CN-122027042-A - Anti-interference signal transmission method for robot connector

CN122027042ACN 122027042 ACN122027042 ACN 122027042ACN-122027042-A

Abstract

The application relates to the technical field of anti-interference signal transmission, in particular to an anti-interference signal transmission method for a robot connector, which comprises the steps of 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, and determining the interference conversion accumulation degree of the robot connector so as to determine a distortion accumulation risk value; and determining the compensation current at each moment based on the change condition of the common-mode voltage signal at each moment and combining the distortion accumulation risk value so as to inhibit the coupling of the common-mode voltage signal of the robot connector to the differential voltage signal. The application solves the problem of signal distortion caused by insufficient common mode inhibition capability of the robot connector in a strong electromagnetic interference environment, and inhibits the conversion from the common mode to the differential mode interference by dynamically monitoring and generating the compensation current in real time, thereby improving the stability and the anti-interference capability of signal transmission.

Inventors

HE ZHIPENG
Liu Zhenlue
LI XINGJIE
HU FEIHU

Assignees

东莞市康顺连接科技有限公司

Dates

Publication Date: 20260512
Application Date: 20260130

Claims (10)

1. The anti-interference signal transmission method for the robot connector is characterized by comprising the following steps of: Acquiring common-mode voltage and differential voltage of the robot connector at all moments before each moment, and respectively forming a common-mode voltage signal and a differential voltage signal at each moment; setting a group of same observation windows for common-mode voltage signals and differential voltage signals at each moment, determining local correlation degree in each observation window at each moment by analyzing cross correlation between the common-mode voltage signals and the differential voltage signals at each observation window, determining local variation degree in each observation window based on variation conditions in the common-mode voltage signals in each observation window, and determining interference conversion accumulation degree of a robot connector at each moment by combining the local correlation degree; The method comprises the steps of carrying out modal decomposition on the interference conversion accumulation degree of the robot connector at all times before each moment, determining the interference distribution characteristic value of the robot connector at each moment based on the energy distribution of each modal component, determining the interference intensity characteristic value of the robot connector at each moment by analyzing the change intensity of the interference conversion accumulation degree of the robot connector at all times before each moment, and determining the distortion accumulation risk value of the robot connector at each moment by combining the interference distribution characteristic values; And determining envelope characteristic values at each moment based on the distribution of local variation degrees in all observation windows at each moment, and determining compensation currents at each moment by combining the distortion accumulation risk values so as to inhibit the coupling of common-mode voltage signals of the robot connector to differential voltage signals.
2. The method for transmitting anti-interference signals to a connector of claim 1, wherein the local correlation in each observation window at each time point is a cross correlation coefficient between a common mode voltage signal and a differential voltage signal in each observation window at each time point.
3. The method for transmitting an anti-interference signal to a connector of claim 1, wherein the local variation in each observation window is an instantaneous envelope peak value obtained by using a hilbert variation algorithm on a common-mode voltage signal in each observation window.
4. The method for transmitting an anti-interference signal to a robot connector according to claim 1, wherein the expression of the cumulative degree of interference conversion of the robot connector at each moment is: In the formula (I), in the formula (II), The interference conversion accumulation degree of the robot connector at the moment i is represented; 、 the local correlation degree and the local change degree in the observation window N at the moment i are respectively represented, and N represents the number of all the observation windows.
5. The method for transmitting an anti-interference signal to a robot connector according to claim 1, wherein the method for determining the characteristic value of the interference distribution of the robot connector at each moment is as follows: And calculating the cumulative degree of interference conversion at all moments before each moment to obtain the energy entropy of each modal component, and taking the average value of the energy entropy of all the modal components as the interference distribution characteristic value of the robot connector at each moment.
6. The method for transmitting an anti-interference signal to a robot connector according to claim 1, wherein the method for determining the characteristic value of the interference intensity of the robot connector at each moment is as follows: The cumulative degree of interference conversion at all times before each moment is used as the input of a wavelet transformation algorithm, and the output multi-scale ridge line integral is used as the interference intensity characteristic value of the robot connector at each moment.
7. The method for transmitting an anti-interference signal to a robot connector according to claim 1, wherein the cumulative risk of distortion of the robot connector at each moment is a result of forward fusion of the interference distribution characteristic value and the interference intensity characteristic value of the robot connector at each moment.
8. The method for transmitting an anti-interference signal to a connector of claim 1, wherein the envelope characteristic value at each time is a maximum value of local variation in all observation windows at each time.
9. The method for transmitting an anti-interference signal to a connector of claim 1, wherein the expression of the compensation current at each time is: In the formula (I), in the formula (II), Representing the compensation current at time t; a distortion accumulation risk value of the robot connector at a moment t is represented; Represents the envelope eigenvalue at time t, norm [ ] represents the normalization function, sin () represents the sine function.
10. The method for transmitting an anti-interference signal to a robot connector according to claim 1, wherein the suppressing the coupling of the common mode voltage signal to the differential voltage signal of the robot connector comprises: And (3) inputting compensation currents at each moment to the compensation terminals of the shielding layer of the robot connector so as to inhibit the coupling of the common-mode voltage signal of the robot connector to the differential voltage signal.

