Robot connector-oriented anti-interference signal transmission method

Abstract

The invention relates to the technical field of anti-interference signal transmission, in particular to an anti-interference signal transmission method for a robot connector, and the method comprises the steps: analyzing the cross correlation between a common-mode voltage signal and a differential voltage signal, and the change condition of the common-mode voltage signal, determining the interference conversion accumulation degree of the robot connector, and determining the interference conversion accumulation degree of the robot connector; determining a distortion accumulation risk value; and on the basis of the change condition of the common-mode voltage signal at each moment and in combination with the distortion accumulation risk value, determining a compensation current at each moment so as to suppress the coupling of the common-mode voltage signal of the robot connector to the differential voltage signal. The problem of signal distortion caused by insufficient common-mode rejection capability of the robot connector in a strong electromagnetic interference environment is solved, conversion from common-mode interference to differential-mode interference is suppressed through dynamic monitoring and real-time compensation current generation, and the stability and anti-interference capability of signal transmission are improved.

Description

Technical Field

[0001] This application relates to the field of anti-interference signal transmission technology, specifically to an anti-interference signal transmission method for robot connectors. Background Technology

[0002] In modern factory workshops, industrial robots typically perform high-precision, repetitive, and labor-intensive tasks such as welding, assembly, and material handling. However, the factory floor is densely populated with high-power motors, frequency converters, and other electronic devices that generate strong electromagnetic interference. The electromagnetic waves emitted by these appliances can penetrate the robot's connectors and signal lines, rendering the robot unable to execute commands, leading to erratic movement or even accidents. With increasing demands for automation, differential signal transmission is being added to the connector interfaces between the robot and the outside world to suppress common-mode effects, ensure signal integrity and error detection, and provide immunity to strong electric and magnetic fields surrounding the robot's connector signal transmission.

[0003] In environments with strong electromagnetic interference, the strong electromagnetic fields generated by different devices will simultaneously produce interference voltages on the signal lines of the robot connector. If the common-mode rejection capability of the receiving circuit at the interface of the industrial robot connector is insufficient, it will be unable to effectively suppress the generated interference voltages. The common-mode voltage will be converted into differential-mode voltage at the receiving end, which will affect the effectiveness of the differential signal, resulting in severe distortion of the signal waveform and reducing the stability and anti-interference capability of the robot connector's signal transmission. Summary of the Invention

[0004] To address the aforementioned technical problems, this application provides an anti-interference signal transmission method for robot connectors, thereby resolving the existing issues.

[0005] The anti-interference signal transmission method for robot connectors proposed in this application adopts the following technical solution: One embodiment of this application provides an anti-interference signal transmission method for robot connectors, the method comprising the following steps: Obtain the common-mode voltage and differential voltage of the robot connector at all previous times, and form the common-mode voltage signal and differential voltage signal at each time. A set of identical observation windows is set for the common-mode voltage signal and differential voltage signal at each time point. By analyzing the cross-correlation between the common-mode voltage signal and differential voltage signal at each observation window, the local correlation degree within each observation window at each time point is determined. Based on the changes in the common-mode voltage signal within each observation window, the local variability degree within each observation window is determined. Combined with the local correlation degree, the interference conversion accumulation degree of the robot connector at each time point is determined. Modal decomposition is performed on the interference conversion cumulative degree of the robot connector at all times prior to each time step. Based on the energy distribution of each modal component, the interference distribution characteristic value of the robot connector at each time step is determined. By analyzing the change intensity of the interference conversion cumulative degree of the robot connector at all times prior to each time step, the interference intensity characteristic value of the robot connector at each time step is determined. Combined with the interference distribution characteristic value, the distortion cumulative risk value of the robot connector at each time step is determined. Based on the distribution of local variability within all observation windows at each time point, the envelope characteristic value at each time point is determined, and combined with the cumulative distortion risk value, the compensation current at each time point is determined to suppress the coupling of the common-mode voltage signal of the robot connector to the differential voltage signal.

[0006] Preferably, the local correlation within each observation window at each time point is the cross-correlation coefficient between the common-mode voltage signal and the differential voltage signal within each observation window at each time point.

