WO2024040890A1

WO2024040890A1 - Abnormality monitoring system and method, and apparatus, processing method, radar and monitoring method

Info

Publication number: WO2024040890A1
Application number: PCT/CN2023/077457
Authority: WO
Inventors: 于庆国; 李呈光; 赵鑫; 向少卿
Original assignee: 上海禾赛科技有限公司
Priority date: 2022-08-26
Filing date: 2023-02-21
Publication date: 2024-02-29
Also published as: CN117665726A

Abstract

An abnormality monitoring system and method, and an apparatus, a processing method, a radar and a monitoring method. The abnormality monitoring system is suitable for performing state monitoring on a plurality of monitoring objects, and comprises: abnormality determination and state collection units, which are coupled to monitoring objects and are suitable for receiving feature signals output by the monitoring objects, outputting abnormality determination results according to the feature signals, and collecting the operating states of the monitoring objects; an abnormality processing unit, which is suitable for receiving the abnormality determination results output by the abnormality determination and state collection units and outputting an abnormal state early-warning signal on the basis of the abnormality determination results; and a delay unit, which is suitable for receiving the abnormal state early-warning signal and outputting an abnormal state signal after the time when the abnormal state early-warning signal is received reaches a preset delay duration, wherein the abnormal state signal is used for resetting the monitoring objects. By using the solution, the synchronous monitoring of a plurality of monitoring objects in a complex system can be realized with relatively low design complexity and costs.

Description

异常监控***及方法、装置、处理方法、雷达及监控方法Abnormal monitoring system and method, device, processing method, radar and monitoring method

技术领域Technical field

本说明书实施例涉及信息处理技术领域，尤其涉及一种异常监控***及方法、装置、处理方法、雷达及监控方法。The embodiments of this specification relate to the field of information processing technology, and in particular to an abnormality monitoring system and method, device, processing method, radar and monitoring method.

背景技术Background technique

随着无人驾驶、机器人、智能制造等领域的快速发展，智能化程度变高的同时***复杂度也随之提升，这对***的安全性和鲁棒性提出了更高的要求，因此对***运行状态的监控变得尤为重要。With the rapid development of unmanned driving, robots, intelligent manufacturing and other fields, the degree of intelligence has become higher and the complexity of the system has also increased. This has put forward higher requirements for the safety and robustness of the system. Therefore, the Monitoring the operating status of the system has become particularly important.

传统技术中通常使用看门狗对***中的单个被监控对象的运行状态进行监控。对于内部结构复杂的***，存在多个需要被监控的对象(例如，主控制器和多个内核)，因此需要使用多个独立的看门狗来实现对***中多个监控对象的监控，极大增加了***设计的复杂度和成本。In traditional technology, watchdogs are usually used to monitor the running status of a single monitored object in the system. For systems with complex internal structures, there are multiple objects that need to be monitored (for example, the main controller and multiple cores). Therefore, multiple independent watchdogs need to be used to monitor multiple monitoring objects in the system, which is extremely difficult. It greatly increases the complexity and cost of system design.

为了解决以上问题，现有技术中也有采用集成看门狗来对多个监控对象进行监控的方案，但需要被监控对象输出具有不同编码信息的信号，或者不同监控对象的输出信息需要在特定的区间输出至集成看门狗，因此导致每个监控对象的监控周期较长，且需要对监控对象的输出信息进行特定编码，***复杂度依然较高。In order to solve the above problems, there are also solutions in the existing technology that use integrated watchdogs to monitor multiple monitoring objects. However, the monitored objects need to output signals with different encoding information, or the output information of different monitoring objects needs to be in a specific The interval is output to the integrated watchdog, which results in a longer monitoring cycle for each monitoring object, and specific encoding of the output information of the monitoring object is required. The system complexity is still high.

因此，如何以较低的设计复杂度和成本，实现对复杂***中多个监控对象的同步监控有待本领域技术人员解决。Therefore, how to achieve synchronous monitoring of multiple monitoring objects in a complex system with lower design complexity and cost remains to be solved by those skilled in the art.

发明内容Contents of the invention

有鉴于此，传统技术中在复杂***中所采用的异常监控方式存在***设计复杂、集成度较低、监控实时性差等问题，本说明书实施例的一个方面，提供一种异常监控***及方法，能够以较低的设计复杂度和成本，实现对复杂***中多个监控对象的同步监控。In view of this, the abnormality monitoring methods used in complex systems in traditional technologies have problems such as complex system design, low integration, and poor real-time monitoring. One aspect of the embodiments of this specification provides an abnormality monitoring system and method, It can realize synchronous monitoring of multiple monitoring objects in complex systems with low design complexity and cost.

本说明书实施例的另一个方面，提供一种应用异常监控***的装置、异常处理方法，能够在检测到装置发生异常时，进行关断和/或复位，提高装置运行的安全性和可靠性。Another aspect of the embodiments of this specification provides a device and an exception handling method using an abnormality monitoring system, which can shut down and/or reset when an abnormality is detected in the device, thereby improving the operation of the device. safety and reliability.

本说明书实施例的又一个方面，提供一种雷达以及异常监控方法，能够提高雷达运行的安全性和可靠性。Another aspect of the embodiments of this specification provides a radar and anomaly monitoring method, which can improve the safety and reliability of radar operation.

本说明书实施例提供了一种异常监控***，包括：多个异常判定和状态采集单元、异常处理单元以及延迟单元，所述异常监控***适于对多个监控对象进行状态监控，其中：The embodiment of this specification provides an abnormality monitoring system, including: multiple abnormality determination and status acquisition units, an exception processing unit, and a delay unit. The abnormality monitoring system is suitable for status monitoring of multiple monitoring objects, wherein:

所述异常判定和状态采集单元，与所述监控对象耦接，适于接收所述监控对象输出的特征信号，并根据所述特征信号输出异常判定结果，以及采集所述监控对象的运行状态；The abnormality determination and status acquisition unit is coupled to the monitoring object and is adapted to receive the characteristic signal output by the monitoring object, output the abnormality determination result according to the characteristic signal, and collect the operating status of the monitoring object;

所述异常处理单元，与所述多个异常判定和状态采集单元耦接，适于接收所述异常判定和状态采集单元输出的所述异常判定结果，基于所述异常判定结果输出异常状态预警信号；The abnormality processing unit is coupled to the plurality of abnormality determination and status acquisition units, and is adapted to receive the abnormality determination result output by the abnormality determination and status acquisition unit, and output an abnormality status early warning signal based on the abnormality determination result. ;

所述延迟单元，与所述异常处理单元耦接，适于接收所述异常状态预警信号，当接收到所述异常状态预警信号的时间达到预设延迟时长后输出异常状态信号，所述异常状态信号用于复位所述监控对象。The delay unit, coupled to the abnormality processing unit, is adapted to receive the abnormal state early warning signal, and when the time of receiving the abnormal state early warning signal reaches a preset delay time, it outputs an abnormal state signal. The signal is used to reset the monitored object.

可选地，所述异常判定和状态采集单元，包括：Optionally, the abnormality determination and status collection unit includes:

异常判定模块，适于接收所述监控对象输出的所述特征信号，判定所述特征信号是否满足预设的异常判定条件，并输出状态判定结果；An abnormality determination module, adapted to receive the characteristic signal output by the monitoring object, determine whether the characteristic signal satisfies preset abnormality determination conditions, and output a status determination result;

异常次数记录模块，适于记录所述状态判定结果的次数，并统计所述状态判定结果的次数得到统计次数；The abnormal number recording module is suitable for recording the number of the status determination results, and counting the number of the status determination results to obtain the statistical number;

异常结果确认模块，适于基于所述统计次数，输出所述异常判定结果。The abnormal result confirmation module is adapted to output the abnormal determination result based on the statistical number of times.

可选地，所述异常判定模块，适于根据所述特征信号的类型，采用与所述特征信号的类型相对应的异常判定条件，输出所述状态判定结果。Optionally, the abnormality determination module is adapted to output the status determination result according to the type of the characteristic signal, using an abnormality determination condition corresponding to the type of the characteristic signal.

可选地，所述异常判定模块，适于在接收到的所述特征信号的类型为心跳信号时，确定所述监控对象的输出的心跳信号处于预设的第一周期范围时，输出一次状态正常结果，否则，输出一次状态异常结果；Optionally, the abnormality determination module is adapted to output a state when the type of the received characteristic signal is a heartbeat signal and determines that the heartbeat signal output by the monitoring object is within a preset first period range. Normal result, otherwise, output an abnormal status result;

和/或and / or

所述异常判定模块，适于在接收到的所述特征信号的类型为功能输出信号时，确定对应的监控对象的功能输出结果与预设的第一输出结果相同时，输出一次状态正常结果，否则，输出一次状态异常结果；The abnormality determination module is adapted to output a normal state result when it determines that the function output result of the corresponding monitoring object is the same as the preset first output result when the type of the received characteristic signal is a function output signal, Otherwise, output a status abnormality result;

和/或 and / or

所述异常判定模块，适于在接收到的所述特征信号的类型为电路输出信号时，确定对应的监控对象的电路输出结果与预设的第二输出结果相同时，输出一次状态正常结果，否则，输出一次状态异常结果；The abnormality determination module is adapted to output a normal state result when it determines that the circuit output result of the corresponding monitoring object is the same as the preset second output result when the type of the received characteristic signal is a circuit output signal, Otherwise, output a status abnormality result;

和/或所述异常判定模块，适于在接收到的所述特征信号的类型为运算结果信号时，确定在预设的第二周期范围内接收到的对应的监控对象返回的第二运算结果与自身计算的第一运算结果相同时，输出一次状态正常结果，否则，输出一次状态异常结果。And/or the abnormality determination module is adapted to determine the second operation result returned by the corresponding monitoring object received within the preset second period range when the type of the received characteristic signal is an operation result signal. When the first operation result calculated by itself is the same, a normal state result is output; otherwise, an abnormal state result is output.

可选地，所述异常次数记录模块，适于基于如下至少一种类型的统计方式对所述状态判定结果的次数进行统计：Optionally, the abnormal number recording module is adapted to count the number of status determination results based on at least one of the following types of statistical methods:

统计所述状态异常结果的累计次数；Count the cumulative number of abnormal status results;

统计所述状态异常结果的连续次数；Count the number of consecutive times of abnormal status results;

统计所述状态正常结果次数和所述状态异常结果次数的加权次数。The weighted number of the number of normal state results and the number of abnormal state results is counted.

可选地，异常监控***，还包括：状态记录单元，分别与所述多个异常判定和状态采集单元、所述异常处理单元以及所述延迟单元耦接，适于记录所述多个监控对象的状态数据，以及适于在所述监控对象被复位时，锁存所述状态数据。Optionally, the abnormality monitoring system further includes: a status recording unit, respectively coupled to the plurality of abnormality determination and status acquisition units, the abnormality processing unit and the delay unit, and adapted to record the plurality of monitoring objects. status data, and is adapted to latch the status data when the monitoring object is reset.

可选地，异常监控***，还包括：配置与复位单元，分别与所述多个异常判定和状态采集单元、所述延迟单元耦接，适于基于配置数据，对所述多个异常判定和状态采集单元、所述延迟单元进行功能配置；和/或，基于复位数据，对所述多个异常判定和状态采集单元、所述延迟单元进行功能复位。Optionally, the abnormality monitoring system further includes: a configuration and reset unit, respectively coupled to the plurality of abnormality determination and status acquisition units and the delay unit, and adapted to configure the plurality of abnormality determination and status acquisition units based on configuration data. The status acquisition unit and the delay unit perform functional configuration; and/or, based on the reset data, perform functional reset on the multiple abnormality determination and status acquisition units and the delay unit.

相应地，本说明书实施例还提供一种应用异常监控***的装置，包括：多个监控对象和前述任一示例所述的异常监控***，其中：Correspondingly, embodiments of this specification also provide a device for applying an abnormality monitoring system, including: multiple monitoring objects and the abnormality monitoring system described in any of the preceding examples, wherein:

所述多个监控对象，与所述异常监控***耦接，适于向所述异常监控***输出特征信号；The plurality of monitoring objects are coupled to the abnormality monitoring system and are adapted to output characteristic signals to the abnormality monitoring system;

所述异常监控***，适于接收所述多个监控对象输出的所述特征信号，并根据所述特征信号，输出异常状态信号；The abnormality monitoring system is adapted to receive the characteristic signals output by the plurality of monitoring objects, and output abnormal status signals according to the characteristic signals;

所述装置，适于接收所述异常状态信号，并根据所述异常状态信号，使所述监控对象进行复位。The device is adapted to receive the abnormal status signal and reset the monitoring object according to the abnormal status signal.

可选地，所述异常监控***，还适于记录所述多个监控对象的状态数据，以及适于在所述监控对象被复位时，锁存所述状态数据；Optionally, the abnormality monitoring system is also adapted to record status data of the plurality of monitoring objects, and to latch the status data when the monitoring objects are reset;

所述装置，还适于在重新启动时，读取所述异常监控***记录的所述状态数据，并根据所述状态数据，判断所述多个监控对象是否发生异常，根据判断结果，进行相应的处理。The device is also adapted to read the status recorded by the abnormality monitoring system when restarting. data, and based on the status data, it is judged whether an abnormality occurs in the multiple monitoring objects, and corresponding processing is performed based on the judgment results.

可选地，当根据所述状态数据，判断所述多个监控对象均未发生异常时，所述装置正常启动；当判断所述多个监控对象中任一监控对象发生异常时，所述装置根据所述状态数据对所述多个监控对象进行状态配置。Optionally, when it is determined based on the status data that none of the multiple monitoring objects is abnormal, the device starts normally; when it is determined that any one of the multiple monitoring objects is abnormal, the device Status configuration is performed on the plurality of monitoring objects according to the status data.

可选地，装置还适于在重新启动时，根据所述状态数据，输出配置数据和/或复位数据至所述异常监控***；Optionally, the device is also adapted to output configuration data and/or reset data to the abnormality monitoring system according to the status data when restarting;

所述异常监控***，还适于基于所述配置数据，进行功能配置；和/或，基于所述复位数据，进行功能复位。The abnormality monitoring system is further adapted to perform function configuration based on the configuration data; and/or perform function reset based on the reset data.

可选地，装置，还包括：安全防护***，与所述异常监控***耦接，适于接收所述异常监控***输出的异常状态信号，启动安全防护功能。Optionally, the device further includes: a safety protection system, coupled to the abnormality monitoring system, adapted to receive the abnormal status signal output by the abnormality monitoring system and activate the safety protection function.

可选地，所述装置包括可编程逻辑列阵，所述异常监控***运行于所述可编程逻辑列阵。Optionally, the device includes a programmable logic array, and the abnormality monitoring system runs on the programmable logic array.

可选地，装置，还包括：定时器和看门狗，其中：Optionally, the device also includes: timer and watchdog, wherein:

所述定时器，与所述异常监控***耦接，适于接收所述异常监控***输出的所述异常状态信号，并根据所述异常状态信号，输出对应的触发信号；The timer is coupled to the abnormality monitoring system, adapted to receive the abnormal status signal output by the abnormality monitoring system, and output a corresponding trigger signal according to the abnormal status signal;

所述看门狗，与所述定时器耦接，适于根据所述触发信号，向所述装置输出复位和/或关断信号。The watchdog is coupled to the timer and is adapted to output a reset and/or shutdown signal to the device according to the trigger signal.

