Radiation tolerant photoelectric encoder multi-source perception redundancy switching circuit and switching method

Abstract

The application discloses a kind of radiation-resistant photoelectric encoder multi-source perception redundant switching circuit and switching method, it is related to the technical field of radiation-resistant photoelectric encoder and redundant switching control, the circuit includes code disc, multi-sensor redundant switching unit, state detection unit, health assessment unit, switching control unit and post-stage processing unit.State detection unit acquires the multi-source state parameters of each sensor module and records cumulative charged irradiation workload;Health assessment unit obtains health score accordingly;Switching control unit determines dynamic switching period according to the health score of current working channel, cumulative charged irradiation workload and other multi-source parameters, and when meeting switching condition, determines target standby channel according to the health score of standby channel and charged irradiation workload, controls multi-sensor redundant switching unit to complete access.The application realizes active early warning switching and balanced rotation in radiation environment, avoids output interruption, and improves radiation-resistant reliability.

Description

Technical Field

[0001] This invention relates to the technical field of radiation-resistant photoelectric encoders and redundancy switching control, and more specifically, to a multi-source sensing redundancy switching circuit and switching method for a radiation-resistant photoelectric encoder. Background Technology

[0002] Photoelectric encoders are widely used in special equipment. In working environments with ionizing radiation, the sensor chip and related circuits of photoelectric encoders are susceptible to total dose effects or single-event effects, resulting in parameter drift, abnormal output, or even functional failure. Current technologies typically employ multi-channel redundancy configurations to improve the reliability of photoelectric encoders in radiant environments. However, existing redundancy switching schemes are mostly passive switching after a fault, and the switching criteria are relatively singular. This approach struggles to promptly identify early failure trends of sensor channels in radiant environments and cannot select the optimal target backup channel based on the actual health status of multiple backup channels. This can easily lead to output interruptions during encoder switching, failing to guarantee continuous and stable output in radiant environments. Summary of the Invention

[0003] The purpose of this invention is to provide a multi-source sensing redundant switching circuit and switching method for a radiation-resistant photoelectric encoder, so as to solve the problems of output interruption and low reliability caused by passive switching and single switching basis in the existing photoelectric encoder under radiation environment.

[0004] The technical solution of this invention is: to provide a radiation-resistant photoelectric encoder multi-source sensing redundancy switching circuit, the circuit comprising:

[0005] Encoder, multi-sensor redundancy switching unit, status detection unit, health assessment unit, switching control unit and post-processing unit;

[0006] The code disk is used to provide optically encoded information;

[0007] The multi-sensor redundancy switching unit includes multiple redundant sensor modules for reading the encoding information of the code disk. At any given time, one sensor module is used as the current working channel, and the other sensor modules are used as backup channels.

[0008] The status detection unit is used to collect multi-source status parameters of each sensor module. The multi-source status parameters include at least one of voltage parameters, current parameters, temperature parameters, radiation parameters, and output status parameters. The status detection unit is also used to record the cumulative working time of each sensor module and obtain the cumulative charged irradiation workload of each sensor module based on the radiation parameters.

[0009] The health assessment unit is used to assess the health status of each sensor module based on multi-source state parameters and obtain a health score for each sensor module.

[0010] The switching control unit is used to adaptively determine the dynamic switching cycle of the current working channel based on the health score, cumulative energized irradiation workload, and multi-source status parameters; and when the switching conditions are met, it determines the target backup channel based on the health score, cumulative working time, and cumulative energized irradiation workload of the backup channel.

[0011] The multi-sensor redundancy switching unit is also used to connect the target backup channel to the subsequent processing unit according to the control signal of the switching control unit.

[0012] In any of the above technical solutions, further, the state detection unit establishes the cumulative charged irradiation workload for the i-th sensor module. It satisfies:

[0013] ;

[0014] in, Indicates time The corresponding radiation dose rate; This indicates the powered operating state of the i-th sensor module. When the i-th sensor module is in the powered operating state... When it is in a power-off or non-working state .

[0015] In any of the above technical solutions, the health assessment unit further establishes a health score for each sensor module. It satisfies:

[0016] ;

[0017] in, Score the voltage state. Score the current state. Rate the temperature condition. Scoring the radiation status. To output a status score, , , , , For the corresponding weight coefficients, and satisfying .