[0007] Preferably, the local variability within each observation window is the instantaneous envelope peak value obtained by applying the Hilbert transform algorithm to the common-mode voltage signal within each observation window.

[0008] Preferably, the expression for the interference conversion cumulative degree of the robot connector at each time point is: In the formula, This represents the cumulative interference conversion of the robot connector at time i. , represents the local correlation and local variability within the observation window n at time i, respectively; N represents the total number of observation windows.

[0009] Preferably, the method for determining the interference distribution characteristic values ​​of the robot connector at each time point is as follows: The energy entropy of each modal component is obtained by calculating the cumulative degree of interference transformation at all previous times. The mean of the energy entropy of all modal components is used as the characteristic value of the interference distribution of the robot connector at each time.

[0010] Preferably, the method for determining the interference intensity characteristic value of the robot connector at each time point is as follows: The cumulative disturbance transformation degree of all previous times is used as the input of the wavelet transform algorithm, and the multi-scale ridge integral of the output is used as the disturbance intensity feature value of the robot connector at each time step.

[0011] Preferably, the cumulative distortion risk value of the robot connector at each time point is the result of positive fusion of the interference distribution characteristic value and the interference intensity characteristic value of the robot connector at each time point.

[0012] Preferably, the envelope feature value at each time step is the maximum value among all local variability values ​​within all observation windows at each time step.

[0013] Preferably, the expression for the compensation current at each time point is: In the formula, This represents the compensation current at time t; This represents the cumulative distortion risk value of the robot connector at time t; represents the envelope eigenvalue at time t; norm[ ] represents the normalization function; sin() represents the sine function.

[0014] Preferably, the method for suppressing the coupling of the common-mode voltage signal to the differential voltage signal of the robot connector includes: The compensation current at each time point is input to the compensation terminal of the robot connector shielding layer to suppress the coupling of the common-mode voltage signal of the robot connector to the differential voltage signal.

[0015] This application has at least the following beneficial effects: This application analyzes the local correlation and local variability of common-mode and differential voltage signals through a dynamic observation window, constructs an interference conversion accumulation degree, quantifies the risk of common-mode interference converting to differential-mode interference, and effectively assesses the instantaneous anti-interference capability of industrial robot connectors under complex electromagnetic and mechanical vibration coupling conditions, thereby timely identifying the risk of differential voltage signal distortion and runaway. Furthermore, this application performs mode decomposition and multi-scale analysis on the interference conversion accumulation degree to extract interference distribution and intensity characteristic values, and fuses them to construct a distortion accumulation risk value, thereby assessing the industrial robot connector's performance under complex electromagnetic and mechanical vibration coupling conditions in real time. The vulnerability of anti-interference capability and signal distortion risk under working conditions provide a basis for dynamic early warning and intervention for robot connectors, effectively improving the anti-interference performance and operational stability of robot connectors. In summary, this application achieves coordinated control of macroscopic protocol switching and microscopic active compensation by dynamically monitoring common-mode and differential voltage signals, evaluating the cumulative degree of interference conversion and the risk of distortion accumulation in real time, and generating in-frequency and out-of-phase compensation current by combining envelope characteristic values. This effectively suppresses the conversion of common-mode to differential-mode interference of industrial robot connectors under strong electromagnetic and mechanical vibration coupling conditions, and improves the stability and anti-interference capability of robot connector transmission signals. Attached Figure Description

[0016] To more clearly illustrate the technical solutions and advantages in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0017] Figure 1 A flowchart illustrating the steps of an anti-interference signal transmission method for robot connectors, provided as an embodiment of this application; Figure 2 This is a schematic diagram illustrating the process of extracting cumulative distortion risk value according to an embodiment of this application. Detailed Implementation

[0018] To further illustrate the technical means and effects adopted by this application to achieve the intended purpose of the invention, the following, in conjunction with the accompanying drawings and preferred embodiments, details the specific implementation, structure, features, and effects of an anti-interference signal transmission method for robot connectors proposed according to this application. In the following description, different "one embodiment" or "another embodiment" do not necessarily refer to the same embodiment. Furthermore, specific features, structures, or characteristics in one or more embodiments can be combined in any suitable form.

[0019] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains.