本说明书实施例还提供一种雷达，包括：An embodiment of this specification also provides a radar, including:

多个功能安全诊断单元，适于对雷达的多项功能进行安全诊断；Multiple functional safety diagnostic units, suitable for safety diagnosis of multiple functions of the radar;

前述任一示例所述的异常监控***，与所述多个功能安全诊断单元耦接，适于监控所述多个功能安全诊断单元的运行状态，当监控到所述多个功能安全诊断单元出现异常时，输出异常状态信号；The abnormality monitoring system described in any of the preceding examples is coupled to the plurality of functional safety diagnostic units and is suitable for monitoring the operating status of the plurality of functional safety diagnostic units. When abnormal, the abnormal status signal is output;

所述功能安全诊断单元根据所述异常状态信号进行复位；和/或所述雷达根据所述异常状态信号进行安全关断。The functional safety diagnosis unit is reset according to the abnormal status signal; and/or the radar is safely shut down according to the abnormal status signal.

可选地，所述异常监控***，适于监控所述多个功能安全诊断单元在预设运行周期输出的特征信号，并在监控到所述特征信号与预设特征信号不一致或者未接收到所述特征信号时，输出所述异常状态信号。Optionally, the abnormality monitoring system is adapted to monitor the characteristic signals output by the plurality of functional safety diagnostic units in a preset operating cycle, and monitor that the characteristic signals are inconsistent with the preset characteristic signals or do not receive all the characteristic signals. When the characteristic signal is specified, the abnormal status signal is output.

本说明书实施例还提供一种异常监控方法，包括：The embodiment of this specification also provides an abnormality monitoring method, including:

接收多个监控对象输出的特征信号，并根据所述特征信号判定和采集所述监控对象的运行状态，得到异常判定结果； Receive characteristic signals output by multiple monitoring objects, determine and collect the operating status of the monitoring objects based on the characteristic signals, and obtain abnormality determination results;

基于所述异常判定结果输出异常状态预警信号；Output an abnormal state early warning signal based on the abnormality determination result;

当接收到所述异常状态预警信号的时间达到预设延迟时长后输出异常状态信号，所述异常状态信号用于复位所述监控对象。When the time for receiving the abnormal state warning signal reaches a preset delay time, an abnormal state signal is output, and the abnormal state signal is used to reset the monitoring object.

可选地，所述的异常监控方法，还包括：记录所述多个监控对象的状态数据，并在所述监控对象被复位时，锁存所述状态数据。Optionally, the abnormality monitoring method further includes: recording status data of the plurality of monitoring objects, and latching the status data when the monitoring objects are reset.

可选地，所述的异常监控方法，还包括：基于配置数据，进行功能配置；和/或，基于复位数据，进行功能复位。Optionally, the abnormality monitoring method further includes: performing function configuration based on configuration data; and/or performing function reset based on reset data.

本说明书实施例又提供一种异常处理方法，包括：The embodiment of this specification also provides an exception handling method, including:

基于接收的多个监控对象输出的特征信号，得到对应的异常状态信号；Based on the received characteristic signals output by multiple monitoring objects, the corresponding abnormal status signal is obtained;

根据所述异常状态信号，进行复位操作。According to the abnormal status signal, a reset operation is performed.

本说明书实施例又提供一种雷达的异常监控方法，其中，所述雷达包括多个安全诊断单元，适于对雷达的多项功能进行安全诊断，所述异常监控方法包括：Embodiments of this specification also provide a radar abnormality monitoring method, wherein the radar includes a plurality of safety diagnosis units, which are suitable for safety diagnosis of multiple functions of the radar. The abnormality monitoring method includes:

监控所述多个功能安全诊断单元的运行状态；Monitor the operating status of the plurality of functional safety diagnostic units;

监控到所述多个功能安全诊断单元出现异常时，输出异常状态信号；When an abnormality is detected in the plurality of functional safety diagnostic units, an abnormal status signal is output;

根据所述异常状态信号，对所述多个功能安全诊断单元进行复位；和/或对所述雷达进行安全关断。According to the abnormal state signal, the plurality of functional safety diagnostic units are reset; and/or the radar is safely shut down.

本说明书提供一种异常监控***，能够对多个监控对象进行状态监控，其中，每个监控对象可以与所述异常监控***中的一个异常判定和状态采集单元耦接，各监控对象可以根据自身的时序输出特征信号至与之耦接的异常判定和状态采集单元，各异常判定和状态采集单元能够根据对应监控对象输出的特征信号，输出异常判定结果，多个异常判定和状态采集的异常判定结果均由异常处理单元进行集中处理，既能避免采用多个看门狗对多个监控对象进行监控导致的***复杂度提升问题，降低***设计难度和成本，又能够通过与每个监控对象对应的异常判定和状态采集单元实现独立的状态判定，提高对每个对象进行监控的实时性，且降低了对监控对象输出信号的要求，进一步降低***设计的复杂度。进一步地，本说明书实施例通过采集监控对象的运行状态，增强异常监控***对各监控对象运行状态的实时感知能力以及在监控对象复位时快速恢复原有状态，提升异常监控***的性能。此外，异常监控***设定有预设延迟时长，在判定出现异常状态后的时间达到预设延迟时长后，延迟单元再输出用于复位监控对象的异常状态信号，因此在所述预设延迟时长内，未发生异常的监控对象可以继续执行原先的进程，不会因***复位而被中断，提高监控对象执行进程的完整性。因此，采用本说明书实施例提供的异常监控***，能够以较低的设计复杂度和成本，实现对复杂***中多个监控对象的同步监控。This specification provides an abnormality monitoring system that can perform status monitoring on multiple monitoring objects. Each monitoring object can be coupled with an abnormality determination and status acquisition unit in the abnormality monitoring system. Each monitoring object can perform state monitoring based on its own The timing sequence outputs the characteristic signal to the abnormality judgment and status acquisition unit coupled to it. Each abnormality judgment and status acquisition unit can output the abnormality judgment result according to the characteristic signal output by the corresponding monitoring object, and the abnormality judgment of multiple abnormality judgments and status acquisitions The results are all processed centrally by the exception processing unit, which can not only avoid the problem of increased system complexity caused by using multiple watchdogs to monitor multiple monitoring objects, but also reduce the difficulty and cost of system design. The abnormality determination and status acquisition unit realizes independent status determination, improves the real-time monitoring of each object, and reduces the requirements for the output signal of the monitoring object, further reducing the complexity of the system design. Furthermore, the embodiments of this specification improve the performance of the abnormality monitoring system by collecting the running status of the monitoring objects, enhancing the abnormality monitoring system's real-time perception of the running status of each monitoring object, and quickly restoring the original status when the monitoring object is reset. In addition, the abnormality monitoring system is set with a preset delay time. After the time after the occurrence of the abnormal state reaches the preset delay time, the delay unit then outputs an abnormal state signal for resetting the monitored object. Therefore, within the preset delay time Within, no exception occurred The monitoring object can continue to execute the original process without being interrupted by system reset, which improves the integrity of the execution process of the monitoring object. Therefore, by using the abnormality monitoring system provided by the embodiments of this specification, synchronous monitoring of multiple monitoring objects in a complex system can be achieved with lower design complexity and cost.

进一步地，所述异常判定和状态采集单元可以包括：异常判定模块、异常次数记录模块和异常结果确认模块，通过所述异常判定模块能够判定对监控对象输出的所述特征信号是否满足预设的异常判定条件，所述异常次数记录单元可以统计状态判定结果的次数，并可以由异常结果确认模块根据统计次数，输出所述异常判定结果。通过对多个单次状态判定结果进行统计计数，能够对不同的监控对象设定不同的统计方式以及预设阈值，可以更加准确地反映各监控对象的运行状态，实现更为合理的异常监控，提升异常监控***的适应性、可扩展性和可靠性，且能够避免因为单次的偶然因素导致的异常致使监控对象频繁复位，提升异常监控***的鲁棒性。Further, the abnormality determination and status acquisition unit may include: an abnormality determination module, an abnormality number recording module and an abnormal result confirmation module. The abnormality determination module can determine whether the characteristic signal output to the monitored object meets the preset Abnormality determination conditions, the abnormality count recording unit can count the number of status determination results, and the abnormality result confirmation module can output the abnormality determination result based on the statistical number. By statistically counting multiple single status determination results, different statistical methods and preset thresholds can be set for different monitoring objects, which can more accurately reflect the operating status of each monitoring object and achieve more reasonable abnormal monitoring. Improve the adaptability, scalability and reliability of the abnormality monitoring system, and avoid frequent resets of monitored objects due to abnormalities caused by single accidental factors, improving the robustness of the abnormality monitoring system.

进一步地，异常监控***还可以包括状态记录单元，通过所述状态记录单元能够记录所述多个监控对象的状态数据，以及可以在所述监控对象被复位时，锁存所述状态数据，由于所述状态数据可以表征监控对象的状态，一方面，能够根据所述状态数据，配置各监控对象的状态，使得各监控对象在复位和/或断开前后的状态能够保持一致，提高监控对象执行进程的连续性和完整性；另一方面，便于操作人员对发生异常的监控对象进行追踪，查找导致监控对象发生复位的原因。Further, the abnormality monitoring system may also include a status recording unit, through which the status data of the plurality of monitoring objects can be recorded, and the status data can be latched when the monitoring objects are reset. The status data can represent the status of the monitoring object. On the one hand, the status of each monitoring object can be configured according to the status data, so that the status of each monitoring object can be consistent before and after reset and/or disconnection, and the execution of the monitoring object can be improved. The continuity and integrity of the process; on the other hand, it is convenient for operators to track abnormal monitoring objects and find the reasons for the reset of the monitoring objects.

进一步地，异常监控***还可以包括配置与复位单元，能够基于配置数据，对所述多个异常判定和状态采集单元以及所述延迟单元进行功能配置，能够对各异常判定和状态采集单元以及延迟单元中的参数进行修改，优化异常监控***的监控过程，提高监控结果的可靠性；和/或，基于复位数据，对所述多个异常判定和状态采集单元、所述延迟单元进行功能复位，能够清除各异常判定和状态采集单元以及延迟单元中预先设置的参数或者中间参数，实现对监控对象的多次监控。Further, the abnormality monitoring system may also include a configuration and reset unit, which can perform functional configuration on the plurality of abnormality determination and status acquisition units and the delay unit based on the configuration data, and can configure each abnormality determination and status acquisition unit and the delay unit. Modify the parameters in the unit to optimize the monitoring process of the abnormal monitoring system and improve the reliability of the monitoring results; and/or, based on the reset data, perform functional reset on the multiple abnormal determination and status acquisition units and the delay unit, It can clear the preset parameters or intermediate parameters in each abnormality determination and status acquisition unit and delay unit to realize multiple monitoring of monitoring objects.

本说明书还提供一种应用异常监控***的装置，所述装置可以包括多个监控对象和前述任一实施例所述的异常监控***，其中，所述监控***可以基于各监控对象输出的特征信号，输出异常状态信号，由于所述异常状态信号能够表征监控对象的运行状态发生异常，因此所述装置可以根据所述异常状态信号，进行复位，从而提高装置运行的安全性和可靠性。 This specification also provides a device for applying an abnormality monitoring system. The device may include multiple monitoring objects and the abnormality monitoring system described in any of the foregoing embodiments. The monitoring system may be based on characteristic signals output by each monitoring object. , output an abnormal status signal. Since the abnormal status signal can represent an abnormality in the operating status of the monitored object, the device can be reset according to the abnormal status signal, thereby improving the safety and reliability of the device operation.

进一步地，异常监控***还可以记录所述多个监控对象的状态数据，以及适于在所述装置被复位时，锁存所述状态数据，避免装置被复位时导致数据丢失问题，由于所述状态数据能够表征各监控对象的实时运行状态，因此，所述装置可以根据所述异常状态信号，对监控对象进行复位操作；且在所述监控对象被复位时，异常监控***可以锁存所述状态数据，即状态数据不再跟随监控对象的运行状态而变化，避免装置被复位导致数据丢失，所述装置在重新启动时，可以根据所述状态数据，判断所述多个监控对象是否发生异常，根据判断结果，进行相应的处理，进一步提高装置运行的安全性和可用性。Further, the abnormality monitoring system can also record the status data of the plurality of monitoring objects, and be adapted to latch the status data when the device is reset to avoid data loss problems when the device is reset. The status data can represent the real-time operating status of each monitoring object. Therefore, the device can reset the monitoring object according to the abnormal status signal; and when the monitoring object is reset, the abnormality monitoring system can latch the Status data, that is, status data no longer changes with the operating status of the monitoring object, to avoid data loss caused by the device being reset. When the device is restarted, it can determine whether an abnormality occurs in the multiple monitoring objects based on the status data. , and perform corresponding processing based on the judgment results to further improve the safety and availability of device operation.

进一步地，当装置根据所述状态数据，判断所述多个监控对象均未发生异常时，所述装置正常启动；当判断所述多个监控对象中存在监控对象发生异常时，所述装置根据所述状态数据对所述多个监控对象进行状态配置，能够使得各监控对象的状态与启动前的状态一致，提高各监控对象执行进程的连续性，进而能够提高装置的鲁棒性。Further, when the device determines that none of the multiple monitoring objects are abnormal according to the status data, the device starts normally; when it is determined that there is an abnormality in the monitoring object among the multiple monitoring objects, the device determines according to The status data configures the status of the multiple monitoring objects, which can make the status of each monitoring object consistent with the status before startup, improve the continuity of the execution process of each monitoring object, and thereby improve the robustness of the device.

进一步地，装置在重新启动时，根据所述状态数据，输出配置数据和/或复位数据至所述异常监控***，使得异常监控***能够基于所述配置数据，进行功能配置，能够对各异常状态判定、采集单元以及延迟单元中的参数进行修改，优化异常监控***的监控过程，提高监控结果的可靠性，进而提高装置运行的可靠性；和/或，基于所述复位数据，进行功能复位，能够清除各异常状态判定、采集单元以及延迟单元中预先设置的参数或者中间参数，实现对监控对象的多次监控。Further, when the device restarts, it outputs configuration data and/or reset data to the abnormality monitoring system according to the status data, so that the abnormality monitoring system can perform function configuration based on the configuration data, and can detect each abnormality status. Modify the parameters in the determination, acquisition unit and delay unit to optimize the monitoring process of the abnormal monitoring system, improve the reliability of the monitoring results, and thereby improve the reliability of the device operation; and/or perform functional reset based on the reset data, It can clear the preset parameters or intermediate parameters in each abnormal state determination, acquisition unit and delay unit to realize multiple monitoring of monitoring objects.

进一步地，所述的装置还可以包括安全防护***，所述安全防护***可以在接收所述异常监控***输出的异常状态信号，启动安全防护功能，避免安全隐患的发生，进一步提高装置运行的安全性和可靠性。Further, the device may also include a safety protection system. The safety protection system may activate the safety protection function after receiving the abnormal status signal output by the abnormality monitoring system to avoid the occurrence of safety hazards and further improve the safety of the operation of the device. performance and reliability.