[0018] In any of the above technical solutions, further, the dynamic switching cycle satisfy:

[0019] ;

[0020] in, and These are the minimum allowed handover period and the maximum allowed handover period, respectively. The normalized health score for the i-th current working channel; This is the normalized value of the current radiation dose rate; The normalized value of the cumulative charged irradiation workload of the i-th sensor module; The output anomaly rate within the preset statistical time window; This is a normalized index corresponding to temperature or rate of change of temperature rise. , , , and The adjustment factor is 'sat'; 'sat' indicates that the calculation result should be limited to a certain value. Interval.

[0021] In any of the above technical solutions, further, the switching control unit switches to the set of backup channels that meet the basic operating conditions. Establish a unified priority for the j-th backup channel. ,satisfy:

[0022] ;

[0023] ;

[0024] in, Health score for backup channel j; The total working time for this channel; The cumulative charged irradiation workload for this channel; The output anomaly rate for this channel; This is the preset maximum allowable operating time threshold for the sensor; This is the preset maximum allowable cumulative charged irradiation workload threshold; , , , These are the corresponding weighting coefficients; A backup channel for the final selected target.

[0025] In any of the above technical solutions, further, in the scenario of early warning handover or equalization handover, the target backup channel The current working channel c also needs to meet the health lag condition: And the current working channel maintains the following time: ;

[0026] in, A preset health hysteresis threshold is set; when the current working channel meets the fault switching conditions, it is not subject to hysteresis conditions and minimum hold time restrictions.

[0027] In any of the above technical solutions, the circuit further includes a configuration storage unit, a power supply unit, and an output interface unit;

[0028] The configuration storage unit is used to store the configuration parameters corresponding to each sensor module and to provide the corresponding configuration parameters to the target backup channel when it is selected.

[0029] The power supply unit is used to provide working power to each unit, control the current working channel to maintain normal power supply, and control the backup channel to be in power-off, low-power standby or periodic self-test state.

[0030] The output interface unit is used to output the encoder signal, which has been processed by the subsequent processing unit, to external devices.

[0031] A switching method based on the multi-source sensing redundancy switching circuit of the radiation-resistant photoelectric encoder in any of the above technical solutions is also provided, the switching method comprising:

[0032] S1. Collect the multi-source state parameters of each sensor module, record the cumulative working time of each sensor module, and update the cumulative charged irradiation workload of each sensor module according to the radiation parameters.

[0033] S2. Calculate the health score of each sensor module based on the multi-source state parameters;

[0034] S3. Calculate the dynamic switching cycle of the current working channel based on the current working channel's health score, cumulative charged irradiation workload, and multi-source status parameters.

[0035] S4. Determine whether the current working channel meets the switching conditions. The switching conditions include fault switching conditions, early warning switching conditions, or balanced switching conditions. Among them, when the continuous working time of the current working channel reaches the dynamic switching cycle, it is determined that the balanced switching condition is met.

[0036] S5. If the switching conditions are met, the target backup channel is determined from the backup channels based on the health score, cumulative working time and cumulative energized irradiation workload of the backup channel, and the target backup channel is connected to the subsequent processing unit.

[0037] In any of the above technical solutions, further, after determining the target backup channel in step S5, the switching method also includes:

[0038] S6. Power on or restore the working status of the target backup channel, and read the corresponding configuration parameters to complete the initialization;

[0039] S7. Verify the validity of the output of the target backup channel. After the verification is successful, complete the signal path switching.

[0040] S8. Update the target backup channel to the new current working channel, and update the working time, cumulative charged irradiation workload, health status and switching records of each channel. Then return to step S1 to continue the cyclic monitoring.

[0041] The beneficial effects of this invention are:

[0042] The technical solution in this invention collects health scores from multiple sources, such as voltage, current, temperature, radiation, and output status, instead of relying on a single fault signal. It can accurately identify early failure trends of sensor channels and proactively switch to early warning before the channel completely fails, effectively avoiding the risk of encoder output interruption.