[0020] The following description, in conjunction with the accompanying drawings, details a specific scheme for an anti-interference signal transmission method for robot connectors provided in this application.

[0021] This application provides an embodiment of an anti-interference signal transmission method for robot connectors. Specifically, it provides the following anti-interference signal transmission method for robot connectors. Please refer to [link to relevant documentation]. Figure 1 The method includes the following steps: Step S1: Obtain the common-mode voltage and differential voltage of the robot connector at all previous times, and form the common-mode voltage signal and differential voltage signal at each time.

[0022] High-precision differential voltage probes are installed on both the positive and negative signal lines of the differential signal channel at the receiving end of the robot connector to synchronously acquire the original positive and negative voltages, thereby capturing millisecond-level dynamic interference.

[0023] The positive and negative voltages in the differential signal channel of the robot connector receiver are acquired in real time. The data acquisition frequency is set to f. Based on the positive and negative voltages, the common-mode voltage and differential voltage at each moment are determined. Specifically: Common-mode voltage at time k The expression is: In the formula, Represents the positive voltage at time k. This represents the negative electrode voltage at time k.

[0024] Differential voltage at time k The expression is: .

[0025] Therefore, the common-mode voltage and differential voltage of the robot and the machine at all previous times are used to form the common-mode voltage signal and differential voltage signal at each time point.

[0026] It should be noted that the data acquisition frequency f is set manually. In this embodiment, the data acquisition frequency f is 1kHz. In actual applications, as other implementation methods, implementers can also set it according to specific circumstances. This embodiment does not impose any special restrictions.

[0027] Step S2: Set up a set of identical observation windows for the common-mode voltage signal and differential voltage signal at each time point. By analyzing the cross-correlation between the common-mode voltage signal and differential voltage signal at each observation window, determine the local correlation degree within each observation window at each time point. Based on the changes in the common-mode voltage signal within each observation window, determine the local variability degree within each observation window. Combined with the local correlation degree, determine the interference conversion accumulation degree of the robot connector at each time point.

[0028] In industrial environments, high-power equipment generates strong common-mode interference voltages during operation. This interference is coupled into the differential signal lines through robot connectors. Traditional static common-mode rejection ratios (CMRR) cannot accurately reflect the actual anti-interference capability under dynamic operating conditions, causing the common-mode voltage at the receiving end to be converted into differential-mode interference, which in turn causes signal waveform distortion. Furthermore, during rapid robot movement, mechanical vibrations can cause minute deformations in the connector cable shielding layer, resulting in millisecond-level grounding impedance fluctuations. These imperceptible changes can suddenly lead to a significant drop in anti-interference performance when the common-mode rejection capability reaches its limit or when encountering strong interference, even exceeding the detection range of the monitoring system, ultimately causing more severe signal distortion.

[0029] Therefore, to address the issues of strong common-mode interference transforming into differential-mode interference and the limiting interference caused by dynamic changes in grounding impedance, this embodiment sets up an identical set of observation windows for the common-mode and differential voltage signals at each time point. It analyzes the cross-correlation between the common-mode and differential voltage signals within each observation window, determines the local correlation within each observation window at each time point, and determines the local variability within each observation window based on the changes in the common-mode voltage signal within each observation window. Combined with the local correlation, it determines the interference conversion accumulation degree of the robot connector at each time point to evaluate the anti-interference capability of the robot connector at all previous time points. The specific process is as follows: In this embodiment, firstly, by setting an identical set of observation windows for the common-mode voltage signal and the differential voltage signal at each time point, the cross-correlation between the common-mode voltage signal and the differential voltage signal under each observation window is analyzed to determine the local correlation within each observation window at each time point. Specifically: An observation window is set for the common-mode voltage signal at each time step. Similarly, the same observation window is set for the differential voltage signal. The cross-correlation coefficient between the common-mode voltage signal and the differential voltage signal within each observation window is calculated as the local correlation coefficient within each observation window at each time step. This coefficient is used to characterize the degree of instantaneous linear coupling between the common-mode voltage signal and the differential voltage signal. If the local correlation coefficient within the current observation window is larger, it indicates a stronger degree of conversion of common-mode interference to differential interference. Since the common-mode interference has not been effectively suppressed and has been converted into differential-mode interference, the positive and negative signals of the differential voltage signal are no longer symmetrical, resulting in waveform distortion. Consequently, the differential signal transmission function of the robot connector fails due to signal distortion and cannot perform its anti-interference function. Conversely, if the local correlation coefficient within the current observation window is smaller, it indicates a weaker degree of conversion of common-mode interference to differential interference. Since the common-mode interference has been effectively suppressed and has not been converted into differential-mode interference, the positive and negative signals of the differential voltage signal remain symmetrical and the waveform is complete. This allows the differential signal transmission function of the robot connector to function normally and effectively maintain its anti-interference capability.