进一步地，所述装置包括可编程逻辑列阵，所述异常监控***运行于所述可编程逻辑列阵，通过采用可编程逻辑阵列的方式，可以简化异常监控***的结构，便于实施对装置运行状态的监控，而且当装置本身包括可编程逻辑列阵时，异常监控***可以通过在可编程逻辑列阵中通过程序编程来实现，进而无需在装置中添加额外的异常监控***器件，降低装置设计异常监控***的复杂度。Further, the device includes a programmable logic array, and the abnormality monitoring system runs on the programmable logic array. By using the programmable logic array, the structure of the abnormality monitoring system can be simplified, which facilitates implementation of the operation of the device. Status monitoring, and when the device itself includes a programmable logic array, the abnormality monitoring system can be implemented through programming in the programmable logic array, thereby eliminating the need to add additional abnormality monitoring system components to the device and reducing device design The complexity of anomaly monitoring systems.

进一步地，装置还可以包括：定时器和看门狗，通过所述定时器和所述看门狗的互相配合，能够在接收所述异常监控***输出的所述异常状态信号时，向所述装置输出复位信号，从而能够提高装置运行的安全性和可靠性。Further, the device may also include: a timer and a watchdog. Through the cooperation of the timer and the watchdog, when receiving the abnormal status signal output by the abnormal monitoring system, A reset signal is output to the device, thereby improving the safety and reliability of device operation.

本说明书还提供一种雷达，其中，多个功能安全诊断单元可以对雷达的多项功能进行安全诊断，当异常监控***监控到所述多个功能安全诊断单元出现异常时，输出异常状态信号，根据所述异常状态信号，能够对功能安全诊断单元进行复位；和/或所述雷达根据所述异常状态信号进行安全关断，从而能够在监控到异常监控***发生异常时，及时对雷达进行处理，提高雷达运行的安全性和可靠性。This specification also provides a radar, in which multiple functional safety diagnosis units can perform safety diagnosis on multiple functions of the radar. When the abnormality monitoring system monitors an abnormality in the multiple functional safety diagnosis units, it outputs an abnormal status signal, According to the abnormal state signal, the functional safety diagnosis unit can be reset; and/or the radar can be safely shut down according to the abnormal state signal, so that when an abnormality occurs in the abnormal monitoring system, the radar can be processed in a timely manner , improve the safety and reliability of radar operation.

附图说明Description of drawings

为了更清楚地说明本发明实施例或现有技术中的技术方案，下面将对实施例或现有技术描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本发明实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据提供的附图获得其他的附图。In order to explain the embodiments of the present invention or the technical solutions in the prior art more clearly, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings in the following description are only These are embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on the provided drawings without exerting creative efforts.

图1示出了本说明书实施例中一种异常监控***的结构示意图；Figure 1 shows a schematic structural diagram of an abnormality monitoring system in an embodiment of this specification;

图2示出了本说明书实施例中一种异常判定和状态采集单元的结构示意图；Figure 2 shows a schematic structural diagram of an abnormality determination and status acquisition unit in the embodiment of this specification;

图3示出了本说明书实施例中另一种异常监控***的结构示意图；Figure 3 shows a schematic structural diagram of another abnormality monitoring system in the embodiment of this specification;

图4示出了本说明书实施例中一种应用异常监控***的装置的结构示意图；Figure 4 shows a schematic structural diagram of a device applying an abnormality monitoring system in an embodiment of this specification;

图5示出了本说明书实施例中一具体应用场景中应用异常监控***的装置的结构示意图；Figure 5 shows a schematic structural diagram of a device for applying an abnormality monitoring system in a specific application scenario in the embodiment of this specification;

图6示出了本说明书实施例中另一具体应用场景中应用异常监控***的装置的结构示意图；Figure 6 shows a schematic structural diagram of a device for applying an abnormality monitoring system in another specific application scenario in the embodiment of this specification;

图7示出了本说明书实施例中又一具体应用场景中应用异常监控***的装置的结构示意图；Figure 7 shows a schematic structural diagram of a device for applying an abnormality monitoring system in yet another specific application scenario in the embodiment of this specification;

图8示出了本说明书实施例中一种雷达的结构示意图；Figure 8 shows a schematic structural diagram of a radar in an embodiment of this specification;

图9示出了本说明书实施例中一种异常监控方法的流程图；Figure 9 shows a flow chart of an abnormality monitoring method in the embodiment of this specification;

图10示出了本说明书实施例中一种异常处理方法的流程图；Figure 10 shows a flow chart of an exception handling method in the embodiment of this specification;

图11示出了本说明书实施例中一种雷达的异常监控方法的流程图。Figure 11 shows a flow chart of a radar abnormality monitoring method in an embodiment of this specification.

具体实施方式Detailed ways

如背景技术所述，传统技术中在复杂***中所采用的异常监控方式存在***设计复杂、集成度较低、监控实时性差等问题。As mentioned in the background art, the abnormality monitoring method used in complex systems in traditional technology has problems such as complex system design, low integration level, and poor real-time monitoring performance.

为解决上述技术问题，本说明书实施例提供了一种异常监控***，能够采用融合的异常监控***同时对多个监控对象进行状态监控，其中，每个监控对象可以与异常监控***中对应的异常判定和状态采集单元耦接，各监控对象可以根据自身的时序输出特征信号至与之耦接的异常判定和状态采集单元，各异常判定和状态采集单元能够根据对应监控对象输出的特征信号，输出异常判定结果，多个异常判定和状态采集的异常判定结果均由异常处理单元进行集中处理，既能避免同时采用多个看门狗对多个监控对象进行监控导致的***复杂度提升问题，降低***设计难度和成本，又能够通过与每个监控对象对应的异常判定和状态采集单元实现独立的状态判定，提高对每个对象进行监控的实时性，且降低了对监控对象输出信号的要求，进一步降低***设计的复杂度。进一步地，本说明书实施例通过采集监控对象的运行状态，增强异常监控***对各监控对象运行状态的实时感知能力以及在监控对象复位时快速恢复原有状态，提升异常监控***的性能。此外，异常监控***设定有预设延迟时长，在判定出现异常状态后的时间达到预设延迟时长后，延迟单元再输出用于复位监控对象的异常状态信号，因此在所述预设延迟时长内，未发生异常的监控对象可以继续执行原先的进程，不会因异常处理单元判定有监控对象发生异常而被中断，提高监控对象执行进程的完整性。因此，采用本说明书实施例提供的异常监控***，能够以较低的设计复杂度和成本，实现对复杂***中多个监控对象的同步监控。In order to solve the above technical problems, embodiments of this specification provide an abnormality monitoring system that can adopt Use the integrated abnormality monitoring system to simultaneously monitor the status of multiple monitoring objects. Each monitoring object can be coupled with the corresponding abnormality determination and status acquisition unit in the abnormality monitoring system. Each monitoring object can output characteristic signals according to its own timing. To the abnormality determination and status acquisition unit coupled to it, each abnormality determination and status acquisition unit can output the abnormality determination result according to the characteristic signal output by the corresponding monitoring object. The abnormality determination results of multiple abnormality determination and status acquisition are all processed by the exception. The unit performs centralized processing, which can not only avoid the problem of increased system complexity caused by using multiple watchdogs to monitor multiple monitoring objects at the same time, reduce the difficulty and cost of system design, but also enable abnormal determination and detection corresponding to each monitoring object. The status acquisition unit realizes independent status determination, improves the real-time monitoring of each object, and reduces the requirements for the output signal of the monitoring object, further reducing the complexity of the system design. Furthermore, the embodiments of this specification improve the performance of the abnormality monitoring system by collecting the running status of the monitoring objects, enhancing the abnormality monitoring system's real-time perception of the running status of each monitoring object, and quickly restoring the original status when the monitoring object is reset. In addition, the abnormality monitoring system is set with a preset delay time. After the time after the occurrence of the abnormal state reaches the preset delay time, the delay unit then outputs an abnormal state signal for resetting the monitored object. Therefore, within the preset delay time Within the time limit, monitoring objects that do not have exceptions can continue to execute the original process and will not be interrupted because the exception processing unit determines that an abnormality occurs in the monitoring object, thereby improving the integrity of the execution process of the monitoring object. Therefore, by using the abnormality monitoring system provided by the embodiments of this specification, synchronous monitoring of multiple monitoring objects in a complex system can be achieved with lower design complexity and cost.

为使本领域技术人员更好地理解和实施本发明实施例，以下对本说明书实施例的构思、方案、原理及优点等结合附图，并通过具体应用示例进行详细描述。In order to enable those skilled in the art to better understand and implement the embodiments of the present invention, the concepts, solutions, principles, advantages, etc. of the embodiments of this specification are described in detail below with reference to the accompanying drawings and through specific application examples.

首先，本说明书实施例提供了一种异常监控***，如图1所示，异常监控***100可以包括多个异常判定和状态采集单元、异常处理单元120以及延迟单元130，所述异常监控***100适于对多个监控对象进行状态监控，其中：First, the embodiment of this specification provides an anomaly monitoring system. As shown in Figure 1, the anomaly monitoring system 100 may include multiple anomaly determination and status acquisition units, an anomaly processing unit 120, and a delay unit 130. The anomaly monitoring system 100 Suitable for status monitoring of multiple monitoring objects, including:

所述异常处理单元120，与所述多个异常判定和状态采集单元耦接，适于接收所述异常判定和状态采集单元输出的所述异常判定结果，基于所述异常判定结果输出异常状态预警信号；The abnormality processing unit 120 is coupled to the plurality of abnormality determination and status acquisition units, is adapted to receive the abnormality determination result output by the abnormality determination and status acquisition unit, and outputs an abnormality status early warning based on the abnormality determination result. Signal;

所述延迟单元130，与所述异常处理单元120耦接，适于接收所述异常状态预警信号，当接收到所述异常状态预警信号的时间达到预设延迟时长后输出异常状态信号，所述异常状态信号用于复位所述监控对象。The delay unit 130 is coupled to the exception processing unit 120 and is adapted to receive the abnormal status. When the time of receiving the abnormal state early warning signal reaches the preset delay time, the abnormal state signal is output, and the abnormal state signal is used to reset the monitoring object.

结合图1，异常判定和状态采集单元的数量为多个，例如图1中示出的异常判定和状态采集单元111、112、…、11n，相应地，监控对象的数量也为多个，且与所述异常判定和状态采集单元的数量可以相同，例如图1中监控对象100_1、100_2、…、100_n，其中，n为大于1的整数。其中，异常判定和状态采集单元和监控***的数量可以根据被监控***的实际需求进行确定，在此不做具体限定。With reference to Figure 1, the number of abnormality determination and status collection units is multiple, such as the abnormality determination and status collection units 111, 112, ..., 11n shown in Figure 1. Correspondingly, the number of monitoring objects is also multiple, and The number of abnormality determination and status collection units may be the same, for example, the monitoring objects 100_1, 100_2, ..., 100_n in Figure 1, where n is an integer greater than 1. Among them, the number of abnormality determination and status acquisition units and monitoring systems can be determined according to the actual needs of the monitored system, and is not specifically limited here.

在具体实施中，异常判定和状态采集单元可以与对应的监控对象耦接，以接收监控对象输出的特征信号，例如，异常判定和状态采集单元111可以与监控对象100_1耦接，以接收监控对象100_1输出的特征信号；异常判定和状态采集单元112可以与监控对象100_2耦接，以接收监控对象100_2输出的特征信号；……；异常判定和状态采集单元11n可以与监控对象100_n耦接，以接收监控对象100_n输出的特征信号。In a specific implementation, the abnormality determination and status acquisition unit can be coupled with the corresponding monitoring object to receive the characteristic signal output by the monitoring object. For example, the abnormality determination and status acquisition unit 111 can be coupled with the monitoring object 100_1 to receive the monitoring object. The characteristic signal output by 100_1; the abnormality determination and status acquisition unit 112 can be coupled with the monitoring object 100_2 to receive the characteristic signal output by the monitoring object 100_2; ...; the abnormality determination and status acquisition unit 11n can be coupled with the monitoring object 100_n, to receive Receive the characteristic signal output by the monitoring object 100_n.

当异常判定和状态采集单元接收到监控对象输出的特征信号时，例如，异常判定和状态采集单元111接收到监控对象100_1输出的特征信号，能够根据所述特征信号，判定监控对象当前的运行状态(例如，正常运行状态和异常运行状态)，并且可以采集各监控对象的运行状态，并根据各监控对象的各运行状态，输出异常判定结果，例如输出监控对象100_1的异常判定结果，当异常判定和状态采集单元输出异常判定结果时，表明其对应地监控对象地运行出现异常状态，例如监控对象100_1存在异常。When the abnormality determination and status acquisition unit receives the characteristic signal output by the monitoring object, for example, the abnormality determination and status acquisition unit 111 receives the characteristic signal output by the monitoring object 100_1, and can determine the current operating status of the monitoring object based on the characteristic signal. (For example, normal operating status and abnormal operating status), and can collect the operating status of each monitoring object, and output the abnormality determination result according to each operating status of each monitoring object, for example, output the abnormality determination result of the monitoring object 100_1. When the abnormality determination is When the status acquisition unit outputs an abnormality determination result, it indicates that the operation of the corresponding monitoring object is in an abnormal state, for example, the monitoring object 100_1 is abnormal.

异常处理单元120与多个异常判定和状态采集单元耦接，可以接收多个异常判定和状态采集单元分别输出的异常判定结果。当异常处理单元120接收到至少一个异常判定和状态采集单元输出的异常判定结果时，输出异常状态预警信号至延迟单元130。The exception processing unit 120 is coupled to multiple exception determination and status acquisition units, and can receive the exception determination results respectively output by the multiple exception determination and status acquisition units. When the exception processing unit 120 receives at least one exception determination result output by the status acquisition unit, it outputs an abnormal status warning signal to the delay unit 130 .

延迟单元130与异常处理单元120耦接，延迟单元130可以在接收到所述异常状态预警信号的时间达到预设延迟时长后输出异常状态信号，由于所述异常状态信号可以用于复位监控对象，因此在所述预设延迟时长内，未发生异常的监控对象可以在复位前完成正在执行的功能，如内存存储，以便在功能恢复或复位后可以恢复至上次运行状态，提升***的可用性和安全性。The delay unit 130 is coupled to the exception processing unit 120. The delay unit 130 can output an abnormal status signal after the time of receiving the abnormal status warning signal reaches a preset delay time. Since the abnormal status signal can be used to reset the monitoring object, Therefore, within the preset delay time, monitoring objects that do not have any abnormalities can complete the functions they are executing before resetting, such as memory storage, so that they can be restored to the last running state after function recovery or reset, improving the availability and security of the system. sex.

