Signal processing method of signal processing system, signal processing system and robot

Abstract

The invention provides a signal processing method of a signal processing system, the signal processing system and a robot. The method comprises the steps that a processor obtains at least two input signals; the processor classifies the input signals according to a preset rule to form at least one signal group, and the signal group comprises at least two input signals; and when the signal group comprises the first signal group, the processor judges whether to perform integrated output on the input signals according to the preset output logic and the level state of the input signals in the first signal group. Firstly, the system receives signals from a sensor or other input equipment, then classifies the signals into different signal groups according to a preset rule, judges whether the input signals need to be integrated or not according to a preset output logic and the level state of the input signals, reduces the requirements for independent output points through integration, and improves the integration processing efficiency. Therefore, the hardware resource consumption of the IO module is reduced.

Description

Technical Field

[0001] The present application relates to the field of industrial automation, and in particular to a signal processing method of a signal processing system, a signal processing system and a robot. Background Art

[0002] In the field of industrial automation, IO points can refer to input points (Input) and output points (Output); input points are points used to receive signals from external devices, such as sensors, buttons or switches, and transmit external signals to the control system, and the control system makes corresponding processing and decisions based on these signals; output points are points used to send signals to external devices, such as actuators, motors, etc., and the output points transmit the decisions of the control system to external devices to perform specific actions or display specific states.

[0003] In traditional industrial robot systems, the IO module at the end of the robot usually needs to process a large number of input and output signals. These signals come from various sensors, buttons, switches or other control devices. With the expansion of production lines and the improvement of the degree of robot automation, the number and complexity of signals also increase, causing the control system to become more complex.

[0004] The IO module used in current robots needs to be equipped with an independent output point for each input point so that the input signal and the output signal correspond to each other. For example, if 8 DI signals are input, 8 DO signals are output accordingly. For another example, if 12 DI signals are input, 12 DO signals are output accordingly. In this way, as the number of input points increases, the number of output points increases significantly, thereby increasing the demand for IO module hardware resources, resulting in the need for more output wiring and other hardware components, which increases the total cost of the robot system.

[0005] Therefore, how to provide a control method capable of integrating output signals is a technical problem that those skilled in the art need to solve urgently. Summary of the invention

[0006] The present application provides a signal processing method of a signal processing system, a signal processing system and a robot to solve the problem of hardware resource consumption of an IO module caused by an excessive number of independent output points.

[0007] In a first aspect, a signal processing method of a signal processing system is provided, wherein the signal processing system comprises n signal input terminals, m signal output terminals, a signal selection mechanism and a processor, wherein n>m, each signal input terminal corresponds to a signal output terminal and each signal output terminal corresponds to at least two signal input terminals, and the processor is used to process a signal inputted from the signal input terminal and output it through the corresponding signal output terminal, wherein the signal processing method of the signal processing system comprises:

[0008] The processor obtains at least two input signals;

[0009] The processor classifies the input signals according to a preset rule to form at least one signal group, wherein the signal group includes at least two input signals;

[0010] When the signal group includes the first signal group, the processor determines whether to integrate and output the input signals according to the preset output logic and the level states of the input signals in the first signal group;

[0011] When the signal group includes the second signal group, the processor determines a target input signal from the second signal group and outputs the target input signal as an output signal.

[0012] Among them, first, the system receives one or more signals from sensors, user inputs or other devices. The signals can be analog, such as temperature or pressure parameters, or digital, such as button press status. The signal input in this step provides a basis for subsequent signal processing; then, according to preset rules, such as the port position of the signal input end and the nature of the signal, the property classification is based on the type of signal, such as digital or analog, the source of the signal, such as a specific sensor, the function of the signal, such as security alarm or performance monitoring, or other characteristics. This classification step allows the signal to be managed more effectively, so that similar or related signals can be grouped, which is convenient for applying specific processing strategies to the signal. Batch processing is performed to improve processing efficiency; finally, in the first signal group, according to the preset output logic, the output logic includes a specific algorithm, formula or processing rule to determine how to extract information from the signal group or how to respond to the signal, and decide whether to perform integrated output according to the level state of the signal. Integrated output refers to combining multiple input signals into one output signal after being processed by a specific logic or algorithm, so as to reduce the number of output points required for the IO module, reduce the demand for IO modules, wiring and other hardware components, and reduce hardware costs; in the second signal group, the required signal can be directly selected in the signal group and output as the final output signal, thereby improving the operability of the system.