[0030] It should be noted that the specific process for setting the observation window is as follows: Assume the mathematical representation of the common-mode voltage signal is... The mathematical representation of the differential voltage signal is as follows: In this embodiment, the length of the observation window is set to 5ms. The observation window starts from the first moment of the common-mode voltage signal and the differential voltage signal according to the step size L. , The movement begins, and in this embodiment, the step size L is set to 1. The entire common-mode voltage signal is traversed to obtain all observation windows.

[0031] The method for calculating the cross-correlation coefficient is a well-known technique, and its specific calculation process will not be elaborated here.

[0032] Furthermore, this embodiment determines the local variability within each observation window based on the changes in the common-mode voltage signal within each observation window, specifically as follows: In the common-mode signal at each time point, the common-mode voltage signal within each observation window is used as the input to the Hilbert transform algorithm. The output is the instantaneous envelope peak value of the common-mode voltage signal within each observation window. The instantaneous envelope peak value is used as the local variability of each observation window to characterize the extreme interference impact experienced by the robot connector. It reflects the maximum instantaneous intensity of the common-mode voltage signal. If the instantaneous envelope peak value of the common-mode voltage signal within the current observation window is larger, the local variability is larger, indicating that the robot connector is subjected to a high interference intensity in a short period of time, which may lead to insufficient common-mode rejection capability of the robot connector. Conversely, if the instantaneous envelope peak value of the common-mode voltage signal within the current observation window is smaller, the local variability is smaller, indicating that the robot connector is subjected to a low interference intensity in a short period of time, and the common-mode rejection capability of the robot connector is sufficient to cope with the current interference.

[0033] The Hilbert transform algorithm is a well-known technique, and the specific process of obtaining the instantaneous envelope peak using it will not be elaborated here.

[0034] Furthermore, this embodiment determines the cumulative interference conversion of the robot connector at each time step based on the local correlation and local variability within each observation window, specifically as follows: As one implementation method, in this embodiment, the interference conversion cumulative degree of the robot connector at time i is... The expression is: In the formula, This represents the cumulative interference conversion of the robot connector at time i. , represents the local correlation and local variability within the observation window n at time i, respectively; N represents the total number of observation windows.

[0035] Based on the interference conversion cumulative degree of the robot connector at each time point, it can be understood that the interference conversion cumulative degree reflects the cumulative risk of common-mode interference converting into differential-mode interference. It represents the risk of differential signal distortion and loss of control of the robot connector under dynamic interference conditions. The greater the local correlation within the observation window at the current time point, the more likely that the common-mode interference has not been effectively suppressed. The common-mode interference is converted into differential-mode interference, which causes the positive and negative signals of the differential voltage signal to become asymmetrical and the waveform to be distorted. Consequently, the differential signal transmission function of the robot connector fails due to signal distortion. Therefore, the corresponding interference conversion cumulative degree is relatively large. At the same time, if the local variability within the observation window at the current time point is greater, it indicates that the interference intensity that the robot connector is subjected to in a short period of time is high, which may lead to insufficient common-mode suppression capability of the robot connector. The corresponding interference conversion cumulative degree is also relatively large. Conversely, if the local correlation within the observation window at the current moment is smaller, it indicates that common-mode interference is effectively suppressed, the conversion degree of common-mode interference to differential-mode interference is low, the positive and negative signals of the differential voltage signal remain symmetrical and the waveform is complete, and the differential signal transmission function of the robot connector is normal. Therefore, the corresponding interference conversion accumulation is relatively small. At the same time, if the local variability within the observation window at the current moment is smaller, it indicates that the interference intensity experienced by the robot connector in a short period of time is low, the common-mode suppression capability is sufficient, and the corresponding interference conversion accumulation is relatively small.