[0043] This invention introduces a cumulative charged irradiation workload index and combines it with a health score to adaptively calculate the dynamic switching cycle, thereby achieving dynamic balanced rotation of multiple sensor channels under radiation conditions. This avoids the cumulative damage caused by long-term charged irradiation of a single channel and significantly extends the overall radiation resistance life of the system.

[0044] When triggering a switchover, this invention comprehensively considers the health score, cumulative working time, and cumulative energized irradiation workload of the backup channel to determine the optimal target backup channel. It also introduces a health hysteresis condition, which not only ensures the high reliability of the takeover channel but also effectively prevents frequent back-and-forth switching caused by multiple channels having similar health states, thus improving the practicality of the project. Attached Figure Description

[0045] The advantages of the above and additional aspects of the present invention will become apparent and readily understood in the description of the embodiments in conjunction with the following drawings, wherein:

[0046] Figure 1 This is a schematic diagram of the overall structure of a radiation-resistant photoelectric encoder multi-source sensing redundancy switching circuit according to an embodiment of the present invention.

[0047] Figure 2 This is a schematic diagram of a single sensor circuit structure of a radiation-resistant photoelectric encoder multi-source sensing redundancy switching circuit according to an embodiment of the present invention.

[0048] Figure 3 This is a switching control flowchart of a multi-source sensing redundancy switching method for a radiation-resistant photoelectric encoder according to an embodiment of the present invention. Detailed Implementation

[0049] To better understand the above-mentioned objectives, features, and advantages of the present invention, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments. It should be noted that, unless otherwise specified, the embodiments of the present invention and the features thereof can be combined with each other.

[0050] In the following description, many specific details are set forth in order to provide a full understanding of the invention. However, the invention may also be practiced in other ways different from those described herein, and therefore the scope of protection of the invention is not limited to the specific embodiments disclosed below.

[0051] like Figure 1 As shown, this embodiment provides a multi-source sensing redundancy switching circuit for a radiation-resistant photoelectric encoder. The circuit mainly includes a code disk, a status detection unit, a health assessment unit, a switching control unit, a multi-sensor redundancy switching unit, a post-processing unit, a configuration storage unit, a power supply unit, and an output interface unit.

[0052] The code disk provides the optical encoding information required for position detection by the photoelectric encoder. A multi-sensor redundancy switching unit is configured correspondingly to the code disk and is used to read the encoding information from the code disk through multiple sensor modules. The multi-sensor redundancy switching unit includes multiple independent and redundant sensor modules, such as sensor module 1, sensor module 2, and sensor module 3. In this embodiment, the multiple sensor modules preferably form a redundant configuration structure with one module in use and multiple modules in standby. At any given time, one sensor module can be used as the current working channel, while the remaining sensor modules serve as backup channels. When the current working channel meets normal operating conditions, it continuously outputs encoder signals. When the current working channel experiences an anomaly, fails, or reaches the equalization switching conditions corresponding to the dynamic switching cycle, the switching control unit controls the multi-sensor redundancy switching unit to switch to the backup channel to continue working.

[0053] like Figure 2 As shown, the circuit structure of a single sensor module mainly includes a photoelectric sensor, a power supply branch, a status detection branch, a post-processing unit, and an output interface unit. The photoelectric sensor serves as the working sensor, used to read the encoded information corresponding to the code disk; the power supply branch provides stable power and may contain decoupling or filtering circuits; the status detection branch provides feedback of channel status information to the status detection unit, specifically including a voltage detection branch, a current detection branch, a temperature detection branch, and an output status detection module. Furthermore, each sensor module can be configured with a storage unit to provide configuration parameters, and a mode selection circuit to set the operating mode.

[0054] To comprehensively perceive the actual operating status of each sensor module, a status detection unit is connected to each sensor module to collect multi-source status parameters related to the operating status of each sensor module. These multi-source status parameters include at least one of voltage, current, temperature, radiation, and output status parameters. Specifically, each sensor module is equipped with corresponding voltage and current detection branches. The voltage parameter reflects the power supply status of the sensor module, such as undervoltage, overvoltage, or fluctuations. The current parameter reflects the power consumption or abnormal conduction status of the sensor module, such as short circuit, breakdown, or open circuit. The temperature parameter is obtained from a temperature detection branch located near the sensor module and reflects the temperature rise. The radiation parameter is obtained from an external radiation detection module through the irradiance input terminal and includes at least one of gamma dose rate, cumulative dose, or radiation intensity. The output status parameters reflect whether there are any abnormalities in the sensor module's output signal, such as no output, frame loss, bit errors, or data mutations.

