The control circuit also includes a second monitoring circuit. The first input terminal of this second monitoring circuit is connected to the first output circuit, the second input terminal is connected to the second output circuit, and the output terminal is connected to the switch circuit. This second monitoring circuit is used to diagnose the third signal of the first output circuit and the fourth signal of the second output circuit, and controls the switching circuit based on the diagnostic results. Specifically, if a fault occurs in either the first or second output circuit, causing the two signals to be inconsistent (i.e., one signal is open while the other is normal), the switch circuit is turned off, and the output signal of the output circuit is low. If neither the first nor the second output circuit has a problem, and the two signals are consistent, the switch circuit is turned on, and the output signal of the output circuit is high.

[0151] However, it should be noted that "two signals in sync" includes both signals being normal. In this case, the circuit will function normally after the switch circuit is turned on. However, "two signals in sync" also includes both signals being off. In this case, the second monitoring circuit mistakenly believes that monitoring has returned to normal and reconnects the switched circuit. After the switch circuit is reconnected, because the fault persists, the second monitoring circuit will again turn off the switch circuit due to the inconsistency between the signals from the first and second output circuits. This repeated switching causes circuit oscillation.

[0152] To address the aforementioned issues, this embodiment of the invention, by latching the open state of the switching circuit after determining that the output level of the output circuit has repeatedly oscillated between high and low, can avoid the possibility of the safety output circuit signal in the dual-channel redundant design oscillating continuously, thereby improving the reliability of the circuit and mitigating the EMC electromagnetic interference problem caused by output oscillation.

[0153] Example 13

[0154] In this embodiment, the control module 702 is also used to clear the number of level changes of the first signal within a preset time.

[0155] In this technical solution, the statistical counting of the number of output signal level changes is performed periodically. That is, the number of output signal level changes is monitored within a preset time period. After determining the open / closed state of the switching circuit based on the number of output signal level changes monitored within that preset time period, the number of output signal level changes monitored within that preset time period is cleared, and the accumulation of the number of output signal level changes continues for the next preset time period. For example, if the number of output signal level changes monitored within the current preset time period is less than a preset threshold, the number of output signal level changes monitored within the current preset time period is cleared to zero before accumulating the number of output signal level changes for the next preset time period.

[0156] By using the above-mentioned zeroing method, we do not respond to a small number of level changes caused by occasional interference, that is, we do not accumulate occasional interference, thus avoiding misjudgment due to accumulated occasional interference.

[0157] Example 14

[0158] In this embodiment, the control module 702 is also used to receive a set signal set by the staff; according to the set signal, the output signal of the first monitoring circuit is reset to the initial state, that is, there is no second signal output.

[0159] In this technical solution, after the switch circuit is latched into its open state and remains in that state, it can only be restored after the output circuit is cleared of the fault and the system is reset (i.e., power is restored and the reset button is pressed). Specifically, when the operator discovers a fault, they power off the circuit. After clearing the fault, the operator powers on the circuit, which generates a set signal, resetting the output state of the first monitoring circuit to its initial state, i.e., no signal output. Since the first monitoring circuit has no signal output, the switch circuit will not be latched into the open state, and the control circuit operates normally.

[0160] Example 15

[0161] This invention provides a control system, which includes a control circuit as described in any of the above technical solutions, and a controlled device.

[0162] The control system provided by the present invention includes the control circuit of any of the above-described technical solutions, and therefore the control system includes all the beneficial effects of the control circuit of any of the above-described technical solutions.

[0163] Example 16

[0164] It should be noted that two implementation methods are proposed in the embodiments of the present invention. One method is to use the pure hardware circuit composed of logic gates as described above, without the need for software; the other method is to use programmable circuits, which can be implemented using a readable storage medium.

[0165] 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.

Claims

1. A control circuit, characterized by The control circuit is used to control the controlled device, and the control circuit includes: Switching circuit; An output circuit, wherein the output circuit is connected to the controlled device via the switching circuit; A first monitoring circuit, connected to the output circuit, is used to monitor the number of level changes of a first signal output by the output circuit within a preset time, and output a second signal based on the number of level changes being greater than or equal to a preset threshold. When the first monitoring circuit outputs the second signal, the switching circuit is in the off state; The output circuit includes a first output circuit and a second output circuit connected in parallel. The control circuit also includes: The second monitoring circuit is connected to the switching circuit, the first output circuit and the second output circuit, and is used to monitor the third signal of the first output circuit and the fourth signal of the second output circuit. Specifically, when the first monitoring circuit does not output the second signal, the switching circuit is disconnected and the first signal is at a low level because the third signal is different from the fourth signal. When the third signal is the same as the fourth signal, the switching circuit is turned on and the first signal is at a high level.

2. The control circuit of claim 1, wherein, The switching circuit includes: A first switching circuit is connected between the first output circuit and the controlled device; The second switching circuit is connected between the second output circuit and the controlled device.

3. The control circuit according to claim 1 or 2, characterized in that, The first monitoring circuit is also used to reset the number of level changes of the first signal within the preset time period to zero.

4. The control circuit according to claim 1 or 2, characterized in that, The first monitoring circuit is also configured to not output the second signal in response to the set signal.

5. A circuit control method characterized by, The control circuit used in any one of claims 1 to 4, the circuit control method comprising: The first monitoring circuit monitors the number of times the level of the first signal output by the output circuit changes within a preset time period. Based on the fact that the number of level changes is greater than or equal to a preset threshold, the switching circuit is controlled to be in an open state.

6. The method of claim 5, wherein, Also includes: The second monitoring circuit of the control circuit monitors the third signal of the first output circuit and the fourth signal of the second output circuit of the output circuit. The switch circuit is controlled to open when the third signal is different from the fourth signal, and to open when the third signal is the same as the fourth signal.

7. The method according to claim 5 or 6, characterized in that, Also includes: The number of level changes of the first signal within the preset time period is reset to zero.

8. The method according to claim 5 or 6, characterized in that, Also includes: Obtain the set signal; In response to the set signal, the first monitoring circuit is controlled to reset.

9. A circuit control device, characterized by comprising: For a control circuit as described in any one of claims 1 to 4, the circuit control device comprises: The control module is used to acquire the number of level changes of the first signal output by the output circuit within a preset time period monitored by the first monitoring circuit, and to control the switching circuit to be in the off state based on the number of level changes being greater than or equal to a preset threshold.

10. The apparatus according to claim 9, characterized in that, The control module is further configured to acquire the third signal of the first output circuit of the output circuit and the fourth signal of the second output circuit of the output circuit monitored by the second monitoring circuit of the control circuit, and to control the switch circuit to disconnect based on the fact that the third signal and the fourth signal are different, and to control the switch circuit to turn on based on the fact that the third signal and the fourth signal are the same.

11. The apparatus according to claim 9 or 10, characterized in that, The control module is also used to reset the number of level changes of the first signal within the preset time period to zero.

12. The apparatus according to claim 9 or 10, characterized in that, The control module is also used to acquire a set signal and, in response to the set signal, control the first monitoring circuit to reset.

13. A control system characterized by, include: The control circuit as described in any one of claims 1 to 4; Controlled device.

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