[0013] Preferably, the processor classifies the input signal according to a preset rule, including:

[0014] The processor classifies the input signal according to the port location of the signal input terminal through which the input signal passes, or the transmission type of the input signal, or the source of the input signal, or the function of the input signal.

[0015] Among them, the port position of the signal input end has been finalized when the circuit board is designed. Different signal input ends correspond to different signal input rules, so different input signals are input to different signal input ends to adapt to different input rules; the transmission type of the input signal, such as analog signal or digital signal; the source of the input signal, such as a sensor or a device of the same type as the sensor; the function of the input signal, such as security alarm or performance monitoring.

[0016] Preferably, when the signal group includes the first signal group, the processor determines whether to integrate and output the input signals according to the preset output logic and the level state of the input signals in the first signal group, including:

[0017] When the first signal group includes the first sub-signal group, if all input signals in the first sub-signal group are at a high level, the processor integrates all input signals to generate a first group of signals and then outputs them;

[0018] If there is an input signal in the first sub-signal group that is at a low level, the processor does not integrate the input signal and does not output a signal.

[0019] Among them, only when all input signals in the first sub-signal group are at a high level, that is, when all signals are in an active state, a response is made, the integrated output is triggered, and all signals are integrated into one signal output, with fewer output operations, reducing the number of output points required for the IO module and reducing hardware costs; as long as there is an input signal at a low level in the first sub-signal group, that is, when there is a signal in an inactive state among all the signals, the integration operation is not performed and the signal is not output, thereby reducing unnecessary output and reducing the possibility of misoperation.

[0020] Preferably, when the signal group includes the first signal group, the processor determines whether to integrate and output the input signals according to the preset output logic and the level state of the input signals in the first signal group, including:

[0021] When the first signal group includes the second sub-signal group, if there is an input signal of high level in the second sub-signal group, the processor integrates all high-level input signals, generates a second group of signals and then outputs them;

[0022] If all input signals in the second sub-signal group are at a low level, the processor does not integrate the input signals and does not output any signals.

[0023] Among them, as long as there is an input signal of high level in the second sub-signal group, that is, when a signal among all the signals is in an active state, the integrated output is triggered, and the high-level signals are integrated into one signal output, with fewer output operations, reducing the number of output points required for the IO module and reducing hardware costs; only when any input signal in the second sub-signal group is of low level, that is, when all signals are in an inactive state, the integration operation is not performed and the signal is not output, thereby reducing unnecessary output and the possibility of misoperation.

[0024] Preferably, the signal selection mechanism comprises a relay;

[0025] When the signal group includes the second signal group, the processor determines a target input signal from the second signal group and outputs the target input signal as an output signal, including:

[0026] The processor determines a target input signal from the second signal group;

[0027] The processor inputs a trigger signal group to the relay to put the relay in an open state or a closed state, so that the target input signal passes through the relay to the signal output terminal as an output signal.

[0028] Preferably, the signal selection mechanism comprises a mechanical switch;

[0029] When the signal group includes the second signal group, the processor determines a target input signal from the second signal group and outputs the target input signal as an output signal, including:

[0030] The processor determines a target input signal from the second signal group;

[0031] The processor controls the mechanical switch to be in an on state or a off state, so that the target input signal passes through the mechanical switch to the signal output terminal and is output as an output signal.

[0032] Among them, the required signal is selected from the input signals in the second signal group and output as the output signal. In the scheme, it can respond to specific operating conditions or external inputs and only output the signal most relevant to the current state, thereby improving the accuracy and relevance of signal processing; the signal selection mechanism can adopt a relay or a mechanical switch, and by adjusting its own state, a path is formed between the signal input terminal and the signal output terminal to facilitate the selection of different signals for output.

[0033] In a second aspect, a signal processing system is provided, comprising a processor, wherein the processor is configured to execute the signal processing method of the signal processing system provided in the first aspect.