[0055] Specifically, to distinguish the irradiation experience of sensor modules in energized and non-energized states, this invention introduces the key indicator of cumulative energized irradiation workload. The state detection unit establishes the cumulative energized irradiation workload for the i-th sensor module. , used to characterize the radiated operating stress that the sensor module experiences when it is in a charged operating state, satisfies the following integral formula:

[0056] ;

[0057] in, Indicates time The corresponding radiation dose rate; This indicates the powered operating state of the i-th sensor module. When the i-th sensor module is in the powered operating state... When it is in a power-off or non-working state This indicator accurately describes the coupling effect between charged working stress and radiation stress.

[0058] The health assessment unit is connected to the state detection unit and is used to assess the health status of each sensor module based on the collected multi-source state parameters. The health assessment unit establishes a health score for each sensor module. Health score It is obtained by combining voltage state, current state, temperature state, radiation state, and output state, and satisfies:

[0059] ;

[0060] in, Score the voltage state. Score the current state. Rate the temperature condition. Scoring the radiation status. To output a status score, , , , , These are the corresponding weight coefficients. The scores for each state are preferably normalized to the range of 0 to 1; the closer the score is to 1, the more normal the corresponding state. Each weight coefficient satisfies the non-negativity constraint and the normalization constraint, i.e., satisfies... Based on health scores, the status of each sensor module can be marked as at least one of normal, warning, abnormal, and malfunction.

[0061] In another embodiment, in addition to the weighted scoring model described above, the health assessment unit can also use threshold judgment, state machine judgment, hierarchical judgment, or a combination thereof for health assessment. This invention does not limit the specific form of the health assessment model; as long as the health assessment results of each sensor module can be obtained based on multi-source state parameters such as voltage, current, temperature, radiation parameters, and output status, the technical objective of this invention can be achieved.

[0062] The switching control unit is connected to the health assessment unit and the multi-sensor redundancy switching unit, and is used to determine whether to switch channels based on the health assessment results of each sensor module. To avoid the risk of failure caused by long-term operation or prolonged exposure of a single sensor module, the switching control unit adaptively determines the dynamic switching cycle that allows continuous operation of the currently operating sensor module based on its health score, radiation dose rate, cumulative charged irradiation workload, output anomaly rate, and temperature or temperature rise change status. Dynamic switching cycle Satisfy the following constrained model:

[0063] ;

[0064] in, and These are the minimum allowed handover period and the maximum allowed handover period, respectively. The normalized health score for the i-th currently operating sensor module; This is the normalized value of the current radiation dose rate; The normalized value of the cumulative charged irradiation workload of the i-th sensor module; The output anomaly rate within the preset statistical time window; This is a normalized index corresponding to temperature or rate of change of temperature rise. , , , and The adjustment factor is 'sat'; 'sat' indicates that the calculation result should be limited to a certain value. Range. The current working channel's continuous working time in this round. Reaching the dynamic switching cycle ,Right now When the conditions for balanced switching are met, it is determined that the conditions are met.

[0065] When the switching conditions are met, the switching control unit needs to be located in the set of backup channels that currently meet the basic operating conditions. The target backup channel is determined, and the switching conditions include fault switching, early warning switching, or equalization switching. The switching control unit controls the set. Establish a unified priority for the j-th backup channel. It satisfies:

[0066] ;

[0067] ;

[0068] in, Health score for backup channel j; The total working time for this channel; The cumulative charged irradiation workload for this channel; The output anomaly rate for this channel; This is the preset maximum allowable operating time threshold for the sensor; This is the preset maximum allowable cumulative charged irradiation workload threshold; , , , These are the corresponding weighting coefficients; A backup channel for the final selected target.