由此，通过将异常判定和状态采集单元与监控对象一一对应耦接，各监控对象可以根据自身的时序输出特征信号至异常判定和状态采集单元，无须输出具有特定编码的特征信号，也无需等待特定的时间区间，从而能够提升监控的实时性以及降低异常监控***的复杂度；并且多个异常判定和状态采集的异常判定结果均由异常处理单元进行集中处理，相比较采用多个看门狗的方式，能够极大地降低***设计复杂度。因此，本说明书实施例中的异常监控***能够以较低的设计复杂度和成本，实现对复杂***中多个监控对象的同步监控。Therefore, by coupling the abnormality determination and status acquisition unit with the monitoring object in one-to-one correspondence, each monitoring The object can output characteristic signals to the abnormality determination and status acquisition unit according to its own timing. There is no need to output characteristic signals with specific encoding or wait for a specific time interval, thus improving the real-time nature of monitoring and reducing the complexity of the abnormality monitoring system; In addition, the abnormality determination results of multiple exception determinations and status collection are centrally processed by the exception processing unit. Compared with the use of multiple watchdogs, the complexity of system design can be greatly reduced. Therefore, the abnormality monitoring system in the embodiments of this specification can realize synchronous monitoring of multiple monitoring objects in a complex system with lower design complexity and cost.

需要说明的是，上述实施例示出的异常监控***的结构仅为示例说明。例如，在实际监控过程中，可以根据监控对象的数量，调整异常判定和状态采集单元的数量，以实现对所有的监控对象进行状态监控；还例如，对于运行特性相同的多个监控对象，可以采用一个异常判定和状态采集单元对其进行监控。本说明书实施例对此不作限制，只要异常监控***能够对多个监控对象进行状态监控即可。It should be noted that the structure of the abnormality monitoring system shown in the above embodiments is only an example. For example, in the actual monitoring process, the number of abnormality determination and status collection units can be adjusted according to the number of monitoring objects to achieve status monitoring of all monitoring objects; for example, for multiple monitoring objects with the same operating characteristics, you can An abnormality determination and status acquisition unit is used to monitor it. The embodiments of this specification do not limit this, as long as the abnormality monitoring system can monitor the status of multiple monitoring objects.

为使本领域技术人员更好地理解和实施本发明实施例方案，以下对本说明书实施例中异常监控***的具体实现方式给出一些具体示例。In order to enable those skilled in the art to better understand and implement the embodiments of the present invention, some specific examples are given below for the specific implementation of the abnormality monitoring system in the embodiments of this specification.

在本说明书一些实施例中，监控对象可以是需要进行状态监控的任意对象，例如，所述监控对象可以是主控芯片、内核、关键功能单元(例如状态反馈单元)、关键电路(例如关键电源电路)、数字信号处理器、专用集成电路、微处理器等。相应地，异常监控***可以监控主控芯片的运行状态、内核的运行状态、关键功能单元的输出、关键电路的输出，数字信号处理器的运行状态、专用集成电路的运行状态、微处理器的运行状态，并在监控到异常时，输出异常状态信号。In some embodiments of this specification, the monitoring object can be any object that requires status monitoring. For example, the monitoring object can be a main control chip, a core, a key functional unit (such as a state feedback unit), a key circuit (such as a key power supply) circuit), digital signal processor, application specific integrated circuit, microprocessor, etc. Correspondingly, the abnormality monitoring system can monitor the operating status of the main control chip, the operating status of the core, the output of key functional units, the output of key circuits, the operating status of the digital signal processor, the operating status of the application-specific integrated circuit, and the operation status of the microprocessor. running status, and when an abnormality is detected, an abnormal status signal is output.

如前所述，异常监控***可以包括多个异常判定和状态采集单元，且多个异常判定和状态采集单元可以与多个监控对象耦接，以根据监控对象输出的特征信号，输出异常判定结果。As mentioned above, the abnormality monitoring system can include multiple abnormality determination and status acquisition units, and the multiple abnormality determination and status acquisition units can be coupled with multiple monitoring objects to output abnormality determination results based on the characteristic signals output by the monitoring objects. .

在本说明书一些实施例中，异常监控***中各异常判定和状态采集单元可以采用相同的结构。作为一具体示例，参照图2所述的本说明书实施例中一种异常判定和状态采集单元的结构示意图，如图2所示，异常判定和状态采集单元200可以包括：异常判定模块210、异常次数记录模块220和异常结果确认模块230，其中：In some embodiments of this specification, each abnormality determination and status acquisition unit in the abnormality monitoring system may adopt the same structure. As a specific example, refer to the structural schematic diagram of an anomaly determination and status collection unit in the embodiment of this specification described in Figure 2. As shown in Figure 2, the anomaly determination and status collection unit 200 may include: an anomaly determination module 210, an exception Times recording module 220 and abnormal result confirmation module 230, including:

所述异常判定模块210，适于接收所述监控对象输出的所述特征信号，判定所述特征信号是否满足预设的异常判定条件，并输出状态判定结果； The abnormality determination module 210 is adapted to receive the characteristic signal output by the monitoring object, determine whether the characteristic signal satisfies a preset abnormality determination condition, and output a status determination result;

所述异常次数记录模块220，适于记录所述状态判定结果的次数，并统计所述状态判定结果的次数得到统计次数；The abnormal number recording module 220 is adapted to record the number of status determination results, and count the number of status determination results to obtain the statistical number;

所述异常结果确认模块230，适于基于所述统计次数，输出所述异常判定结果。The abnormal result confirmation module 230 is adapted to output the abnormal determination result based on the statistical number of times.

作为一具体示例，异常判定模块210可以接收监控对象输出的特征信号，并根据预先设置的异常判定条件，对所述特征信号进行判定，并输出相应的状态判定结果至异常次数记录单元220，状态判定结果包括状态正常结果和状态异常结果，异常次数记录单元220可以记录状态正常结果和状态异常结果的次数，并对其进行统计，异常结果确认模块230可以根据状态判定结果的统计次数，输出对应的异常判定结果。As a specific example, the abnormality determination module 210 can receive the characteristic signal output by the monitoring object, determine the characteristic signal according to the preset abnormality determination conditions, and output the corresponding status determination result to the abnormality number recording unit 220. The status The determination results include normal status results and abnormal status results. The abnormal number recording unit 220 can record the number of normal status results and abnormal status results and count them. The abnormal result confirmation module 230 can output the corresponding number according to the statistical number of status determination results. abnormality determination result.

在具体实施中，各监控对象的类型可能不同，其所输出的特征信号也会有所不同，异常判定模块可以采用对应的异常判定条件，对监控对象的状态进行判定，输出状态判定结果。In specific implementation, the types of each monitored object may be different, and the characteristic signals output by them will also be different. The abnormality determination module can use the corresponding abnormality determination conditions to determine the status of the monitoring object and output the status determination result.

在本说明书一些实施例中，所述异常判定模块适于根据所述特征信号的类型，采用与所述特征信号的类型相对应的异常判定条件，输出所述状态判定结果。In some embodiments of this specification, the abnormality determination module is adapted to output the status determination result according to the type of the characteristic signal and using abnormality determination conditions corresponding to the type of the characteristic signal.

具体而言，预设的异常判定条件可以包括多个异常判定条件，当接收到监控对象输出的特征信号时，异常判定模块可以先判定特征信号的类型，并从所述预设的异常判定条件中选择与所述特征信号的类型相对应异常判定条件，所述异常判定模块可以根据选择的异常判定条件，判定所述监控对象的状态，并输出相应的状态判定结果。Specifically, the preset abnormality determination conditions may include multiple abnormality determination conditions. When receiving the characteristic signal output by the monitoring object, the abnormality determination module may first determine the type of the characteristic signal, and then determine the type of the characteristic signal based on the preset abnormality determination conditions. Select an abnormality determination condition corresponding to the type of the characteristic signal, and the abnormality determination module can determine the status of the monitored object according to the selected abnormality determination condition, and output a corresponding status determination result.

通过采用与特征信号的类型相对应的异常判定条件，异常判定模块能够根据监控对象输出的任意类型的特征信号，对监控对象的状态进行判定，从而能够提高异常监控***的普适性，而且将状态判定功能集成设置在所述异常判定模块，能够降低异常监控***的面积，进而降低成本。By using abnormality judgment conditions corresponding to the type of characteristic signals, the abnormality judgment module can judge the status of the monitoring object according to any type of characteristic signal output by the monitoring object, thereby improving the universality of the abnormality monitoring system and integrating The status determination function is integrated in the abnormality determination module, which can reduce the area of the abnormality monitoring system and thereby reduce costs.

作为一具体示例，异常判定模块可以根据以下至少一种类型的特征信号，进行监控对象的状态判定。As a specific example, the abnormality determination module can determine the status of the monitored object based on at least one of the following types of characteristic signals.

1)、所述异常判定模块，适于在接收到的所述特征信号的类型为心跳信号时，确定所述监控对象的输出的心跳信号处于预设的第一周期范围时，输出一次状态正常结果，否则，输出一次状态异常结果，从而能够判定监控对象的运行状态。 1). The abnormality determination module is adapted to determine that when the type of the received characteristic signal is a heartbeat signal, it determines that the output heartbeat signal of the monitoring object is within the preset first cycle range, and outputs a normal state. Otherwise, a status abnormality result is output, so that the running status of the monitored object can be determined.

2)、所述异常判定模块，适于在接收到的所述特征信号的类型为功能输出信号时，确定对应的监控对象的功能输出结果与预设的第一输出结果相同时，输出一次状态正常结果，否则，输出一次状态异常结果，从而能够判定监控对象的功能(例如状态反馈)是否正常运行。2). The abnormality determination module is adapted to output a status when it determines that the function output result of the corresponding monitoring object is the same as the preset first output result when the type of the received characteristic signal is a function output signal. Normal result, otherwise, a status abnormal result is output, so that it can be determined whether the function of the monitored object (such as status feedback) is running normally.

3)、所述异常判定模块，适于在接收到的所述特征信号的类型为电路输出信号时，确定对应的监控对象的电路输出结果与预设的第二输出结果相同时，输出一次状态正常结果，否则，输出一次状态异常结果，从而能够判定监控对象中电路(例如电源电路)是否正常运行。3). The abnormality determination module is adapted to output a status when it determines that the circuit output result of the corresponding monitoring object is the same as the preset second output result when the type of the received characteristic signal is a circuit output signal. Otherwise, an abnormal state result is output, so that it can be determined whether the circuit (such as a power circuit) in the monitored object is operating normally.

4)、所述异常判定模块，适于在接收到的所述特征信号的类型为运算结果信号时，确定在预设的第二周期范围内接收到的对应的监控对象返回的第二运算结果与自身计算的第一运算结果相同时，输出一次状态正常结果，否则，输出一次状态异常结果，从而能够在监控到监控对象的运行状态基础上，判定监控***的运算功能能否正常运行。4). The abnormality determination module is adapted to determine the second operation result returned by the corresponding monitoring object received within the preset second period range when the type of the received characteristic signal is an operation result signal. When the first operation result calculated by itself is the same, a normal status result is output. Otherwise, an abnormal status result is output. This way, based on monitoring the operating status of the monitored object, it can be determined whether the operation function of the monitoring system can operate normally.

其中，具体可以通过如下过程对监控对象的运算结果信号进行判定：首先，异常判定模块可以周期性地向监控对象发送随机性的数据集，并采用预设计算方式，对所述数据集进行运算，得到第一运算结果，当监控对象接收到所述数据集时，采用相同地预设计算方式对所述数据集进行运算，得到第二运算结果，若监控对象能够在预设的第二周期范围内向异常判定模块发送第二运算结果，且异常判定模块判定第二运算结果与第一运算结果相同，则输出一次状态正常结果，否则，输出一次状态异常结果。Specifically, the operation result signal of the monitoring object can be determined through the following process: First, the abnormality determination module can periodically send random data sets to the monitoring object, and use a preset calculation method to calculate the data set. , the first operation result is obtained. When the monitoring object receives the data set, the same preset calculation method is used to perform the operation on the data set, and the second operation result is obtained. If the monitoring object can perform the operation in the preset second period The second operation result is sent to the abnormality determination module within the range, and if the abnormality judgment module determines that the second operation result is the same as the first operation result, then a normal status result is output, otherwise, a status abnormality result is output.

当异常判定模块根据监控对象输出的特征信号和预设的异常判定条件，得到对应的状态判定结果时，异常次数记录模块可以记录各状态判定结果的次数，并对状态判定结果的次数进行统计。When the abnormality judgment module obtains the corresponding status judgment result based on the characteristic signal output by the monitored object and the preset abnormality judgment conditions, the abnormality count recording module can record the number of each status judgment result and count the number of status judgment results.

作为一具体示例，状态判定结果包括状态正常结果和状态异常结果，所述异常次数记录模块可以基于如下至少一种类型的统计方式对所述状态判定结果的次数进行统计：统计所述状态异常结果的累计次数；统计所述状态异常结果的连续次数；统计所述状态正常结果次数和所述状态异常结果次数的加权次数。As a specific example, the status determination results include normal status results and status abnormal results. The abnormal number recording module can count the number of status determination results based on at least one of the following types of statistical methods: counting the status abnormal results. The cumulative number of times; counting the consecutive number of abnormal state results; counting the weighted number of the number of normal state results and the number of abnormal state results.

其中，状态异常结果的累计次数可以是指在监控周期内，状态异常结果的非连续累计次数。The cumulative number of abnormal status results may refer to the non-continuous cumulative number of abnormal status results within the monitoring period.

状态异常结果的连续次数可以是指表征监控周期内，状态异常结果连续出现的次数，当出现一次状态正常结果时，之前的连续次数统计将被清零，直至再次出现状态异常结果时重新开始连续次数的统计。在本说明书一些实施例中，当监控对象的异常状态结果的连续次数达到某一定值时，可以确认所述监控对象的运行状态异常。The number of consecutive abnormal status results can refer to the number of consecutive occurrences of abnormal status results within the monitoring period. When a normal status result occurs, the previous consecutive count statistics will be cleared until When abnormal status results occur again, the statistics of consecutive times will be restarted. In some embodiments of this specification, when the number of consecutive abnormal state results of the monitored object reaches a certain value, it can be confirmed that the operating state of the monitored object is abnormal.

状态正常结果次数和状态异常结果次数的加权次数是指监控周期内，根据预先设置的权重值，以及记录的状态正常结果次数和状态异常结果次数，得到对应监控对象的状态判定结果的统计次数，由于考虑状态正常结果次数和状态异常结果次数的权重值，能够更准确地反映监控对象的运行状态。The weighted number of normal status results and abnormal status results refers to the statistical number of status determination results of the corresponding monitored object during the monitoring period, based on the preset weight value and the recorded normal status results and abnormal status results. Since the weight value of the number of normal status results and the number of abnormal status results is taken into account, the running status of the monitored object can be reflected more accurately.

由此，通过统计监控对象的多次状态判定结果，能够更加准确地反映监控对象的当前实际运行状态，从而能够根据统计次数，判定各监控对象的实际运行状态，从而对监控对象进行相应处理。Therefore, by counting the multiple status determination results of the monitoring object, the current actual operating status of the monitoring object can be more accurately reflected, so that the actual operating status of each monitoring object can be determined based on the number of statistics, and the monitoring object can be processed accordingly.