[0034] Preferably, the signal processing system further comprises a power module, a power input terminal and a ground terminal;

[0035] The signal output terminal, power input terminal and ground terminal are arranged on the same side;

[0036] Part of the signal input terminals are arranged on a side opposite to the signal output terminals, and another part of the signal input terminals are arranged on a side opposite to the power module;

[0037] The processor is arranged in a direction close to the power module and the signal output terminal.

[0038] In a third aspect, a robot is provided, comprising a sensing device, an execution device and the signal processing system provided in the second aspect;

[0039] The sensing device is used to collect parameter information of the robot and transmit the parameter information to the execution device through the signal transmission system so that the execution device performs relevant actions.

[0040] Preferably, the signal output end of the signal processing system is connected to the execution device via a twisted pair cable, and the twisted pair cable is located inside the housing of the robot.

[0041] Among them, due to the combined output of signals, the number of signal output ports used is reduced, making wiring simpler and easy to thread inside the robot. No wires are left outside, which improves the neatness of the robot's appearance and meets the customer's demand for a clean space outside the robot.

[0042] According to the specific embodiments provided in this application, the following technical effects are disclosed:

[0043] In the technical solution of the present application, a signal processing method of a signal processing system, a signal processing system and a robot are provided. The signal processing system includes n signal input terminals, m signal output terminals, a signal selection mechanism and a processor, wherein n>m, each signal input terminal corresponds to a signal output terminal and each signal output terminal corresponds to at least two signal input terminals, and the processor is used to process the signal input from the signal input terminal and output it through the corresponding signal output terminal. The signal processing method of the system includes: the processor obtains at least two input signals; the processor classifies the input signals according to preset rules to form at least one signal group, and the signal group includes at least two input signals; when the signal group includes a first signal group, the processor determines whether to integrate and output the input signals according to the preset output logic and the level state of the input signals in the first signal group; when the signal group includes a second signal group, the processor determines the target input signal from the second signal group and outputs the target input signal as the output signal. First, the system receives signals from sensors or other input devices, and then classifies them into different signal groups according to preset rules. For each signal group, the system determines a specific output logic. The design basis involves the priority, processing order or processing algorithm of the input signal. Finally, based on the determined output logic and the level status of the input signal, it determines whether the input signal needs to be integrated. Through integrated processing, the demand for independent output points is reduced, thereby reducing the hardware resource consumption of the IO module. Furthermore, since the number of independent output points used is reduced, wiring becomes simpler, the risk of wiring errors is reduced, and maintenance and management are facilitated. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0045] Figure 1 is a schematic diagram of a circuit board of a signal processing system provided in an embodiment of the present application;

[0046] Figure 2 is a general flow chart of the signal processing method provided in the embodiment of the present application;

[0047] Figure 3 It is one of the flow charts for determining whether to integrate output provided in the embodiment of the present application;

[0048] Figure 4 This is the second flowchart of determining whether to integrate outputs provided in the embodiment of the present application;

[0049] Figure 5It is one of the flow charts of selecting signal output provided in the embodiment of the present application;

[0050] Figure 6 This is the second flow chart of the selection signal output provided in the embodiment of the present application;

[0051] Figure 7 It is a schematic diagram of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0052] The technical solutions in the embodiments of the present application are described clearly and completely below. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments in the present application belong to the scope of protection of the present application.

[0053] In combination with the background technology, it can be known that the IO module used in the current robot needs to be equipped with an independent output point for each input point so that the input signal and the output signal correspond to each other. For example, if 8 DI signals are input, 8 DO signals are output accordingly. For another example, if 12 DI signals are input, 12 DO signals are output accordingly. In this way, as the number of input points increases, the number of output points increases significantly, thereby increasing the demand for IO module hardware resources, resulting in the need for more output wiring and other hardware components, which increases the total cost of the robot system.

[0054] In order to solve one or more of the above problems, the present application aims to provide a signal processing method, a signal processing system and a robot for a signal processing system, in which the input signals are integrated and processed, reducing the need for the use of independent output points, thereby reducing the hardware resource consumption of the IO module. Furthermore, since the number of independent output points used is reduced, wiring becomes simpler, the risk of wiring errors is reduced, and maintenance and management are facilitated.