[0036] Thus, this embodiment analyzes the local correlation and local variation of common-mode and differential voltage signals through a dynamic observation window, constructs the interference conversion accumulation degree, quantifies the risk of conversion from common-mode interference to differential-mode interference, effectively evaluates the instantaneous anti-interference capability of industrial robot connectors under complex electromagnetic and mechanical vibration coupling conditions, and thus timely identifies the risk of differential voltage signal distortion and runaway.

[0037] Step S3: Perform modal decomposition on the interference conversion cumulative degree of the robot connector at all times before each time step. Based on the energy distribution of each modal component, determine the interference distribution characteristic value of the robot connector at each time step. By analyzing the change intensity of the interference conversion cumulative degree of the robot connector at all times before each time step, determine the interference intensity characteristic value of the robot connector at each time step. Combined with the interference distribution characteristic value, determine the distortion cumulative risk value of the robot connector at each time step.

[0038] In the actual operation of industrial robot connectors, strong electromagnetic interference and mechanical vibration often coexist and couple with each other, causing the common mode rejection capability to dynamically deteriorate at the millisecond level. This dynamic deterioration manifests as follows: within a specific time window, the connector's anti-interference capability suddenly decreases, forming an instantaneous interference penetration window. Traditional static evaluation methods cannot capture this transient change, allowing interference signals to penetrate into the differential signal link without being detected in time, causing signal distortion.

[0039] Therefore, this embodiment further performs mode decomposition on the interference conversion cumulative degree of the robot connector at all previous time points, and determines the interference distribution characteristic value of the robot connector at each time point based on the energy distribution of each mode component; by analyzing the change intensity of the interference conversion cumulative degree of the robot connector at all previous time points, the interference intensity characteristic value of the robot connector at each time point is determined, and combined with the interference distribution characteristic value, the distortion cumulative risk value of the robot connector at each time point is determined, so as to assess the complexity of the interference mode and its instantaneous impact on the ability to suppress the coupling of the common-mode voltage signal to the differential voltage signal of the robot connector in real time, thereby providing timely warning and intervention. The specific process for determining the distortion cumulative risk value is as follows: In this embodiment, firstly, mode decomposition is performed on the cumulative interference transition of the robot connector at all previous time points. Based on the energy distribution of each mode component, the interference distribution characteristic value of the robot connector at each time point is determined. Specifically: In this embodiment, the cumulative interference transformation of the robot connector at all previous times is used as the input of the mode decomposition algorithm, and all mode components are output. Furthermore, the energy entropy of each mode component is calculated, and the average of the energy entropy of all mode components is used as the interference distribution characteristic value of the robot connector at each time.

[0040] It should be noted that there are many commonly used mode decomposition algorithms. In this embodiment, the empirical mode decomposition algorithm is used to decompose the interference conversion cumulative degree into mode components. In practical applications, as other implementation methods, implementers may also use the variational mode decomposition algorithm according to the specific situation. This embodiment does not impose any special restrictions on the selection of mode decomposition algorithms.

[0041] The empirical mode decomposition algorithm and the method for calculating energy entropy are both well-known techniques. The specific process of decomposing a signal or sequence into modal components using the empirical mode decomposition algorithm and the calculation process of energy entropy will not be elaborated here.

[0042] Furthermore, this embodiment determines the characteristic value of the interference intensity of the robot connector at each time point by analyzing the change intensity of the interference conversion cumulative degree of the robot connector at all time points before each time point. Specifically: In this embodiment, the cumulative interference transformation degree of all previous times is used as the input of the wavelet transform algorithm, and the output multi-scale ridge integral is used as the interference intensity feature value of the robot connector at each time step.

[0043] It should be noted that, regarding the selection of the wavelet transform algorithm, this embodiment adopts the Daubechies 4th order wavelet transform algorithm. The cumulative interference transformation at all previous times is used as the input of the Daubechies 4th order wavelet transform algorithm, and a 5-level wavelet decomposition is performed, which are the five levels of wavelet detail coefficients d1, d2, d3, d4, and d5. The final output is the multi-scale baseline integral. Here, the wavelet detail coefficient is essentially a signal, not a numerical value.