Description

Anti-interference signal transmission method for robot connector Technical Field The application relates to the technical field of anti-interference signal transmission, in particular to an anti-interference signal transmission method for a robot connector. Background In a modern factory workshop, high-precision and high-repetition work with high labor intensity such as welding, assembling and carrying is usually finished by an industrial robot, and an electronic device with strong electromagnetic interference is arranged in the whole factory workshop, wherein the electronic device is provided with a densely distributed motor, a frequency converter and the like with high working power, and electromagnetic waves emitted by the electric device can pass through a connector of the industrial robot to enter a signal wire so that the robot cannot execute instructions, thereby causing disorder and even accidents. With the improvement of various automation degree requirements, a differential signal transmission function is added at a connector interface of the robot connected with the outside to inhibit common mode effect, so that signal integrity and error detection are ensured, and the anti-interference function of a strong electric field and a strong magnetic field around the signal transmission of the robot connector is realized. In the environment of strong electromagnetic interference, the strong electromagnetic fields generated by different devices can simultaneously generate interference voltages on signal lines of the robot connector, if the common mode rejection capability of a receiving circuit at an interface of the industrial robot connector is insufficient, the generated interference voltages cannot be effectively inhibited, the common mode voltage can be converted into differential mode voltages affecting the validity of differential signals at a receiving end, serious distortion of signal waveforms is caused, and the stability and anti-interference capability of the signals transmitted by the robot connector are reduced. Disclosure of Invention In order to solve the technical problems, the application provides an anti-interference signal transmission method for a robot connector, which aims to solve the existing problems. The application discloses an anti-interference signal transmission method for a robot connector, which adopts the following technical scheme: The embodiment of the application provides an anti-interference signal transmission method for a robot connector, which comprises the following steps of: Acquiring common-mode voltage and differential voltage of the robot connector at all moments before each moment, and respectively forming a common-mode voltage signal and a differential voltage signal at each moment; setting a group of same observation windows for common-mode voltage signals and differential voltage signals at each moment, determining local correlation degree in each observation window at each moment by analyzing cross correlation between the common-mode voltage signals and the differential voltage signals at each observation window, determining local variation degree in each observation window based on variation conditions in the common-mode voltage signals in each observation window, and determining interference conversion accumulation degree of a robot connector at each moment by combining the local correlation degree; The method comprises the steps of carrying out modal decomposition on the interference conversion accumulation degree of the robot connector at all times before each moment, determining the interference distribution characteristic value of the robot connector at each moment based on the energy distribution of each modal component, determining the interference intensity characteristic value of the robot connector at each moment by analyzing the change intensity of the interference conversion accumulation degree of the robot connector at all times before each moment, and determining the distortion accumulation risk value of the robot connector at each moment by combining the interference distribution characteristic values; And determining envelope characteristic values at each moment based on the distribution of local variation degrees in all observation windows at each moment, and determining compensation currents at each moment by combining the distortion accumulation risk values so as to inhibit the coupling of common-mode voltage signals of the robot connector to differential voltage signals. Preferably, the local correlation degree in each observation window at each time point is a cross correlation coefficient between the common-mode voltage signal and the differential voltage signal in each observation window at each time point. Preferably, the local variation degree in each observation window is an instantaneous envelope peak value obtained by adopting a hilbert variation algorithm on the common-mode voltage signal in each observation window. Preferab