[0069] Furthermore, to avoid frequent round-trip handovers when the health status of multiple channels is similar, in early warning handover or balanced handover scenarios, the target backup channel... The current working channel c also needs to meet the health lag condition: And the current working channel maintains the following time: .in, A preset health hysteresis threshold is set. When the current working channel meets the fault switching conditions, the switching is performed immediately without being subject to the above hysteresis conditions and minimum hold time restrictions.

[0070] In terms of specific hardware implementation, the multi-sensor redundancy switching unit can use analog switches, multiplexers, electronic switches, relays, bus selection circuits, or combinations thereof to physically switch signal paths. The multi-sensor redundancy switching unit can also connect, isolate, or reset different sensor modules based on the enable signal, selection signal, or reset signal output by the switching control unit.

[0071] In addition to the automatic switching section based on health assessment results mentioned above, the switching control unit may also include a manual switching section. The manual switching section can be implemented using hardware circuitry such as DIP switches, and is mainly used for manually selecting a specific sensor module as the working channel during debugging, testing, maintenance, or abnormal situations.

[0072] In another implementation, multiple sensor modules may operate in rotation according to a preset order, without relying on an adaptive cycle. For example, in a one-in-three-backup structure, after the first sensor module has worked for a preset time, it switches to the second sensor module; after the second sensor module has worked for a preset time, it switches to the third sensor module, and so on, forming a cyclical dynamic switching mechanism.

[0073] The configuration storage unit stores the configuration parameters corresponding to each sensor module. When a backup sensor module is selected as the target working channel, the configuration storage unit provides the corresponding configuration parameters to that sensor module. The power supply unit provides operating power to each unit and manages the power supply of different sensor modules according to the control signals output by the switching control unit. Preferably, the current working channel maintains normal power supply, while the backup channel is in a power-off, low-power standby, or periodic self-test state, thereby reducing the power consumption of non-working channels and the risk of failure related to powered operation. The post-processing unit receives the encoder signal output from the current working channel and performs shaping, filtering, decoding, or interface conversion, and then outputs it to external devices via the output interface unit.

[0074] The output interface unit can be configured as a serial interface, parallel interface, differential interface, bus interface, or other interface forms suitable for photoelectric encoder output, depending on the actual application requirements. Its core function is to realize the reliable transmission of signals from the encoder's internal system to the external system.

[0075] like Figure 3 As shown, the present invention also provides a redundancy switching method for a radiation-resistant photoelectric encoder based on multi-source state perception. This method is implemented based on the above circuit and specifically includes the following steps:

[0076] S1. After the system starts running, it is initialized, including the initialization of the status detection unit, health assessment unit, switching control unit, multi-sensor redundancy switching unit and power supply unit, and the initial working channel is determined.

[0077] S2. The status detection unit collects the voltage, current, temperature, radiation, and output status parameters of each sensor module, and updates the cumulative operating time and cumulative charged irradiation workload of each sensor module. .

[0078] S3. The health assessment unit calculates the health score of each sensor module based on multi-source state parameters. Alternatively, it can be used to determine the health level and mark the status of the current working channel and each backup channel.

[0079] S4. The switching control unit is based on the current working channel health score. Calculate the dynamic switching cycle of the current working channel based on radiation dose rate, cumulative charged irradiation workload, output anomaly rate, and temperature or temperature rise status. .

[0080] S5. The switching control unit determines whether the current working channel meets the fault switching condition, early warning switching condition, or balanced switching condition; among them, in the balanced switching scenario, when the current continuous working time... satisfy When the dynamic time switching condition is met, it is determined that the condition has been met.

[0081] S6. If the switching conditions are not met, the current working channel continues to output encoder signals and returns to step S2; if the switching conditions are met, then the backup channel set that meets the basic working conditions is selected. In, according to hierarchical rules or priorities Select target backup channel .

[0082] S7. The power supply unit performs the necessary power-on or working status restoration for the target backup channel, and the configuration storage unit provides the corresponding configuration parameters to the target backup channel and completes initialization and configuration reading.

[0083] S8. Verify the validity of the output of the target backup channel; if the verification is successful, the switching control unit controls the multi-sensor redundancy switching unit to connect the target backup channel to the subsequent processing unit; if the verification fails, select another backup channel or output a fault alarm when there is no available backup channel.