[0044] Among them, the Daubechies fourth-order wavelet transform algorithm is a well-known technique, and the specific process of obtaining the multi-scale ridge integral of the interference transformation cumulative degree using it will not be elaborated here.

[0045] Furthermore, this embodiment determines the cumulative distortion risk value of the robot connector at each time point based on the interference distribution characteristic value and interference intensity characteristic value of the robot connector at each time point. Specifically: In this embodiment, the result of positively fusing the interference distribution characteristic value and the interference intensity characteristic value of the robot connector at each time point is used as the cumulative distortion risk value of the robot connector at each time point.

[0046] It should be understood that positive fusion refers to combining two or more indicators through addition or multiplication to obtain a comprehensive indicator, thereby more comprehensively and accurately assessing a phenomenon or problem. This fusion method is not limited to simple arithmetic operations, but can also include more complex statistical models and analytical methods. Implementers can choose according to specific circumstances, and this embodiment does not impose any special restrictions.

[0047] Preferably, as a specific implementation method, in this embodiment, the product of the interference distribution characteristic value and the interference intensity characteristic value of the robot connector at each time point is used as the cumulative distortion risk value of the robot connector at each time point. In practical applications, as other implementation methods, implementers may also adopt other positive fusion methods such as sum values ​​according to specific circumstances. This embodiment does not impose any special restrictions.

[0048] Preferably, the schematic diagram of the distortion cumulative risk value extraction process provided in this embodiment is as follows: Figure 2 As shown.

[0049] Based on the cumulative distortion risk value of the robot connector at each time point, it can be understood that the cumulative distortion risk value reflects the overall weakness of the robot connector's anti-interference capability under the coupled conditions of dynamic common-mode interference and mechanical vibration, as well as the comprehensive risk of instantaneous signal distortion or loss of control. If the interference distribution characteristic value of the robot connector at the current time point is larger, it indicates that the interference mode is complex and variable, multi-source interference coupling is serious, the anti-interference margin of the robot jammer is low, and the risk of differential voltage signal distortion and loss of control of the robot connector increases. Therefore, the corresponding cumulative distortion risk value is correspondingly larger. At the same time, if the interference intensity characteristic value of the robot connector at the current time point is larger, it indicates that the probability of the common-mode interference intensity exceeding the robot connector's suppression capability at the current time point is higher, and the risk of differential voltage signal distortion increases. Therefore, the corresponding cumulative distortion risk value is larger. Conversely, if the interference distribution characteristic value of the robot connector is smaller at the current moment, it indicates that the interference mode is single and stable, the multi-source interference coupling is slight, the robot connector has a high anti-interference margin, and the risk of differential voltage signal distortion and runaway is low. Therefore, the corresponding cumulative distortion risk value is correspondingly smaller. At the same time, if the interference intensity characteristic value of the robot connector is smaller at the current moment, it indicates that the common-mode interference intensity at the current moment is within the robot connector's suppression capability range, the risk of differential voltage signal distortion is low, and therefore, the corresponding cumulative distortion risk value is smaller.

[0050] Thus, this embodiment extracts interference distribution and intensity characteristic values ​​by performing modal decomposition and multi-scale analysis on the interference conversion cumulative degree, and integrates them to construct a distortion cumulative risk value. This allows for real-time assessment of the industrial robot connector's weak anti-interference capability and signal distortion risk under complex electromagnetic and mechanical vibration coupling conditions, providing dynamic early warning and intervention basis for the robot connector, and effectively improving the robot connector's anti-interference performance and operational stability.

[0051] Step S4: Based on the distribution of local variability within all observation windows at each time point, determine the envelope characteristic value at each time point, and combine it with the distortion cumulative risk value to determine the compensation current at each time point, so as to suppress the coupling of the common-mode voltage signal of the robot connector to the differential voltage signal.