在具体实施中，一个特征信号一般对应一个状态判定结果，为了能更加准确地判定各监控对象的运行状态，在本说明书一些实施例中，监控对象可以同时向异常判定模块输出多个特征信号或者在一定的时间段内，向异常判定模块输出多个特征信号，异常判定模块可以根据预设的异常判定条件，依次判断监控对象的状态判定结果，并由异常次数记录模块记录所述状态判定结果的次数，并统计所述状态判定结果的次数得到统计次数，异常结果确认模块可以在统计次数达到预设阈值时，输出异常判定结果至异常处理单元。In a specific implementation, a characteristic signal generally corresponds to a status determination result. In order to more accurately determine the operating status of each monitoring object, in some embodiments of this specification, the monitoring object can output multiple characteristic signals to the anomaly determination module at the same time or Within a certain period of time, multiple characteristic signals are output to the abnormality determination module. The abnormality determination module can sequentially determine the status determination results of the monitored object according to the preset abnormality determination conditions, and the abnormality number recording module records the status determination results. The number of times, and counting the number of the status determination results to obtain the statistical number, the abnormal result confirmation module can output the abnormal determination result to the exception processing unit when the statistical number reaches the preset threshold.

其中，预设阈值的大小可以根据监控对象的重要程度进行设定。例如，对于一些重要程度较高的监控对象(例如，中央处理器)，其对应的预设阈值可以较小，例如为1，即所述监控对象一出现异常，就立即输出异常判定结果；对于一些重要程度较低的监控对象(例如，声卡设备)，其对应的预设阈值可以较大，本说明书对此不做具体限定。Among them, the size of the preset threshold can be set according to the importance of the monitored object. For example, for some monitoring objects with a high degree of importance (such as a central processing unit), the corresponding preset threshold can be smaller, such as 1, that is, as soon as an abnormality occurs in the monitoring object, the abnormality determination result will be output immediately; for Some monitoring objects with lower importance (for example, sound card equipment) may have larger corresponding preset thresholds, which are not specifically limited in this manual.

由此，采用上述结构的异常判定和状态采集单元，能够在对单次特征信号进行状态判定的基础上，统计多个单次状态判定结果得出最终的异常判定结果，能够避免因为单次的偶然因素导致的异常致使监控对象频繁复位，提升异常监控***的鲁棒性。对不同的监控对象，输出最终异常判定结果所依据的状态判定结果次数的统计方式可以不同或者相同，从而可以根据监控对象的特性进行个性化设置，例如对于异常容忍度较低的监控对象，或者异常发生后造成的危害性较大的监控对象，可以在统计到一次状态异常结果时，异常结果确认模块即输出异常判定结果；对于异常容忍度较高的监控对象，例如数据传输，少量次数的数据未能正常传输并不会造成较大的危害性，则可以在统计到多次状态异常结果时，异常结果确认模块再输出异常判定结果；如此能够更加准确地反映各监控对象的运行状态，实现更为合理的异常监控，可以提升异常监控***的适应性、可扩展性和可靠性。Therefore, using the abnormality determination and status acquisition unit with the above structure, based on the status determination of a single characteristic signal, multiple single status determination results can be counted to obtain the final abnormality determination result, which can avoid the occurrence of abnormality due to a single Abnormalities caused by accidental factors cause frequent resets of monitoring objects, improving the robustness of the abnormality monitoring system. For different monitoring objects, the statistical method of the number of state determination results based on which the final abnormality determination result is output can be different or the same, so that personalized settings can be made according to the characteristics of the monitoring object, for example, for monitoring objects with low abnormality tolerance, or For monitoring objects that are more harmful after an abnormality occurs, when a status abnormality result is counted, the abnormal result confirmation module will output the abnormality determination result; for monitoring objects with a high abnormality tolerance, such as data transmission, a small number of Failure to transmit data normally will not cause great harm, and multiple states can be counted When an abnormal result occurs, the abnormal result confirmation module outputs the abnormal determination result; this can more accurately reflect the operating status of each monitoring object, achieve more reasonable abnormal monitoring, and improve the adaptability, scalability and reliability of the abnormal monitoring system. .

在对多个监控对象进行状态监控的过程中，异常监控***除了输出最终的异常状态信号，还会生成大量的中间数据，这些中间数据和异常状态信号可以表征监控对象的实时运行状态，因此可以记录这些数据，一方面，能够根据所述状态数据，配置各监控对象的状态，使得各监控对象在复位和/或断开前后的状态能够保持一致，提高监控对象执行进程的连续性和完整性；另一方面，便于操作人员对发生异常的监控对象进行追踪。In the process of status monitoring of multiple monitoring objects, the abnormality monitoring system not only outputs the final abnormal status signal, but also generates a large amount of intermediate data. These intermediate data and abnormal status signals can represent the real-time operating status of the monitored objects, so it can Recording these data, on the one hand, can configure the status of each monitoring object based on the status data, so that the status of each monitoring object can remain consistent before and after reset and/or disconnection, and improve the continuity and integrity of the execution process of the monitoring object. ; On the other hand, it is convenient for operators to track abnormal monitoring objects.

基于此，参照图3所示的本说明书实施例中另一异常监控***的结构示意图，与图1不同之处在于，图3中的异常监控***300还可以包括状态记录单元340，分别与所述多个异常判定和状态采集单元、所述异常处理单元320以及所述延迟单元330耦接，适于记录所述多个监控对象的状态数据，以及适于在所述监控对象被复位时，锁存所述状态数据。Based on this, refer to the structural schematic diagram of another abnormality monitoring system in the embodiment of this specification shown in FIG. 3. The difference from FIG. 1 is that the abnormality monitoring system 300 in FIG. 3 can also include a status recording unit 340, which is respectively related to The plurality of abnormality determination and status acquisition units, the abnormality processing unit 320 and the delay unit 330 are coupled and adapted to record status data of the plurality of monitoring objects, and when the monitoring object is reset, The status data is latched.

例如，状态记录单元340分别可以与所述多个异常判定和状态采集单元311至31n耦接，并记录与异常判定和状态采集单元311至31n耦接的监控对象的状态数据。For example, the status recording unit 340 may be coupled to the plurality of abnormality determination and status acquisition units 311 to 31n, respectively, and record status data of the monitored objects coupled to the abnormality determination and status acquisition units 311 to 31n.

在本说明书一些实施例中，所述状态记录单元340至少可以记录如下至少一种监控对象的状态数据：各监控对象输出的特征信号、异常判定和状态采集单元对各监控对象输出的特征信号的具体判定方法(参见前述示例中列举的示例1)至4))；各监控对象状态异常结果及其统计次数；各监控对象状态异常结果的统计次数是否达到预设阈值以及预设阈值的大小；各监控对象异常发生的时间；各监控对象对应的异常判定结果；各监控对象对应的异常状态预警信号以及异常预警信号的输出时间；各监控对象对应的异常状态信号以及异常状态信号的输出时间等。In some embodiments of this specification, the status recording unit 340 can at least record the status data of at least one of the following monitoring objects: characteristic signals output by each monitoring object, abnormality determination, and the status acquisition unit's analysis of the characteristic signals output by each monitoring object. Specific determination methods (see Examples 1) to 4)) listed in the above examples); abnormal status results of each monitoring object and their statistical times; whether the statistical number of abnormal status results of each monitoring object reaches the preset threshold and the size of the preset threshold; The time when the abnormality of each monitoring object occurs; the abnormality determination result corresponding to each monitoring object; the abnormal status early warning signal corresponding to each monitoring object and the output time of the abnormal early warning signal; the abnormal status signal corresponding to each monitoring object and the output time of the abnormal status signal, etc. .

为便于理解，以下结合图2和图3，以监控对象300_1为例，说明状态记录单元记录监控对象300-1的状态数据的过程。For ease of understanding, the process of the status recording unit recording the status data of the monitoring object 300-1 will be described below with reference to Figures 2 and 3, taking the monitoring object 300_1 as an example.

假设在预设时段内，监控对象300_1输出10个特征信号至异常判定和状态采集单元311中的异常判定模块，异常判定模块判断这10个特征信号的类型均为心跳信号，则可以采用上述示例1)中的判定方式，确定所述监控对象300_1的输出的10个心跳信号中有7个心跳信号处于预设的第一周期范围时，而另外 3个心跳信号未处于预设的第一周期范围时，则按照判定顺序输出7次状态正常结果和3次状态异常结果，异常次数记录模块可以对状态判定结果进行统计，例如，可以统计到状态正常结果的累计次数为7次、状态异常结果的累计次数为3次，并将统计结果输出至异常结果确认模块，异常结果确认模块可以在判断状态异常结果的累计次数大于预设阈值时，例如，判断状态异常结果的累计次数3大于预设阈值2，输出用于表征监控对象300_1发生异常的异常判定结果。Assume that within a preset period, the monitoring object 300_1 outputs 10 characteristic signals to the abnormality determination module in the abnormality determination and status acquisition unit 311, and the abnormality determination module determines that the types of these 10 characteristic signals are all heartbeat signals, then the above example can be used The determination method in 1) determines that 7 of the 10 heartbeat signals output by the monitoring object 300_1 are within the preset first cycle range, and in addition When the three heartbeat signals are not within the preset first period range, 7 normal status results and 3 abnormal status results will be output in accordance with the determination sequence. The abnormal number recording module can count the status determination results. For example, the status can be counted. The cumulative number of normal results is 7 times, and the cumulative number of abnormal status results is 3 times, and the statistical results are output to the abnormal result confirmation module. The abnormal result confirmation module can determine when the cumulative number of abnormal status results is greater than the preset threshold, for example , the cumulative number of abnormal status judgment results 3 is greater than the preset threshold 2, and the abnormality judgment result used to represent the abnormality of the monitoring object 300_1 is output.

在此期间，状态记录单元340可以记录异常判定和状态采集单元采用示例1)对特征信号进行判定，以及记录监控对象300_1状态正常结果和状态异常结果的发生的顺序、时间以及次数，且状态异常结果的累计次数3超过预设阈值2，并可以记录表征监控对象300_1发生异常的异常判定结果、异常状态预警信号以及异常状态信号等。During this period, the status recording unit 340 can record the abnormality determination and the status acquisition unit uses Example 1) to determine the characteristic signal, and record the order, time and number of occurrences of normal status results and abnormal status results of the monitored object 300_1, and the status is abnormal. The cumulative number of results 3 exceeds the preset threshold 2, and the abnormality determination results, abnormal state warning signals, abnormal state signals, etc. indicating that the monitoring object 300_1 is abnormal can be recorded.

当延迟单元330输出异常状态信号后，监控对象会被复位，与此同时，状态记录单元340可以锁存所述状态数据，即状态记录单元记录的状态数据不再跟随异常判定和状态采集单元、异常处理单元以及延迟单元的输出信号而变化。外部设备(例如寄存器或硬线信号)可以访问状态记录单元340，以获取监控对象的当前状态信息。When the delay unit 330 outputs the abnormal status signal, the monitoring object will be reset. At the same time, the status recording unit 340 can latch the status data, that is, the status data recorded by the status recording unit no longer follows the abnormality determination and status acquisition unit. The output signals of the exception handling unit and delay unit change. External devices (such as registers or hard-wired signals) can access the status recording unit 340 to obtain the current status information of the monitored object.

可以理解的是，上述状态记录单元记录的监控对象的状态数据的具体内容仅为示例说明。例如，在另一些实施例中，状态记录单元还可以记录延迟单元中的预设延迟时长。It can be understood that the specific content of the status data of the monitoring object recorded by the above-mentioned status recording unit is only an example. For example, in other embodiments, the status recording unit may also record the preset delay duration in the delay unit.

采用图3所示的异常监控***，一方面，能够实现对多个监控对象的运行状态的实时记录，外部设备可以实时访问状态记录单元，从而使被监控装置或者操作人员及时获知各监控对象的运行状态，便于根据运行状态进行功能调整、降级等，从而在未发生严重异常时及时调整被监控对象，减少***复位次数，保障各监控对象的运行安全；另一发明，能够记录监控过程中，各监控对象的状态数据，便于后续追踪及确认发生异常的监控对象，查找导致监控对象发生复位的原因。Using the abnormality monitoring system shown in Figure 3, on the one hand, it can realize real-time recording of the operating status of multiple monitoring objects, and external devices can access the status recording unit in real time, so that the monitored device or operator can promptly learn the status of each monitoring object. The operating status facilitates function adjustment, downgrading, etc. based on the operating status, so that the monitored objects can be adjusted in time when no serious abnormality occurs, reducing the number of system resets and ensuring the operational safety of each monitored object; another invention can record the monitoring process, The status data of each monitoring object facilitates follow-up tracking and confirmation of abnormal monitoring objects, and finding the reasons for the reset of the monitoring objects.

在实际监控过程中，可以根据异常监控***监控到的各监控对象的状态，实时调整异常判定和状态采集单元、所述延迟单元中的参数信息。继续参照图3，所述异常监控***300还可以包括：配置与复位单元350，分别与所述多个异常判定和状态采集单元、所述延迟单元330耦接，适于基于配置数据，对所述多个异常判定和状态采集单元、所述延迟单元330进行功能配置；和/或，基于复位数据，对所述多个异常判定和状态采集单元、所述延迟单元330进行功能复位。In the actual monitoring process, the parameter information in the abnormality determination and status acquisition unit and the delay unit can be adjusted in real time according to the status of each monitoring object monitored by the abnormality monitoring system. Continuing to refer to FIG. 3 , the abnormality monitoring system 300 may further include: a configuration and reset unit 350 , respectively coupled to the plurality of abnormality determination and status acquisition units and the delay unit 330 , and adapted to configure all the abnormality determination and status acquisition units based on the configuration data. The multiple abnormality determination and status acquisition units and the delay unit 330 are functionally configured; and/or the multiple abnormality determination and status acquisition units and the delay unit 330 are functionally reset based on the reset data.

如图3所示，配置与复位单元350可以分别与异常判定和状态采集单元311至31n耦接，基于配置数据，对异常判定和状态采集单元311至31n、所述延迟单元330进行功能配置；和/或，基于复位数据，对异常判定和状态采集单元311至31n、所述延迟单元330进行功能复位。As shown in Figure 3, the configuration and reset unit 350 can be coupled to the abnormality determination and status acquisition units 311 to 31n respectively, and perform functional configuration on the abnormality determination and status acquisition units 311 to 31n and the delay unit 330 based on the configuration data; And/or, based on the reset data, functional reset is performed on the abnormality determination and status acquisition units 311 to 31n and the delay unit 330.

在具体实施中，配置与复位单元350可以基于配置数据，配置异常判定和状态采集单元311至31n中的用于判定特征信号的异常判定条件、对状态判定结果的统计方式、判定阈值等参数，以及配置延迟单元330中的预设延迟时长，例如，若在所述预设延迟时长内，运行状态正常的监控对象无法完成当前进行进程，可以增大延迟单元330中的预设延迟时长，或者根据被监控装置的特性，调整预设延迟时长；和/或，基于复位数据，对异常判定和状态采集单元311至31n中生成的状态判定结果、记录的状态判定结果的次数等进行复位，以及对延迟单元330生成的异常状态信号、计时信号等进行复位。In a specific implementation, the configuration and reset unit 350 can configure the abnormality determination conditions for determining the characteristic signal, the statistical method of the status determination results, the determination threshold and other parameters in the abnormality determination and status acquisition units 311 to 31n based on the configuration data, And configure the preset delay time in the delay unit 330. For example, if within the preset delay time, the monitoring object in normal operating status cannot complete the current process, the preset delay time in the delay unit 330 can be increased, or Adjust the preset delay time according to the characteristics of the monitored device; and/or, based on the reset data, reset the status determination results generated in the abnormality determination and status acquisition units 311 to 31n, the number of recorded status determination results, etc., and The abnormal status signal, timing signal, etc. generated by the delay unit 330 are reset.