[0084] S9. After the switch is completed, update the target backup channel to the new current working channel, and update the working time, cumulative charged irradiation workload, health status and switch records of each channel. Then return to step S2 to continue the cyclic monitoring.

[0085] In summary, this invention proposes a multi-source sensing redundancy switching circuit for a radiation-resistant photoelectric encoder, comprising: a code disk, a multi-sensor redundancy switching unit, a status detection unit, a health assessment unit, a switching control unit, and a post-processing unit.

[0086] The code disk is used to provide optical encoding information; the multi-sensor redundancy switching unit includes multiple redundant sensor modules for reading the encoding information of the code disk, wherein at any given time, one sensor module is used as the current working channel, and the remaining sensor modules are used as backup channels.

[0087] The status detection unit is used to collect multi-source status parameters of each sensor module. The multi-source status parameters include at least one of voltage parameters, current parameters, temperature parameters, radiation parameters, and output status parameters. The status detection unit is also used to record the cumulative working time of each sensor module and obtain the cumulative charged irradiation workload of each sensor module based on the radiation parameters.

[0088] The health assessment unit is used to assess the health status of each sensor module based on multi-source status parameters and obtain a health score for each sensor module. The switching control unit is used to adaptively determine the dynamic switching cycle of the current working channel based on the health score, cumulative charged irradiation workload, and multi-source status parameters. When the switching conditions are met, the target backup channel is determined based on the health score, cumulative working time, and cumulative charged irradiation workload of the backup channel. The multi-sensor redundancy switching unit is also used to connect the target backup channel to the subsequent processing unit according to the control signal of the switching control unit.

[0089] The steps in this invention can be adjusted, combined, or deleted according to actual needs.

[0090] The units in the device of the present invention can be merged, divided, or reduced according to actual needs.

[0091] In this invention, the terms "installation," "connection," "linking," and "fixing" should be interpreted broadly. For example, "connection" can be a fixed connection, a detachable connection, or an integral connection; "linking" can be a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can understand the specific meaning of these terms in this invention according to the specific circumstances.

[0092] The shapes of the components in the accompanying drawings are schematic and may differ from their actual shapes. The drawings are only used to illustrate the principles of the present invention and are not intended to limit the present invention.

[0093] Although the invention has been disclosed in detail with reference to the accompanying drawings, it should be understood that these descriptions are merely exemplary and not intended to limit the application of the invention. The scope of protection of the invention is defined by the appended claims and may include various modifications, alterations, and equivalents made to the invention without departing from the scope and spirit of the invention.

Claims

1. A multi-source sensing redundancy switching circuit for a radiation-resistant photoelectric encoder, characterized in that, The circuit includes: an encoder, a multi-sensor redundancy switching unit, a status detection unit, a health assessment unit, a switching control unit, and a post-processing unit; The code disk is used to provide optical encoding information; The multi-sensor redundancy switching unit includes multiple redundant sensor modules for reading the encoding information of the code disk. At any given time, one sensor module is used as the current working channel, and the remaining sensor modules are used as backup channels. The state detection unit is used to collect multi-source state parameters of each sensor module, including at least one of voltage parameters, current parameters, temperature parameters, radiation parameters, and output state parameters; the state detection unit is also used to record the cumulative working time of each sensor module and obtain the cumulative charged irradiation workload of each sensor module based on the radiation parameters. The health assessment unit is used to assess the health status of each sensor module based on multi-source state parameters and obtain a health score for each sensor module. The switching control unit is used to adaptively determine the dynamic switching cycle of the current working channel based on the health score, cumulative charged irradiation workload, and multi-source status parameters of the current working channel; and when the switching conditions are met, it determines the target backup channel based on the health score, cumulative working time, and cumulative charged irradiation workload of the backup channel. The multi-sensor redundancy switching unit is also used to connect the target backup channel to the subsequent processing unit according to the control signal of the switching control unit.

2. The radiation-resistant photoelectric encoder multi-source sensing redundancy switching circuit as described in claim 1, characterized in that, The state detection unit establishes the cumulative charged irradiation workload for the i-th sensor module. It satisfies: ； in, Indicates time The corresponding radiation dose rate; This indicates the powered operating state of the i-th sensor module. When the i-th sensor module is in the powered operating state... When it is in a power-off or non-working state .