[0052] In industrial workshop environments, strong common-mode interference generated by high-power equipment can couple to signal lines through robot connectors. Simultaneously, mechanical vibrations cause millisecond-level dynamic fluctuations in the grounding impedance of the connector's shielding layer. These fluctuations can create an interference penetration window that is difficult to detect using traditional monitoring methods, causing a sharp drop in common-mode rejection capability during peak interference periods. As a result, the common-mode voltage that should have been suppressed is converted into differential-mode interference, causing signal waveform distortion.

[0053] Therefore, this embodiment determines the envelope characteristic value at each time step based on the distribution of local variability within all observation windows at each time step, and determines the compensation current at each time step in conjunction with the cumulative distortion risk value, designing real-time common-mode compensation to suppress the coupling of the common-mode voltage signal of the robot connector to the differential voltage signal, specifically as follows: Dynamic protocol switching: used at the macroscopic level to suppress the coupling of common-mode voltage signals to differential voltage signals in robot connectors, specifically: The distortion cumulative risk value is normalized. If the normalized value of the distortion cumulative risk value of the robot-connected machine is greater than the preset threshold at the current moment, the communication protocol used by the robot connector is switched to the more interference-resistant CAN-FD protocol. Conversely, if the normalized value of the distortion cumulative risk value of the robot-connected machine is less than or equal to the preset threshold at the current moment, the communication protocol used by the robot connector is maintained as the standard RS485 protocol to reduce power consumption.

[0054] It should be noted that the preset threshold value is set manually. In this embodiment, the preset threshold value is 0.8. In actual applications, as other implementation methods, implementers can also set it according to specific circumstances. This embodiment does not impose any special restrictions.

[0055] Real-time common-mode compensation: used at the microscopic level to suppress the coupling of common-mode voltage signals to differential voltage signals in robot connectors, specifically: As one implementation method, in this embodiment, the compensation current at time t The expression is: In the formula, represents the envelope eigenvalue at time t; norm[ ] represents the normalization function; sin() represents the sine function.

[0056] Among them, the envelope feature value at each time point is the maximum value of the local variability within all observation windows at each time point.

[0057] Based on the compensation current, it can be understood that in the anti-interference signal transmission scenario of robot connectors, if the grounding impedance of the connector shielding layer undergoes a millisecond-level change, it will cause the local change degree obtained in step S2 to increase sharply. At this time, the distortion accumulation risk value in step S3 increases due to the complexity of the interference mode and the surge in instantaneous intensity. A large-value compensation current with the same frequency and opposite phase as the interference is generated in real time and injected through the dedicated terminal of the connector shielding layer to directly neutralize the interference penetration window formed by impedance fluctuation. The closed loop suppresses the conversion of common mode voltage to differential mode signal, eliminates the risk of robot positioning deviation and signal distortion. The sine function ensures that the compensation current is in the same frequency as the interference source such as the workshop frequency converter, and the negative sign achieves 180° phase reversal. The two work together to generate a reverse magnetic field to dynamically neutralize the common mode noise invading the connector.

[0058] Furthermore, in this embodiment, the compensation current at each time point is input to the compensation terminal of the robot connector shielding layer to suppress the coupling of the common-mode voltage signal of the robot connector to the differential voltage signal.

[0059] Thus, this embodiment achieves coordinated control of macroscopic protocol switching and microscopic active compensation by dynamically monitoring common-mode and differential voltage signals, evaluating interference conversion accumulation and distortion accumulation risk in real time, and generating in-phase compensation current with the same frequency in combination with envelope characteristic values. This effectively suppresses the conversion of common-mode to differential-mode interference in industrial robot connectors under strong electromagnetic and mechanical vibration coupling conditions, and significantly improves the stability and anti-interference capability of robot connector transmission signals.

[0060] It should be noted that the order of the embodiments described above is merely for descriptive purposes and does not represent the superiority or inferiority of the embodiments. Furthermore, specific embodiments of this specification have been described above. Additionally, the processes depicted in the accompanying drawings do not necessarily require a specific or sequential order to achieve the desired results. In some implementations, multitasking and parallel processing are possible or may be advantageous.

[0061] The various embodiments in this specification are described in a progressive manner. The same or similar parts between the various embodiments can be referred to each other. Each embodiment focuses on describing the differences from other embodiments.