在本说明书一些实施例中，可以通过外部接口将所述配置数据和/或复位数据输入至配置与复位单元350，也可以由配置与复位单元350从其他存储单元或者被监控装置的主控***中获取，本说明书实施例对此不做限制。In some embodiments of this specification, the configuration data and/or reset data can be input to the configuration and reset unit 350 through an external interface, or the configuration and reset unit 350 can obtain it from other storage units or the main control system of the monitored device. Obtained from , the embodiments of this specification do not limit this.

在具体实施中，可以将上述实施例中的异常监控***应用到任意需要监控的装置上，以下给出一种应用示例。In a specific implementation, the abnormality monitoring system in the above embodiment can be applied to any device that needs to be monitored. An application example is given below.

参照图4所示的本说明书实施例中一种应用异常监控***的装置的结构示意图，在本说明书实施例中，如图4所述，装置400可以包括多个监控对象和前述任一实施例所示的异常监控***410，其中：Referring to Figure 4, which is a schematic structural diagram of a device applying an abnormality monitoring system in the embodiment of this specification, in this embodiment of this specification, as shown in Figure 4, the device 400 may include multiple monitoring objects and any of the foregoing embodiments. Anomaly monitoring system 410 is shown, wherein:

所述多个监控对象，与所述异常监控***410耦接，适于向所述异常监控***410输出特征信号；The plurality of monitoring objects are coupled to the abnormality monitoring system 410 and are adapted to output characteristic signals to the abnormality monitoring system 410;

所述异常监控***410，适于接收所述多个监控对象输出的所述特征信号，并根据所述特征信号，输出异常状态信号；The abnormality monitoring system 410 is adapted to receive the characteristic signals output by the plurality of monitoring objects, and output abnormal status signals according to the characteristic signals;

所述应用异常监控***的装置400，适于接收所述异常状态信号，并根据所述异常状态信号，使所述监控对象进行复位。The device 400 for applying an abnormality monitoring system is adapted to receive the abnormal status signal, and reset the monitoring object according to the abnormal status signal.

结合图4，监控对象的数量为多个，例如图4中示出的监控对象400_1、400_2、……、400_m，其中，m为大于1的整数。其中，异监控对象的数量可以根据实际需求进行确定，在此不做具体限定。With reference to Figure 4, there are multiple monitoring objects, such as the monitoring objects 400_1, 400_2, ..., 400_m shown in Figure 4, where m is an integer greater than 1. Among them, the number of different monitoring objects can be It can be determined based on actual needs and is not specifically limited here.

所述异常监控***410的具体结构、工作原理可以参见前述示例，在此不再展开赘述。The specific structure and working principle of the abnormality monitoring system 410 can be referred to the above examples, and will not be described again here.

在具体实施中，异常监控***410可以根据接收到的监控对象400_1至400_m输出的特征信号，当判定监控对象发生异常时生成对应的异常状态信号，并输出至所述装置400，所述装置400可以根据所述异常状态信号，进行关断和/或复位，从而能够实时对发生异常的监控对象进行处理，提高装置运行的安全性和可靠性。In a specific implementation, the abnormality monitoring system 410 can generate a corresponding abnormal state signal when it is determined that the monitoring object is abnormal according to the received characteristic signals output by the monitoring objects 400_1 to 400_m, and output it to the device 400. The device 400 The device can be shut down and/or reset according to the abnormal status signal, so that abnormal monitoring objects can be processed in real time and the safety and reliability of device operation can be improved.

在具体实施中，根据实际应用场景，所述装置可以采用多种方式对所述监控对象进行复位操作。In a specific implementation, according to the actual application scenario, the device can reset the monitoring object in a variety of ways.

作为一具体示例，异常监控***输出的异常状态信号中可以不携带监控对象的标识信息，当应用所述异常监控***的装置接收到所述异常状态信号时，对所有监控对象进行复位操作。As a specific example, the abnormal status signal output by the abnormality monitoring system may not carry the identification information of the monitoring object. When the device applying the abnormality monitoring system receives the abnormal status signal, it performs a reset operation on all monitoring objects.

作为另一具体示例，异常监控***输出的异常状态信号中携带各监控对象的标识信息，当应用所述异常监控***的装置接收到所述异常状态信号时，仅对与异常状态信号中标识信息所对应的监控对象进行复位操作，而不对未发生异常的监控设备进行复位操作。As another specific example, the abnormal status signal output by the abnormality monitoring system carries the identification information of each monitoring object. When the device using the abnormality monitoring system receives the abnormal status signal, it only checks the identification information in the abnormal status signal. The corresponding monitoring object is reset, but the monitoring equipment where no abnormality occurs is not reset.

例如，当异常监控***输出的异常状态信号包括监控对象400_1的标识信息时，装置400可以仅对监控对象400_1进行复位操作，其他监控对象400_2至400_m仍可以按照之前的状态继续运行。For example, when the abnormal state signal output by the abnormal monitoring system includes the identification information of the monitored object 400_1, the device 400 can only perform a reset operation on the monitored object 400_1, and other monitored objects 400_2 to 400_m can continue to run according to the previous state.

在本说明书一些实施例中，虽然异常状态信号是用于复位发生异常的监控对象，但发生异常的监控对象可能无法解析异常状态信号，从而无法判断自身是否需要复位，此时可以通过逻辑设置，通过主从切换的通信方式，对运行状态发生异常的监控对象进行复位操作。In some embodiments of this specification, although the abnormal status signal is used to reset the abnormal monitoring object, the abnormal monitoring object may not be able to parse the abnormal status signal, and thus cannot determine whether it needs to be reset. In this case, it can be set through logic. Through the communication method of master-slave switching, the monitoring object with abnormal running status can be reset.

例如，监控对象400_2的运行状态出现异常，而其他监控对象运行状态正常，输出至装置400的异常状态信号可以包括监控对象400_2的标识信息，通过通信总线能够将所述异常状态信号传输至各监控对象，此时标识信息距离所述监控对象400_2最近的其他监控对象(例如监控对象400_1)可以作为主控设备，从而可以对异常状态信号进行解析，并复位监控对象400_2。For example, if the running status of the monitoring object 400_2 is abnormal, but the running status of other monitoring objects is normal, the abnormal status signal output to the device 400 may include the identification information of the monitoring object 400_2, and the abnormal status signal can be transmitted to each monitor through the communication bus. Object, at this time, other monitoring objects (for example, monitoring object 400_1) whose identification information is closest to the monitoring object 400_2 can be used as the main control device, so that the abnormal status signal can be analyzed and the monitoring object 400_2 can be reset.

需要说明的是，对运行状态异常的监控对象进行复位的描述仅为示例说明，在具体实施中，还可以采用其他方式，进行复位操作，例如，可以将异常状态信号输出至其他具有控制功能的装置或设备，由其他装置或设备，对运行状态异常的监控对象进行复位。It should be noted that the description of resetting the monitoring object with abnormal operating status is only an example. In specific implementation, other methods can also be used to perform the reset operation. For example, the abnormal status can be reset. The signal is output to other devices or equipment with control functions, and other devices or equipment reset the monitored objects with abnormal operating status.

在本说明书一些实施例中，所述异常监控***，还适于记录所述多个监控对象的状态数据，以及适于在所述监控对象被复位时，锁存所述状态数据；In some embodiments of this specification, the abnormality monitoring system is further adapted to record the status data of the multiple monitoring objects, and is adapted to latch the status data when the monitoring objects are reset;

所述装置，还适于在重新启动时，读取所述异常监控***记录的所述状态数据，并根据所述状态数据，判断所述多个监控对象是否发生异常，根据判断结果，进行相应的处理。The device is also adapted to read the status data recorded by the abnormality monitoring system when restarting, and determine whether an abnormality occurs in the multiple monitoring objects based on the status data, and perform corresponding actions based on the judgment results. processing.

具体而言，在对监控对象的运行状态进行监控时，异常监控***除了能够根据各监控对象输出的特征信号，生成相应的异常状态信号，还能够记录监控过程中能够表征监控对象运行状态的状态数据，一方面，所述装置可以根据所述异常状态信号，对监控对象进行复位操作；另一方面，在所述监控对象被复位时，异常监控***可以锁存所述状态数据，即状态数据不再跟随监控对象的运行状态而变化，避免装置被复位导致数据丢失，所述装置在重新启动时，可以根据所述状态数据，判断所述多个监控对象是否发生异常，根据判断结果，进行相应的处理，进一步提高装置运行的安全性和可用性。Specifically, when monitoring the operating status of the monitored object, the abnormal monitoring system can not only generate corresponding abnormal status signals based on the characteristic signals output by each monitored object, but also record the status during the monitoring process that can characterize the operating status of the monitored object. Data, on the one hand, the device can perform a reset operation on the monitored object according to the abnormal status signal; on the other hand, when the monitored object is reset, the abnormal monitoring system can latch the status data, that is, the status data It no longer follows the changes in the operating status of the monitored objects to avoid data loss caused by the device being reset. When the device is restarted, it can judge whether the multiple monitored objects are abnormal based on the status data, and perform based on the judgment results. Corresponding processing can further improve the safety and availability of device operation.

作为一具体示例，当根据所述状态数据，判断所述多个监控对象均未发生异常时，所述装置正常启动。As a specific example, when it is determined based on the status data that no abnormality occurs in the plurality of monitoring objects, the device starts normally.

作为另一具体示例，当根据所述状态数据，判断所述多个监控对象中任一监控对象发生异常时，所述装置根据所述状态数据对所述多个监控对象进行状态配置。As another specific example, when it is determined that any one of the multiple monitoring objects is abnormal based on the status data, the device performs status configuration on the multiple monitoring objects based on the status data.

例如，结合图4，根据异常监控***输出的异常状态信号，判断监控对象中有至少一个监控对象的运行状态发生异常，例如400_2，其他监控对象未发生异常，所述装置400可以对监控对象400_2进行复位操作，并将监控对象400_1、400_3至400_m的状态配置为上一次运行进程中监控对象400_1、400_3至400_m的运行状态，从而能够提高未发生异常的监控对象的执行进程的连续性，进而能够提高所述装置的鲁棒性。For example, with reference to Figure 4, according to the abnormal status signal output by the abnormal monitoring system, it is determined that the running status of at least one monitoring object among the monitoring objects is abnormal, such as 400_2, and other monitoring objects are not abnormal. The device 400 can monitor the monitoring object 400_2 Perform a reset operation and configure the status of the monitoring objects 400_1, 400_3 to 400_m to the running status of the monitoring objects 400_1, 400_3 to 400_m in the last running process, thereby improving the continuity of the execution process of the monitoring objects without exception, and thus The robustness of the device can be improved.

在实际监控过程中，所述装置还可以根据所述状态数据，对异常监控***进行功能配置和/或功能复位。具体而言，所述装置还适于在重新启动时，根据所述状态数据，输出配置数据和/或复位数据至所述异常监控***；所述异常监控***，还适于基于所述配置数据，进行功能配置；和/或，基于所述复位数据，进行功能复位。 During the actual monitoring process, the device can also perform functional configuration and/or functional reset of the abnormal monitoring system based on the status data. Specifically, the device is also adapted to output configuration data and/or reset data to the abnormality monitoring system according to the status data when restarting; the abnormality monitoring system is also suitable to output configuration data based on the configuration data. , perform function configuration; and/or, perform function reset based on the reset data.

通过上述方式，一方面，能够对各异常判定和状态采集单元以及延迟单元中的参数进行修改，优化异常监控***的监控过程，提高监控结果的可靠性；另一方面，能够清除各异常判定和状态采集单元以及延迟单元中预先设置的参数或者中间数据，实现对监控对象的多次监控。Through the above method, on the one hand, the parameters in each abnormality determination and status acquisition unit and the delay unit can be modified, optimizing the monitoring process of the abnormality monitoring system, and improving the reliability of the monitoring results; on the other hand, each abnormality determination and status acquisition unit can be cleared The preset parameters or intermediate data in the status acquisition unit and delay unit realize multiple monitoring of the monitoring object.

在具体实施中，在对监控装置与安全相关的功能时，根据异常状态信号，进行复位的同时，还可以启动安全防护功能，以关断所述装置。In a specific implementation, when monitoring the safety-related functions of the device, the safety protection function can also be activated to shut down the device while resetting according to the abnormal status signal.

在本说明书一些实施例中，继续参照图4，所述应用异常监控***的装置400还可以包括：安全防护***420，与所述异常监控***耦接，适于接收所述异常监控***410输出的异常状态信号，启动安全防护功能。In some embodiments of this specification, continuing to refer to FIG. 4 , the device 400 for applying the abnormality monitoring system may further include: a safety protection system 420 coupled to the abnormality monitoring system and adapted to receive the output of the abnormality monitoring system 410 abnormal status signal to activate the safety protection function.

当装置400中的监控对象用于执行与安全相关的功能，一旦监控对象出现异常，可能会造成相对严重的安全事件，因此为保证装置400的安全性，在复位监控对象的同时，还可以通过安全防护***420对装置400进行安全关断，避免危险事件的发生。When the monitoring object in the device 400 is used to perform security-related functions, once the monitoring object becomes abnormal, it may cause a relatively serious security incident. Therefore, in order to ensure the safety of the device 400, while resetting the monitoring object, you can also The safety protection system 420 safely shuts down the device 400 to avoid dangerous events.

此外，还可以通过安全防护***进行报警提示，以供操作人员及时获知异常情况。报警提示可以为本地声光报警、远程报警等，在此不做任何限定。In addition, alarm prompts can also be provided through the safety protection system so that operators can be informed of abnormal situations in a timely manner. Alarm prompts can be local sound and light alarms, remote alarms, etc., without any limitation here.

作为一具体示例，监控对象例如是重锤，当异常监控***420判定所述重锤在下落过程中出现异常，即使装置400根据异常监控***410输出的异常状态信号，对重锤进行复位，重锤也会在重力作用继续下落，可能会导致安全隐患，此时安全防护***420可以根据异常状态信号启动防护***420，使装置400紧急关断，避免重锤继续下落，或者发出报警提示。As a specific example, the monitoring object is, for example, a weight. When the abnormality monitoring system 420 determines that the weight is abnormal during the falling process, the device 400 resets the weight according to the abnormal status signal output by the abnormality monitoring system 410 and resets the weight. The hammer will also continue to fall under the action of gravity, which may cause safety hazards. At this time, the safety protection system 420 can activate the protection system 420 according to the abnormal status signal, causing the device 400 to shut down in an emergency to prevent the hammer from continuing to fall, or issue an alarm prompt.