[0055] Embodiment 1

[0056] Embodiment 1 of the present application provides a signal processing system, including n signal input terminals, m signal output terminals, a signal selection mechanism and a processor, wherein n>m, each signal input terminal corresponds to a signal output terminal and each signal output terminal corresponds to at least two signal input terminals, and the processor is used to process the signal inputted by the signal input terminal and output it through the corresponding signal output terminal. Specifically, the signal processing system also includes a power supply module, a power supply input terminal and a ground terminal; the signal output terminal, the power supply input terminal and the ground terminal are arranged on the same side; part of the signal input terminal is arranged on the side opposite to the signal output terminal, and another part of the signal input terminal is arranged on the side opposite to the power supply module; the processor is arranged in the direction close to the power supply module and the signal output terminal.

[0057] In some embodiments of the present application, the signal processing system is an IO system, and various functional modules and ports are integrated and arranged on a circuit board. Figure 1 The circuit board schematic diagram of the signal processing system shown in the figure, the system integrates a processor 10, a power module 20, a first signal selection mechanism 30, and a second signal selection mechanism (not shown in the figure), which has signal input terminals (1 to 9), signal output terminals (A to E), a power input terminal 11, a ground terminal 12, and a trigger port 13. The AND logic is used between the signal input terminal 1 and the signal input terminal 2. When the input signals of the two ports are both high potential, the two input signals are integrated by the processor 10 to generate a group signal, and are output through the signal output terminal A. The AND logic is used between the signal input terminal 3 and the signal input terminal 4. When the input signals of the two ports are both high potential, the two input signals are integrated by the processor 10 to generate a group signal, and are output through the signal output terminal B. The OR logic is used between the signal input terminal 6 and the signal input terminal 7. When one of the input signals of the two ports is high potential, the two input signals are integrated by the processor 10 to generate a group signal, and are output through the signal output terminal C. When signals are inputted simultaneously at the signal input terminal 5 and the signal input terminal 8, if the processor 10 selects the signal passing through the signal input terminal 5, a trigger signal is inputted to the first signal selection mechanism 30 through the trigger port 13, so that the first signal selection mechanism 30 is opened, a path is formed between the signal input terminal 5 and the signal output terminal D, and the signal passing through the signal input terminal 5 is outputted; if the processor 10 selects the signal passing through the signal input terminal 8, a trigger signal is inputted to the first signal selection mechanism 30 through the trigger port 13, so that the first signal selection mechanism 30 is closed, a path is formed between the signal input terminal 8 and the signal output terminal D, and the signal passing through the signal input terminal 8 is outputted. The signal input terminal 9 is of the same type as the signal input terminal 8 and the two can be replaced, but the signal input terminal 9 is connected to the second signal selection mechanism, and the signal is output through the signal output terminal E; when the signal input terminal 5 and the signal input terminal 9 input signals at the same time, if the processor 10 selects the signal passing through the signal input terminal 5, a trigger signal is input to the second signal selection mechanism through the trigger port 13, so that the second signal selection mechanism is opened, a path is formed between the signal input terminal 5 and the signal output terminal E, and the signal passing through the signal input terminal 5 is output; if the processor 10 selects the signal passing through the signal input terminal 9, a trigger signal is input to the second signal selection mechanism through the trigger port 13, so that the second signal selection mechanism is closed, a path is formed between the signal input terminal 9 and the signal output terminal E, and the signal passing through the signal input terminal 9 is output.

[0058] Among them, the signal input terminal (1 to 7) is arranged on the upper side of the circuit board, the power module 20 is arranged on the lower side of the circuit board, the signal output terminal (A to E), the power input terminal 11, the ground terminal 12 and the trigger port 13 are arranged on the left side of the circuit board, the signal input terminal (8 to 9) is arranged on the right side of the circuit board, the first control mechanism 30 is arranged on the left side of the signal input terminal 8, and the processor is arranged on the left side of the center of the circuit board.