[0062] The above-described embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them; modifications to the technical solutions described in the foregoing embodiments, or equivalent substitutions of some of the technical features, do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this application, and should all be included within the protection scope of this application.

Claims

1. A method for anti-interference signal transmission for robot connectors, characterized in that, The method includes the following steps: Obtain the common-mode voltage and differential voltage of the robot connector at all previous times, and form the common-mode voltage signal and differential voltage signal at each time. A set of identical observation windows is set for the common-mode voltage signal and differential voltage signal at each time point. By analyzing the cross-correlation between the common-mode voltage signal and differential voltage signal at each observation window, the local correlation degree within each observation window at each time point is determined. Based on the changes in the common-mode voltage signal within each observation window, the local variability degree within each observation window is determined. Combined with the local correlation degree, the interference conversion accumulation degree of the robot connector at each time point is determined. Modal decomposition is performed on the interference conversion cumulative degree of the robot connector at all times prior to each time step. Based on the energy distribution of each modal component, the interference distribution characteristic value of the robot connector at each time step is determined. By analyzing the change intensity of the interference conversion cumulative degree of the robot connector at all times prior to each time step, the interference intensity characteristic value of the robot connector at each time step is determined. Combined with the interference distribution characteristic value, the distortion cumulative risk value of the robot connector at each time step is determined. Based on the distribution of local variability within all observation windows at each time point, the envelope characteristic value at each time point is determined, and combined with the cumulative distortion risk value, the compensation current at each time point is determined to suppress the coupling of the common-mode voltage signal of the robot connector to the differential voltage signal.

2. The anti-interference signal transmission method for robot connectors as described in claim 1, characterized in that, The local correlation within each observation window at each time point is the cross-correlation coefficient between the common-mode voltage signal and the differential voltage signal within each observation window at each time point.

3. The anti-interference signal transmission method for robot connectors as described in claim 1, characterized in that, The local variability within each observation window is the instantaneous envelope peak value obtained by applying the Hilbert transform algorithm to the common-mode voltage signal within each observation window.

4. The anti-interference signal transmission method for robot connectors as described in claim 1, characterized in that, The expression for the interference conversion cumulative degree of the robot connector at each time point is: In the formula, This represents the cumulative interference conversion of the robot connector at time i. , represents the local correlation and local variability within the observation window n at time i, respectively; N represents the total number of observation windows.

5. The anti-interference signal transmission method for robot connectors as described in claim 1, characterized in that, The method for determining the interference distribution characteristic values ​​of the robot connector at each time point is as follows: The energy entropy of each modal component is obtained by calculating the cumulative degree of interference transformation at all previous times. The mean of the energy entropy of all modal components is used as the characteristic value of the interference distribution of the robot connector at each time.

6. The anti-interference signal transmission method for robot connectors as described in claim 1, characterized in that, The method for determining the interference intensity characteristic value of the robot connector at each time point is as follows: The cumulative disturbance transformation degree of all previous times is used as the input of the wavelet transform algorithm, and the multi-scale ridge integral of the output is used as the disturbance intensity feature value of the robot connector at each time step.

7. The anti-interference signal transmission method for robot connectors as described in claim 1, characterized in that, The cumulative distortion risk value of the robot connector at each time point is the result of the positive fusion of the interference distribution characteristic value and the interference intensity characteristic value of the robot connector at each time point.

8. The anti-interference signal transmission method for robot connectors as described in claim 1, characterized in that, The envelope feature value at each time point is the maximum value among all local variability values ​​within all observation windows at that time point.

9. The anti-interference signal transmission method for robot connectors as described in claim 1, characterized in that, The expressions for the compensation current at each time point are: In the formula, This represents the compensation current at time t; This represents the cumulative distortion risk value of the robot connector at time t; represents the envelope eigenvalue at time t; norm[ ] represents the normalization function; sin() represents the sine function.

10. The anti-interference signal transmission method for robot connectors as described in claim 1, characterized in that, The method for suppressing the coupling of the common-mode voltage signal to the differential voltage signal of the robot connector includes: The compensation current at each time point is input to the compensation terminal of the robot connector shielding layer to suppress the coupling of the common-mode voltage signal of the robot connector to the differential voltage signal.

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