在具体实施中，基于应用异常监控***的装置内是否有可编程逻辑单元或阵列，所述应用异常监控***的装置可以具有不同的设计架构。In specific implementations, based on whether there are programmable logic units or arrays in the device applying the anomaly monitoring system, the device applying the anomaly monitoring system may have different design architectures.

作为一具体示例，参照图5所示的本说明书实施例中一具体应用场景中应用异常监控***的装置的结构示意图，如图5所示，应用异常监控***的装置500(以下简称装置500)中没有可编程逻辑阵列，异常监控***510以独立***的形式应用于装置500中，例如通过电阻、电感、逻辑器件等集成在一起形成所述异常监控***510。As a specific example, refer to the structural schematic diagram of a device for applying anomaly monitoring system in a specific application scenario in the embodiment of this specification shown in Figure 5. As shown in Figure 5, a device 500 for applying anomaly monitoring system (hereinafter referred to as device 500) There is no programmable logic array in the device, and the abnormality monitoring system 510 is applied to the device 500 in the form of an independent system. For example, the abnormality monitoring system 510 is formed by integrating resistors, inductors, logic devices, etc.

其中，异常监控***510的具体结构以及各结构的工作原理可以参见前述示例，在此不再展开描述。The specific structure of the anomaly monitoring system 510 and the working principles of each structure can be referred to the foregoing examples, and will not be described further here.

在图5所示的装置500中，多个监控对象中的其中一个可以是主控***，例如主控***500_1，且各监控对象均设置有复位端口，例如，主控***500_1 设置有复位端口R1。In the device 500 shown in Figure 5, one of the multiple monitoring objects may be the main control system, for example, the main control system 500_1, and each monitoring object is provided with a reset port, for example, the main control system 500_1 A reset port R1 is provided.

在本说明书一些实施例中，主控***500_1可以运行于多种器件上，诸如微处理器，例如MCU；数字信号处理器，例如DSP；专用集成电路，例如ASIC，等等。In some embodiments of this specification, the main control system 500_1 can run on a variety of devices, such as microprocessors, such as MCU; digital signal processors, such as DSP; application specific integrated circuits, such as ASIC, and so on.

继续参照图5，在对各监控对象的运行状态进行监控时，一方面，延迟单元513可以输出异常状态信号至各监控对象的复位端口以及安全防护***520。在所述异常状态信号的作用下，可以对各监控对象进行复位，或者仅对发生异常的监控对象进行复位，其中，具体过程可以参见前述示例；安全防护***520可以根据异常状态信号，执行相应的安全防护措施，以关断整个装置500。Continuing to refer to FIG. 5 , when monitoring the running status of each monitoring object, on the one hand, the delay unit 513 can output an abnormal status signal to the reset port of each monitoring object and the safety protection system 520 . Under the action of the abnormal state signal, each monitoring object can be reset, or only the abnormal monitoring object can be reset. For the specific process, please refer to the aforementioned example; the safety protection system 520 can execute corresponding actions according to the abnormal state signal. safety precautions to shut down the entire device 500.

另一方面，状态记录单元514可以记录各监控对象的状态数据，并在装置500被复位和/或关断时，锁存所述状态数据。在装置500重新启动时，主控***500_1可以读取状态记录单元514中锁存的状态数据，并根据所述状态数据，输出对应的配置和/或复位数据至配置与复位单元515，使得异常监控***510能够根据配置和/或复位数据，进行功能配置和/或功能复位。On the other hand, the status recording unit 514 can record the status data of each monitoring object, and latch the status data when the device 500 is reset and/or turned off. When the device 500 restarts, the main control system 500_1 can read the status data latched in the status recording unit 514, and according to the status data, output the corresponding configuration and/or reset data to the configuration and reset unit 515, so that the abnormality The monitoring system 510 can perform functional configuration and/or functional reset according to the configuration and/or reset data.

在本说明书一些实施例中，所述装置包括可编程逻辑列阵，所述异常监控***运行于所述可编程逻辑列阵。当装置本身包括可编程逻辑列阵，则异常监控***可以通过在可编程逻辑列阵中通过程序编程来实现，进而无需在装置中添加额外的异常监控***器件，降低装置设计异常监控***的复杂度。In some embodiments of this specification, the device includes a programmable logic array, and the anomaly monitoring system runs on the programmable logic array. When the device itself includes a programmable logic array, the abnormality monitoring system can be implemented through programming in the programmable logic array, eliminating the need to add additional abnormality monitoring system components to the device and reducing the complexity of designing the abnormality monitoring system for the device. Spend.

参照图6所示的本说明书实施例中另一具体应用场景中应用异常监控***的装置的结构示意图，与图5不同之处在于，图6中的异常监控***510可以运行于可编程逻辑阵列PLA上，且所述可编程逻辑阵列PLA上可以设置有复位端口R_p，相应地，延迟单元513输出的异常状态信号还可以传输至所述复位端口R_p，以对运行于所述可编程逻辑阵列PLA上的异常监控***510进行复位。Referring to Figure 6, which is a schematic structural diagram of a device for applying anomaly monitoring system in another specific application scenario in the embodiment of this specification, the difference from Figure 5 is that the anomaly monitoring system 510 in Figure 6 can run on a programmable logic array PLA, and a reset port R _p can be provided on the programmable logic array PLA. Correspondingly, the abnormal status signal output by the delay unit 513 can also be transmitted to the reset port R _p to control the operation of the programmable logic array PLA. The abnormality monitoring system 510 on the logic array PLA is reset.

作为一具体示例，可编程逻辑阵列PLA可以是现场门可编辑阵列(Field Programmable Gate Array，FPGA)。As a specific example, the programmable logic array PLA may be a Field Programmable Gate Array (FPGA).

继续参照图6，所述装置500还可以包括：定时器530和看门狗540，其中：Continuing to refer to Figure 6, the device 500 may also include: a timer 530 and a watchdog 540, wherein:

所述定时器530，与所述异常监控***510耦接，适于接收所述异常监控***输出的所述异常状态信号，并根据所述异常状态信号，输出对应的触发信号；The timer 530 is coupled to the abnormality monitoring system 510, and is adapted to receive the abnormal status signal output by the abnormality monitoring system, and output a corresponding trigger signal according to the abnormal status signal;

所述看门狗540，与所述定时器530耦接，适于根据所述触发信号，向所述装置输出复位和/或关断信号。The watchdog 540 is coupled to the timer 530 and is adapted to respond to the trigger signal. The device outputs a reset and/or shutdown signal.

更具体而言，当异常监控***510判定监控对象的运行状态发生异常时，可以由延迟单元513输出异常状态信号至定时器530，定时器530可以根据接收到的异常状态信号，生成对应的触发信号并输出至看门狗540，在触发信号的作用下，看门狗540可以输出关断信号至安全防护***520，安全防护***520可以启动安全防护功能；以及输出复位信号至各监控对象的复位端口，以及可编程阵列PLC的复位端口，以复位各监控对象或异常监控***。定时器530还可以定时向看门狗540输出清除信号，当定时器530接收到延迟单元输出的异常状态信号时，停止输出清除信号，则看门狗540输出关断信号和/或复位信号。More specifically, when the abnormality monitoring system 510 determines that the operating status of the monitored object is abnormal, the delay unit 513 can output the abnormal status signal to the timer 530, and the timer 530 can generate a corresponding trigger according to the received abnormal status signal. The signal is output to the watchdog 540. Under the action of the trigger signal, the watchdog 540 can output a shutdown signal to the safety protection system 520, and the safety protection system 520 can activate the safety protection function; and output a reset signal to each monitoring object. Reset port, as well as the reset port of the programmable array PLC, to reset each monitoring object or abnormal monitoring system. The timer 530 can also regularly output a clear signal to the watchdog 540. When the timer 530 receives the abnormal status signal output by the delay unit, it stops outputting the clear signal, and the watchdog 540 outputs a shutdown signal and/or a reset signal.

继续参照图6，在本说明书一些实施例中，定时器530可以设置在可编程逻辑阵列PLA内部。Continuing to refer to FIG. 6 , in some embodiments of this specification, the timer 530 may be provided inside the programmable logic array PLA.

通过所述定时器和所述看门狗的互相配合，能够在接收所述异常监控***输出的所述异常状态信号时，向所述装置输出复位和/或关断信号，从而能够提高装置运行的安全性和可靠性。Through the cooperation of the timer and the watchdog, when receiving the abnormal status signal output by the abnormal monitoring system, a reset and/or a shutdown signal can be output to the device, thereby improving the operation of the device. safety and reliability.

在具体实施中，各监控对象和异常监控***运行于同一可编程逻辑列阵。参照图7所示的本说明书实施例中又一具体应用场景中应用异常监控***的装置的结构示意图，与图6不同之处在于，在图7所示的装置500中异常监控***510运行于芯片的可编程逻辑阵列PLA上，同时芯片的处理器内运行有多个监控对象，包括主核和至少一个内核，例如，主核501和内核502。由于主核和至少一个内核运行于同一个芯片上，因此共用一个复位端口。In specific implementation, each monitoring object and the abnormality monitoring system run on the same programmable logic array. Referring to FIG. 7 , which is a schematic structural diagram of a device applying an abnormality monitoring system in another specific application scenario in the embodiment of this specification, the difference from FIG. 6 is that in the device 500 shown in FIG. 7 , the abnormality monitoring system 510 runs on On the programmable logic array PLA of the chip, multiple monitoring objects are running in the processor of the chip at the same time, including the main core and at least one core, for example, the main core 501 and the core 502 . Since the main core and at least one core run on the same chip, they share a reset port.

在本说明书一些实施例中，所述可编程逻辑阵列PLA可以是多进程***芯片(Multi-Process System on Chip，MPSoC)的可编程逻辑单元。In some embodiments of this specification, the programmable logic array PLA may be a programmable logic unit of a multi-process system on chip (Multi-Process System on Chip, MPSoC).

继续参照图7，所述装置500还可以包括芯片外的多个其他监控对象，各其他监控对象具有其独立的复位端口。所述异常监控***510还可以监控多个其他监控对象的运行状态，并在监控到其他监控对象中至少一个发生异常时，输出异常状态信号至对应监控对象的复位端口，以对其进行复位。Continuing to refer to FIG. 7 , the device 500 may also include multiple other monitoring objects outside the chip, and each other monitoring object has its own independent reset port. The abnormality monitoring system 510 can also monitor the running status of multiple other monitoring objects, and when an abnormality occurs in at least one of the other monitoring objects, output the abnormal status signal to the reset port of the corresponding monitoring object to reset it.

需要说明的是，图5至图7所示的装置的结构进行为例说明。在具体实施中，可以根据需求对装置的结构进行适应性选取和修改。例如，可以增加或者减少监控对象的数量；又例如，可以将定时器放置在可编程逻辑阵列PLA的外部。本说明书实施例对这些扩展方案不做限制。 It should be noted that the structure of the device shown in FIGS. 5 to 7 is explained as an example. In specific implementation, the structure of the device can be adaptively selected and modified according to needs. For example, the number of monitoring objects can be increased or reduced; for another example, the timer can be placed outside the programmable logic array PLA. The embodiments of this specification do not limit these expansion schemes.

在本说明书一些实施例中，在使用异常监控***对多个监控对象的运行状态进行监控前，可以检验异常监控***能否正常工作。In some embodiments of this specification, before using the abnormality monitoring system to monitor the running status of multiple monitoring objects, it can be checked whether the abnormality monitoring system can work normally.

作为一具体示例，结合图2和图5，首先主控***500_1可以向异常判定和状态采集单元511_1输出一个异常的特征信号，进而异常判定和状态采集单元511_1可以记录一次状态异常结果，与此同时，状态记录单元514可以记录所述状态异常结果，在状态异常结果的统计次数未达到预设阈值前，主控***500_1读取状态记录单元514记录的状态异常结果，并判断所述状态异常结果是否满足预期结果，若满足，说明异常判定和状态采集单元511_1处于正常监控状态；否则，说明异常判定和状态采集单元511_1出现异常；并在触发装置500发生复位和/或关断前，主控***500_1可以输出一个正确的特征信号至异常判定和状态采集单元511_1，避免在对异常监控***510进行上电自检的过程中触发装置500发生复位和/或关断。As a specific example, combining Figure 2 and Figure 5, first the main control system 500_1 can output an abnormal characteristic signal to the abnormality determination and status acquisition unit 511_1, and then the abnormality determination and status acquisition unit 511_1 can record a status abnormality result. With this At the same time, the status recording unit 514 can record the status abnormal results. Before the statistical number of status abnormal results does not reach the preset threshold, the main control system 500_1 reads the status abnormal results recorded by the status recording unit 514 and determines the status abnormality. Whether the result meets the expected result, if so, it means that the abnormality determination and status acquisition unit 511_1 is in the normal monitoring state; otherwise, it means that the abnormality determination and status acquisition unit 511_1 is abnormal; and before the trigger device 500 is reset and/or shut down, the main The control system 500_1 can output a correct characteristic signal to the abnormality determination and status acquisition unit 511_1 to avoid the triggering device 500 from being reset and/or shut down during the power-on self-check of the abnormality monitoring system 510.

采用上述方式，可以判断与主控***500_1耦接的异常判定和状态采集单元511_1、异常处理单元512、延迟单元513、状态记录单元514是否出现异常。在本说明书另一具体示例，可以控制主控***500_1和各监控对象，分别向与之耦接的异常判定和状态采集单元511_1、511_2、……、511_n分别输出一个异常的特征信号，进而异常判定和状态采集单元511_1、511_2、……、511_n都可以记录一次状态异常结果，并采用与上述示例同样的判断方式，同时判断异常处理单元510中的各异常判定和状态采集单元、以及异常处理单元、状态记录单元、延迟单元能否正常工作。Using the above method, it can be determined whether an abnormality occurs in the abnormality determination and status acquisition unit 511_1, the exception processing unit 512, the delay unit 513, and the status recording unit 514 coupled to the main control system 500_1. In another specific example of this specification, the main control system 500_1 and each monitoring object can be controlled to respectively output an abnormal characteristic signal to the abnormality determination and status acquisition units 511_1, 511_2,..., 511_n coupled thereto, and then abnormality The determination and status acquisition units 511_1, 511_2, ..., 511_n can all record a status abnormality result, and use the same determination method as the above example to simultaneously determine each exception determination and status acquisition unit in the exception processing unit 510, as well as exception processing unit, status recording unit, and delay unit can work normally.

在具体实施中，激光雷达作为一种主动探测环境感知传感器，在可靠度、探测范围、测距精度等方面具有不可比拟的优势，已成为汽车自动驾驶、无人驾驶、定位导航、空间测绘、安保安防等领域最为核心的传感器设备，激光雷达运行的可靠性直接影响载体运行的安全性，因此对激光雷达运行状态的监控变得尤为重要。In specific implementation, lidar, as an active detection environment sensing sensor, has incomparable advantages in reliability, detection range, ranging accuracy, etc. As the most core sensor equipment in security and defense fields, the reliability of lidar operation directly affects the safety of carrier operation, so monitoring the operating status of lidar becomes particularly important.