[0059] It should be noted that the two signals are integrated into a group signal, and the group signal contains the features of the original two signals to simplify signal transmission, thereby reducing the excessive occupancy of the signal output end of the IO system and reducing the number of signal lines. Specifically, the steps of integrating the signals are as follows: first, extract the features of each original signal, and the features include the amplitude, frequency, phase and duration of the signal, as well as possible derivative features, such as the energy, waveform and complexity of the signal; then use an algorithm to integrate the features of the two signals, such as using time multiplexing. If the two signals are separated in time, the features of the two signals are merged into a group of signals by time division. For example, frequency domain multiplexing is used to convert the two signals to the frequency domain, and different frequency bandwidths are selected to carry different signal features. For example, a specific coding scheme is used to integrate signal features. The above embodiments of the present application use a digital logic combination method to integrate digital signals through logical operations (AND, OR, XOR, etc.).

[0060] In some embodiments of the present application, the first signal selection mechanism is a relay, and the second signal selection mechanism is a mechanical switch or an adjustment member with a movable terminal.

[0061] In some embodiments of the present application, the power module outputs a 24V voltage, the power input terminal 11 inputs a 24V voltage, and the ground terminal 12 is grounded.

[0062] Embodiment 2

[0063] Embodiment 2 of the present application provides a robot based on Embodiment 1, including a sensing device, an execution device and the signal processing system provided in Embodiment 1; the sensing device is used to collect parameter information of the robot, and transmit the parameter information to the execution device through the signal transmission system, so that the execution device performs related actions.

[0064] Preferably, the signal output end of the signal processing system is connected to the execution device via a twisted pair cable, and the twisted pair cable is located inside the housing of the robot.

[0065] Among them, the original robot has a one-to-one setting of the signal input terminal and the signal output terminal, and the wiring is complicated, and it is often necessary to run wires outside the robot. In this embodiment, the combined output of signals is used to reduce the number of signal output ports used, making the wiring simpler and easy to thread the wires inside the robot. No wires are left outside, which improves the neatness of the robot's appearance and meets the customer's demand for a clean space on the robot's external site.

[0066] In some embodiments of the present application, the twisted pair cable is a single eight-core cable.

[0067] Embodiment 3

[0068] Embodiment 3 of the present application provides a signal processing method of a signal processing system, wherein the signal processing system includes n signal input terminals, m signal output terminals, a signal selection mechanism, and a processor, wherein n>m, each signal input terminal corresponds to a signal output terminal and each signal output terminal corresponds to at least two signal input terminals, and the processor is used to process the signal input terminal and output it through the corresponding signal output terminal, reference Figure 2 The overall flow chart of the signal processing method shown in the figure, the signal processing method of the signal processing system includes:

[0069] S10: The processor obtains at least two input signals;

[0070] S20: The processor classifies the input signals according to a preset rule to form at least one signal group, where the signal group includes at least two input signals;

[0071] S30: When the signal group includes the first signal group, the processor determines whether to integrate and output the input signals according to the preset output logic and the level states of the input signals in the first signal group;

[0072] S40: When the signal group includes the second signal group, the processor determines a target input signal from the second signal group, and outputs the target input signal as an output signal.

[0073] Among them, first, the system receives one or more signals from sensors, user inputs or other devices. The signals can be analog, such as temperature or pressure parameters, or digital, such as button press status. The signal input in this step provides a basis for subsequent signal processing; then, according to preset rules, such as the port position of the signal input end and the nature of the signal, the property classification is based on the type of signal, such as digital or analog, the source of the signal, such as a specific sensor, the function of the signal, such as security alarm or performance monitoring, or other characteristics. This classification step allows the signal to be managed more effectively, so that similar or related signals can be grouped, which is convenient for applying specific processing strategies to the signal. Batch processing is performed to improve processing efficiency; finally, in the first signal group, according to the preset output logic, the output logic includes a specific algorithm, formula or processing rule to determine how to extract information from the signal group or how to respond to the signal, and decide whether to perform integrated output according to the level state of the signal. Integrated output refers to combining multiple input signals into one output signal after being processed by a specific logic or algorithm, so as to reduce the number of output points required for the IO module, reduce the demand for IO modules, wiring and other hardware components, and reduce hardware costs; in the second signal group, the required signal can be directly selected in the signal group and output as the final output signal, thereby improving the operability of the system.