3. The radiation-resistant photoelectric encoder multi-source sensing redundancy switching circuit as described in claim 1, characterized in that, The health assessment unit establishes a health score for each sensor module. It satisfies: ； in, Score the voltage state. Score the current state. Rate the temperature condition. Scoring the radiation status. To output a status score, , , , , For the corresponding weight coefficients, and satisfying .

4. The radiation-resistant photoelectric encoder multi-source sensing redundancy switching circuit as described in claim 1, characterized in that, The dynamic switching cycle satisfy: ； in, and These are the minimum allowed handover period and the maximum allowed handover period, respectively. The normalized health score for the i-th current working channel; This is the normalized value of the current radiation dose rate; The normalized value of the cumulative charged irradiation workload of the i-th sensor module; The output anomaly rate within the preset statistical time window; This is a normalized index corresponding to temperature or rate of change of temperature rise. , , , and The adjustment factor is 'sat'; 'sat' indicates that the calculation result should be limited to a certain value. Interval.

5. The radiation-resistant photoelectric encoder multi-source sensing redundancy switching circuit as described in claim 1, characterized in that, The switching control unit selects a set of backup channels that meet basic operating conditions. Establish a unified priority for the j-th backup channel. ,satisfy: ； ； in, Health score for backup channel j; The total working time for this channel; The cumulative charged irradiation workload for this channel; The output anomaly rate for this channel; This is the preset maximum allowable operating time threshold for the sensor; This is the preset maximum allowable cumulative charged irradiation workload threshold; , , , These are the corresponding weighting coefficients; A backup channel for the final selected target.

6. The radiation-resistant photoelectric encoder multi-source sensing redundancy switching circuit as described in claim 5, characterized in that, In early warning handover or equalization handover scenarios, the target backup channel The current working channel c also needs to meet the health lag condition: And the current working channel maintains the following time: ; in, A preset health hysteresis threshold is set; when the current working channel meets the fault switching conditions, it is not subject to hysteresis conditions and minimum hold time restrictions.

7. The radiation-resistant photoelectric encoder multi-source sensing redundancy switching circuit as described in claim 1, characterized in that, The circuit also includes a configuration storage unit, a power supply unit, and an output interface unit; The configuration storage unit is used to store the configuration parameters corresponding to each sensor module, and to provide the corresponding configuration parameters to the target backup channel when it is selected. The power supply unit is used to provide working power to each unit, control the current working channel to maintain normal power supply, and control the backup channel to be in power-off, low-power standby or periodic self-test state. The output interface unit is used to output the encoder signal processed by the post-processing unit to an external device.

8. A switching method based on the multi-source sensing redundancy switching circuit of the radiation-resistant photoelectric encoder as described in any one of claims 1 to 7, characterized in that, The switching method includes: S1. Collect the multi-source state parameters of each sensor module, record the cumulative working time of each sensor module, and update the cumulative charged irradiation workload of each sensor module according to the radiation parameters. S2. Calculate the health score of each sensor module based on the multi-source state parameters; S3. Calculate the dynamic switching cycle of the current working channel based on the current working channel's health score, cumulative charged irradiation workload, and multi-source status parameters. S4. Determine whether the current working channel meets the switching conditions. The switching conditions include fault switching conditions, early warning switching conditions, or balanced switching conditions. Among them, when the continuous working time of the current working channel reaches the dynamic switching cycle, it is determined that the balanced switching condition is met. S5. If the switching conditions are met, the target backup channel is determined from the backup channels based on the health score, cumulative working time and cumulative energized irradiation workload of the backup channel, and the target backup channel is connected to the subsequent processing unit.

9. The switching method as described in claim 8, characterized in that, After determining the target backup channel in step S5, the switching method further includes: S6. Power on or restore the working status of the target backup channel, and read the corresponding configuration parameters to complete the initialization; S7. Verify the validity of the output of the target backup channel. After the verification is successful, complete the signal path switching. S8. Update the target backup channel to the new current working channel, and update the working time, cumulative charged irradiation workload, health status and switching records of each channel. Then return to step S1 to continue the cyclic monitoring.

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