[0074] Preferably, the processor classifies the input signal according to a preset rule, including:

[0075] The processor classifies the input signal according to the port location of the signal input terminal through which the input signal passes, or the transmission type of the input signal, or the source of the input signal, or the function of the input signal.

[0076] In some embodiments of the present application, the number of input signals is at least two, the number of signal groups is at least one, the basis for classifying the input signals is the function of the input signals, and the calculation logic is AND or logic. When the number of input signals in the first signal group is two, and it is determined according to the AND or logic that the level states of the two input signals meet the requirements, the input signals are integrated to generate a group signal and then output.

[0077] Preferably, reference Figure 3 One of the flowcharts for determining whether to integrate output is shown, S30: when the signal group includes the first signal group, the processor determines whether to integrate the input signal for output according to the preset output logic and the level state of the input signal in the first signal group, including:

[0078] S300: When the first signal group includes a first sub-signal group, if all input signals in the first sub-signal group are at a high level, the processor integrates all input signals to generate a first group of signals and then outputs the generated signals;

[0079] S310: If there is an input signal in the first sub-signal group that is at a low level, the processor does not integrate the input signal and does not output a signal.

[0080] Among them, only when all input signals in the first sub-signal group are at a high level, that is, when all signals are in an active state, a response is made, the integrated output is triggered, and all signals are integrated into one signal output, with fewer output operations, reducing the number of output points required for the IO module and reducing hardware costs; as long as there is an input signal at a low level in the first sub-signal group, that is, when there is a signal in an inactive state among all the signals, the integration operation is not performed and the signal is not output, thereby reducing unnecessary output and reducing the possibility of misoperation.

[0081] It should be noted that the high level is 3.3V to 5V, and the low level is 0V to 0.25V.

[0082] Preferably, reference Figure 4 The second flowchart of determining whether to integrate output is shown, S30: when the signal group includes the first signal group, the processor determines whether to integrate the input signal for output according to the preset output logic and the level state of the input signal in the first signal group, including:

[0083] S320: When the first signal group includes the second sub-signal group, if there is an input signal of high level in the second sub-signal group, the processor integrates all high-level input signals to generate a second group of signals and then outputs them;

[0084] S330: If all input signals in the second sub-signal group are at a low level, the processor does not integrate the input signals and does not output any signals.

[0085] Among them, as long as there is an input signal of high level in the second sub-signal group, that is, when a signal among all the signals is in an active state, the integrated output is triggered, and the high-level signals are integrated into one signal output, with fewer output operations, reducing the number of output points required for the IO module and reducing hardware costs; only when any input signal in the second sub-signal group is of low level, that is, when all signals are in an inactive state, the integration operation is not performed and the signal is not output, thereby reducing unnecessary output and the possibility of misoperation.

[0086] Preferably, the signal selection mechanism comprises a relay;

[0087] refer to Figure 5 One of the flowcharts of selecting signal output shown in FIG. 1, S40: when the signal group includes the second signal group, the processor determines a target input signal from the second signal group and outputs the target input signal as an output signal, including:

[0088] S400: The processor determines a target input signal from the second signal group;

[0089] S410: The processor inputs a trigger signal group to the relay, so that the relay is in an open state or a closed state, so that the target input signal passes through the relay to the signal output terminal as an output signal.

[0090] Preferably, the signal selection mechanism comprises a mechanical switch;

[0091] refer to Figure 6 The second flowchart of selecting signal output shown in FIG. 40: when the signal group includes the second signal group, the processor determines the target input signal from the second signal group and outputs the target input signal as the output signal, including:

[0092] S420: The processor determines a target input signal from the second signal group;

[0093] S430: The processor controls the mechanical switch to be in an on state or a off state, so that the target input signal passes through the mechanical switch to the signal output terminal as an output signal.

[0094] Among them, the required signal is selected from the input signals in the second signal group and output as the output signal. In the scheme, it can respond to specific operating conditions or external inputs and only output the signal most relevant to the current state, thereby improving the accuracy and relevance of signal processing; the signal selection mechanism can adopt a relay or a mechanical switch, and by adjusting its own state, a path is formed between the signal input terminal and the signal output terminal to facilitate the selection of different signals for output.

[0095] Embodiment 4

[0096] Embodiment 4 of the present application provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable in the processor. The processor executes the computer program to implement the signal processing method of the signal processing system provided in Embodiment 3.

[0097] Among them, reference Figure 7 The schematic diagram of the electronic device shown in the figure exemplarily shows the electronic device of this embodiment, which may specifically include a processor 1510, a video display adapter 1511, a disk drive 1512, an input / output interface 1513, a network interface 1514, and a memory 1520. The processor 1510, the video display adapter 1511, the disk drive 1512, the input / output interface 1513, the network interface 1514, and the memory 1520 may be communicatively connected via a communication bus 1530.

[0098] Among them, the processor 1510 can be implemented by a general-purpose CPU (Central Processing Unit), a microprocessor, an application-specific integrated circuit (Application Specific Integrated Circuit, ASIC), or one or more integrated circuits, and is used to execute relevant programs to implement the technical solution provided in this application.

[0099] The memory 1520 can be implemented in the form of ROM (Read Only Memory), RAM (Random Access Memory), static storage device, dynamic storage device, etc. The memory 1520 can store an operating system 1521 for controlling the operation of the computer device and a basic input and output system 1522 for controlling the low-level operation of the computer device. In addition, a web browser 1523, a data storage management system 1524, and a device identification information processing system 1525, etc. can also be stored. The above-mentioned device identification information processing system 1525 can be an application program that specifically implements the operations of the aforementioned steps in the embodiment of the present application. In short, when the technical solution provided by the present application is implemented by software or firmware, the relevant program code is stored in the memory 1520 and is called and executed by the processor 1510.

[0100] The input / output interface 1513 is used to connect the input / output module to realize information input and output. The input / output module can be configured in the device as a component (not shown in the figure), or it can be externally connected to the device to provide corresponding functions. The input device may include a keyboard, a mouse, a touch screen, a microphone, various sensors, etc., and the output device may include a display, a speaker, a vibrator, an indicator light, etc.

[0101] The network interface 1514 is used to connect to a communication module (not shown) to realize communication interaction between the device and other devices. The communication module can realize communication through a wired mode (such as USB, network cable, etc.) or a wireless mode (such as mobile network, WIFI, Bluetooth, etc.).

[0102] The communication bus 1530 comprises a pathway for transmitting information between the various components of the device (eg, the processor 1510, the video display adapter 1511, the disk drive 1512, the input and output interface 1513, the network interface 1514, and the memory 1520).

[0103] In addition, the device can also obtain information on specific collection conditions from a virtual resource object collection condition information database for use in condition judgment, and so on.

[0104] It should be noted that, although the above device only shows a processor 1510, a video display adapter 1511, a disk drive 1512, an input and output interface 1513, a network interface 1514, a memory 1520, a communication bus 1530, etc., in the specific implementation process, the device may also include other components necessary for normal operation. In addition, it can be understood by those skilled in the art that the above device may also only include components necessary for implementing the solution of the present application, and does not necessarily include all the components shown in the figure.

[0105] Embodiment 5

[0106] Embodiment 5 of the present application further provides a computer-readable storage medium on which a computer program is stored. When the computer program is executed by a processor, the signal processing method of the signal processing system provided in the above embodiment 3 is implemented.

[0107] It can be known from the description of the above implementation methods that those skilled in the art can clearly understand that the present invention can be implemented by means of software plus a necessary general hardware platform. Based on such an understanding, the technical solution of the present invention is essentially or the part that contributes to the prior art can be embodied in the form of a software product, and the computer software product can be stored in a storage medium, such as ROM / RAM, a magnetic disk, an optical disk, etc., including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods of various embodiments of the present invention or certain parts of the embodiments.

[0108] The technical solution provided by the present application is described in detail above. The principle and implementation method of the present application are described in detail using specific examples. The description of the above embodiments is only used to help understand the method and core idea of ​​the present application. At the same time, for those skilled in the art, according to the idea of ​​the present application, there will be changes in the specific implementation method and application scope. In summary, the content of this specification should not be understood as limiting the present application.

Claims

1. A signal processing method of a signal processing system, the signal processing system comprising n signal input terminals, m signal output terminals, a signal selection mechanism and a processor, wherein n>m, each signal input terminal corresponds to a signal output terminal and each signal output terminal corresponds to at least two signal input terminals, the processor is used to process the signal input terminal and output it through the corresponding signal output terminal, characterized in that: The signal processing method of the signal processing system comprises: The processor acquires at least two input signals; The processor classifies the input signals according to a preset rule to form at least one signal group, wherein the signal group includes at least two of the input signals; When the signal group includes the first signal group, the processor determines whether to integrate and output the input signal according to a preset output logic and a level state of the input signal in the first signal group; When the signal group includes the second signal group, the processor determines a target input signal from the second signal group and outputs the target input signal as an output signal.

2. The signal processing method of the signal processing system according to claim 1, characterized in that: The processor classifies the input signal according to a preset rule, including: The processor classifies the input signal according to the port position of the signal input end through which the input signal passes, or the transmission type of the input signal, or the source of the input signal, or the function of the input signal.

3. The signal processing method of the signal processing system according to claim 1, characterized in that: When the signal group includes the first signal group, the processor determines whether to integrate and output the input signal according to a preset output logic and a level state of the input signal in the first signal group, including: When the first signal group includes a first sub-signal group, if all input signals in the first sub-signal group are at a high level, the processor integrates all the input signals to generate a first group of signals and then outputs the generated signals; If there is an input signal in the first sub-signal group that is at a low level, the processor does not integrate the input signal and does not output a signal.

4. The signal processing method of the signal processing system according to claim 1, characterized in that: When the signal group includes the first signal group, the processor determines whether to integrate and output the input signal according to a preset output logic and a level state of the input signal in the first signal group, including: When the first signal group includes a second sub-signal group, if there is an input signal of a high level in the second sub-signal group, the processor integrates all the input signals of the high level, generates a second group of signals and then outputs them; If all input signals in the second sub-signal group are at a low level, the processor does not integrate the input signals and does not output any signal.

5. The signal processing method of the signal processing system according to claim 1, characterized in that: The signal selection mechanism includes a relay; When the signal group includes a second signal group, the processor determines a target input signal from the second signal group and outputs the target input signal as an output signal, comprising: The processor determines a target input signal from the second signal group; The processor inputs a trigger signal group to the relay to put the relay in an open state or a closed state, so that the target input signal passes through the relay to the signal output end as an output signal.

6. The signal processing method of the signal processing system according to claim 1, characterized in that: The signal selection mechanism includes a mechanical switch; When the signal group includes a second signal group, the processor determines a target input signal from the second signal group and outputs the target input signal as an output signal, comprising: The processor determines a target input signal from the second signal group; The processor controls the mechanical switch to be in an on state or a off state, so that the target input signal passes through the mechanical switch to the signal output end and is output as an output signal.

7. A signal processing system, characterized in that: The signal processing system comprises a processor, and the processor is used to execute the signal processing method of the signal processing system according to any one of claims 1 to 6.

8. The signal processing system according to claim 7, characterized in that: The signal processing system also includes a power module, a power input terminal and a ground terminal; The signal output terminal, the power input terminal and the ground terminal are arranged on the same side; Part of the signal input terminals are arranged on a side opposite to the signal output terminals, and another part of the signal input terminals are arranged on a side opposite to the power module; The processor is arranged in a direction close to the power module and the signal output end.

9. A robot, characterized in that: The robot comprises a sensing device, an execution device and a signal processing system as claimed in any one of claims 7 to 8; The sensing device is used to collect parameter information of the robot, and transmit the parameter information to the execution device through the signal transmission system, so that the execution device performs relevant actions.

10. The robot according to claim 9, characterized in that: The signal output end of the signal processing system is connected to the execution device through a twisted pair cable, and the twisted pair cable is located in the shell of the robot.

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