激光雷达属于复杂的精密光机电***，其内部具有多个控制板、发射电路、驱动电路、探测电路、通信电路、电源电路、光学结构等。在一些实施例中，激光雷达可以包括：发射装置、收发光学组件、旋转扫描机构、光窗和接收装置。其中，所述发射装置可以包括多个激光器；所述接收装置可以包括多个探测器。Lidar is a complex precision optical-mechanical system, which contains multiple control boards, transmitter circuits, drive circuits, detection circuits, communication circuits, power circuits, optical structures, etc. In some embodiments, a lidar may include: a transmitting device, a receiving and receiving optical component, a rotating scanning mechanism, a light window, and a receiving device. Wherein, the transmitting device may include multiple lasers; the receiving device may include multiple detectors.

在激光雷达运行过程中，发射装置、收发光学组件、旋转扫描机构、接收装置和控制板、发射电路、驱动电路、探测电路、通信电路、电源电路等中任意一个都可能发生故障，例如，激光器无法发光，或者激光器持续发光。因此，可以采用功能安全诊断单元对上述各模块进行诊断。During the operation of lidar, the transmitting device, receiving and receiving optical components, rotating scanning mechanism, receiving Any one of the device and control board, transmitter circuit, drive circuit, detection circuit, communication circuit, power circuit, etc. may malfunction, for example, the laser cannot emit light, or the laser continues to emit light. Therefore, the functional safety diagnostic unit can be used to diagnose each of the above modules.

在具体实施中，功能安全诊断模块可以对雷达的各项功能进行安全诊断，以确保雷达能够安全运行，然而功能安全诊断单元无法对自身的运行状态进行诊断，当功能安全诊断单元出现异常时，可能会影响雷达的安全运行，导致安全隐患的发生。因此，可以由前述实施例中的异常监控***监控所述功能安全诊断单元的运行状态。In specific implementation, the functional safety diagnosis module can perform safety diagnosis on various functions of the radar to ensure that the radar can operate safely. However, the functional safety diagnosis unit cannot diagnose its own operating status. When the functional safety diagnosis unit is abnormal, It may affect the safe operation of the radar and lead to potential safety hazards. Therefore, the operating status of the functional safety diagnostic unit can be monitored by the abnormality monitoring system in the aforementioned embodiment.

参照图8所示的本说明书实施例中一种雷达的结构示意图，在本说明书实施例中，如图8所示，雷达L可以包括多个功能安全诊断单元和前述任一实施例所述的异常监控***L2，其中：Referring to the schematic structural diagram of a radar in the embodiment of this specification shown in Figure 8, in the embodiment of this specification, as shown in Figure 8, the radar L may include multiple functional safety diagnostic units and the Anomaly monitoring system L2, including:

多个功能安全诊断单元，适于对雷达L的多项功能进行安全诊断；Multiple functional safety diagnostic units, suitable for safety diagnosis of multiple functions of radar L;

所述异常监控***L2，与所述多个功能安全诊断单元耦接，适于监控所述多个功能安全诊断单元的运行状态，当监控到所述多个功能安全诊断单元出现异常时，输出异常状态信号；The abnormality monitoring system L2 is coupled to the plurality of functional safety diagnosis units and is suitable for monitoring the operating status of the plurality of functional safety diagnosis units. When an abnormality is detected in the plurality of functional safety diagnosis units, an output Abnormal status signal;

所述功能安全诊断单元根据所述异常状态信号进行复位；和/或所述雷达L根据所述异常状态信号进行安全关断。The functional safety diagnosis unit is reset according to the abnormal status signal; and/or the radar L is safely shut down according to the abnormal status signal.

结合图8，功能安全诊断单元的数量为多个，例如图8中示出的功能安全诊断单元L_1、L_2、…、L_i，且功能安全诊断单元L_1、L_2、…、L_i均与异常监控***L2耦接，其中，i为大于1的整数。其中，功能安全诊断单元的数量可以根据雷达L需要进行安全诊断的功能数量确定，在此不做具体限定。With reference to Figure 8, there are multiple functional safety diagnostic units, such as the functional safety diagnostic units L_1, L_2,..., L_i shown in Figure 8, and the functional safety diagnostic units L_1, L_2,..., L_i are all connected to the abnormality monitoring system L2 coupling, where i is an integer greater than 1. Among them, the number of functional safety diagnosis units can be determined according to the number of functions that radar L needs to perform safety diagnosis, and is not specifically limited here.

所述异常监控***L2的具体结构、工作原理可以参见前述示例，在此不再展开赘述。The specific structure and working principle of the abnormality monitoring system L2 can be referred to the aforementioned examples, and will not be described in detail here.

在具体实施中，多个功能安全诊断单元可以按照预设的时序对雷达的多项功能进行安全诊断。在应用异常监控***时，多个功能安全诊断单元可以按照预设时间间隔向异常监控***输出多个特征信号，异常监控***可以根据特征信号，判定各个功能安全诊断单元的运行状态，并在监控到特征信号与预设特征信号不一致或者未监控到特征信号时，判定对应功能安全诊断单元出现异常，输出异常状态信号，以对相应的功能安全诊断单元或者雷达进行复位和/或进行安全关断。In a specific implementation, multiple functional safety diagnosis units can perform safety diagnosis on multiple functions of the radar according to a preset time sequence. When applying the abnormality monitoring system, multiple functional safety diagnosis units can output multiple characteristic signals to the abnormality monitoring system at preset time intervals. The abnormality monitoring system can determine the operating status of each functional safety diagnosis unit based on the characteristic signals, and monitor When the characteristic signal is inconsistent with the preset characteristic signal or the characteristic signal is not monitored, it is determined that the corresponding functional safety diagnostic unit is abnormal, and an abnormal status signal is output to reset and/or safely shut down the corresponding functional safety diagnostic unit or radar. .

作为一具体示例，功能安全诊断单元在对雷达的功能进行安全诊断后，每隔预设时间向异常监控***发送一个指定的特征信号，异常监控***判断是否接收到特征信号，以及两次特征信号之间的时间是否符合预设时间间隔。此外，如果输出的多个特征信号具有预设的时序关系，异常监控***还判断多个特征信号的接收顺序是否符合预设时序。As a specific example, after performing safety diagnosis on the function of the radar, the functional safety diagnosis unit A specified characteristic signal is sent to the anomaly monitoring system at preset intervals. The anomaly monitoring system determines whether the characteristic signal is received and whether the time between two characteristic signals meets the preset time interval. In addition, if the multiple output characteristic signals have a preset timing relationship, the anomaly monitoring system also determines whether the reception sequence of the multiple characteristic signals conforms to the preset timing.

在具体实施中，根据各功能安全诊断单元性质的不同，基于异常监控***输出的异常状态信号，可以采用不同的方式对雷达进行处理。In specific implementation, according to the different properties of each functional safety diagnosis unit, based on the abnormal status signal output by the abnormal monitoring system, the radar can be processed in different ways.

例如，对于用于诊断各探测通道能否正常发光的功能安全诊断单元，当该功能安全诊断单元发生异常时，可能无法正常监控每个探测通道的发光情况，但即使部分通道未能按照正常顺序发光，在短时间内通常不会造成重大安全隐患，因此异常监控***在检测到该功能安全诊断单元发生异常时，输出异常状态信号，以对该功能安全诊断单元进行复位操作，使其恢复对发射电路的正常监控功能。For example, for a functional safety diagnostic unit used to diagnose whether each detection channel can emit light normally, when an abnormality occurs in the functional safety diagnostic unit, it may not be able to monitor the lighting status of each detection channel normally, but even if some channels fail to follow the normal sequence Emitting light usually does not cause major safety hazards in a short period of time. Therefore, when the abnormality monitoring system detects an abnormality in the functional safety diagnostic unit, it outputs an abnormal status signal to reset the functional safety diagnostic unit and restore it to normal operation. Normal monitoring function of the transmitter circuit.

又例如，对于用于诊断人眼安全的功能安全诊断单元，当该功能安全诊断单元发生异常时，因其不能再对人眼安全进行正常监控，有可能出现伤害人眼的安全隐患，因此一旦发现该功能安全诊断单元异常时，可以根据异常监控***输出的异常状态信号，将雷达进行关断和/或复位处理。For another example, for a functional safety diagnostic unit used to diagnose human eye safety, when an abnormality occurs in the functional safety diagnostic unit, it can no longer perform normal monitoring of human eye safety, and there may be safety hazards that harm human eyes. Therefore, once When an abnormality is found in the functional safety diagnostic unit, the radar can be shut down and/or reset based on the abnormal status signal output by the abnormality monitoring system.

如前所述，异常监控***在监控过程中，在状态判定结果的统计次数达到预设阈值时，输出异常判定结果，进而输出对应的异常状态预警信号，并在达到预设延迟时长后，输出用于关断和/或复位监控对象的异常状态信号。As mentioned above, during the monitoring process, the abnormality monitoring system outputs the abnormality judgment result when the statistical number of status judgment results reaches the preset threshold, and then outputs the corresponding abnormal status warning signal, and after reaching the preset delay time, outputs Abnormal status signal used to shut down and/or reset the monitored object.

当将异常监控***应用到雷达时，预设阈值大小与其对应的功能安全诊断单元有关，在实际应用时可以根据需求进行设定，本说明书对此不做限定。When the anomaly monitoring system is applied to radar, the preset threshold size is related to its corresponding functional safety diagnostic unit, which can be set according to the actual application requirements. This manual does not limit this.

在具体实施中，预设阈值的大小还可以与安全容忍最大时间相关。安全容忍最大时间是指雷达中的相关功能一旦发生异常，可能触发安全事件的最大时间。装置中的每个监控对象按照预设的时间间隔向异常监控***发送特征信号，因此异常监控***得出多次判定结果的时间间隔是固定的，故而可以安全容忍最大时间来设定诊断次数阈值，使得任一监控对象的状态异常结果达到其对应诊断次数阈值的时间不会超过安全容忍最大时间，以保证雷达的使用安全。In a specific implementation, the size of the preset threshold may also be related to the maximum safe tolerance time. The maximum safety tolerance time refers to the maximum time that a safety event may be triggered once the relevant functions in the radar are abnormal. Each monitoring object in the device sends characteristic signals to the anomaly monitoring system at preset time intervals. Therefore, the time interval for the anomaly monitoring system to obtain multiple judgment results is fixed, so the maximum time can be safely tolerated to set the diagnosis number threshold. , so that the time when the status abnormality result of any monitored object reaches its corresponding diagnosis number threshold will not exceed the maximum safety tolerance time, so as to ensure the safety of radar use.

在本说明书一些实施例中，设置异常监控***中的预设延迟时长时主要考虑两个因素，首先不能超过安全容忍最大时间，其次设置的预设延迟时长能够满足没有发生异常的功能安全诊断单元在被复位或者雷达关断前，完成正在执行的安全诊断进程，例如，内存存储。 In some embodiments of this specification, two factors are mainly considered when setting the preset delay time in the abnormality monitoring system. Firstly, it cannot exceed the maximum safety tolerance time. Secondly, the set preset delay time can satisfy the functional safety diagnosis unit without abnormality. Complete ongoing safety diagnostic processes, such as memory storage, before being reset or the radar shutting down.

在本说明书一些实施例中，将异常监控***应用到雷达时，异常监控***可以采用图6中采用FPGA/图7中采用MPSoC的方式，或者采用图5中独立异常监控***的方式，实现对雷达的监控。In some embodiments of this specification, when the anomaly monitoring system is applied to radar, the anomaly monitoring system can adopt the method of using FPGA in Figure 6 / using MPSoC in Figure 7 , or the method of using the independent anomaly monitoring system in Figure 5 to realize the monitoring. Radar monitoring.

相应地，本说明书实施例还提供了一种异常监控方法，以下结合附图，通过示例进行详细说明。Correspondingly, embodiments of this specification also provide an abnormality monitoring method, which will be described in detail below with examples in conjunction with the accompanying drawings.

参照图9所示的本说明书实施例中一种异常监控方法的流程图，如图9所示，可以采用如下步骤对监控对象的状态进行监控：Referring to the flow chart of an abnormality monitoring method in the embodiment of this specification shown in Figure 9, as shown in Figure 9, the following steps can be used to monitor the status of the monitoring object:

S11，接收多个监控对象输出的特征信号，并根据所述特征信号判定和采集所述监控对象的运行状态，得到异常判定结果。S11: Receive characteristic signals output by multiple monitoring objects, determine and collect the operating status of the monitoring objects based on the characteristic signals, and obtain abnormality determination results.

具体而言，特征信号能够表征监控对象的当前运行状态，通过对特征信号进行判定，能够确定监控对象是处于异常状态还是正常状态，并能够采集各监控对象的状态，进而得到与特征信号相对应的异常判定结果。Specifically, the characteristic signal can represent the current operating status of the monitored object. By judging the characteristic signal, it can be determined whether the monitored object is in an abnormal state or a normal state, and the status of each monitored object can be collected to obtain the corresponding characteristic signal. abnormality determination result.

在本说明书一些实施例中，所述监控对象可以是需要进行状态监控的任意对象，例如，所述监控对象可以是主控芯片、内核、关键功能单元(例如状态反馈单元)以及关键电路(例如关键电源电路)。In some embodiments of this specification, the monitoring object may be any object that requires status monitoring. For example, the monitoring object may be a main control chip, a core, a key functional unit (such as a state feedback unit), and a key circuit (such as a state feedback unit). critical power circuit).

S12，基于所述异常判定结果输出异常状态预警信号。S12: Output an abnormal state warning signal based on the abnormality determination result.

具体而言，异常判定结果可以包括用于表征监控对象运行状态的状态正常结果和状态异常结果，当所述判定结果中包括一个状态异常结果时，就可以输出对应的异常状态预警信号。Specifically, the abnormality determination results may include normal status results and abnormal status results used to characterize the operating status of the monitored object. When the determination results include an abnormal status result, a corresponding abnormal status early warning signal can be output.

S13，当接收到所述异常状态预警信号的时间达到预设延迟时长后输出异常状态信号，所述异常状态信号用于复位所述监控对象。S13. When the time of receiving the abnormal state warning signal reaches a preset delay time, an abnormal state signal is output. The abnormal state signal is used to reset the monitoring object.

具体而言，当判定监控对象的运行状态输出异常时，能够在接收到所述异常状态预警信号的时间达到预设延迟时长后，输出异常状态信号，以复位监控对象，而在所述预设延迟时长内，未发生异常的监控对象可以继续执行原先的进程，不会因异常处理单元判定有监控对象发生异常而导致快速复位突然中断当前进程。Specifically, when it is determined that the operating status output of the monitoring object is abnormal, the abnormal status signal can be output to reset the monitoring object after the time when the abnormal status warning signal is received reaches the preset delay time. Within the delay period, monitoring objects that do not have exceptions can continue to execute the original process, and the current process will not be suddenly interrupted by a quick reset because the exception processing unit determines that an abnormality occurs in the monitoring objects.

在具体实施中，对多个监控对象进行状态监控的过程中，除了最终输出异常状态信号外，还会生成大量的中间数据，这些中间数据也可以表征监控对象的状态，因此可以将记录这些数据，便于操作人员进行追踪。In specific implementation, in the process of status monitoring of multiple monitoring objects, in addition to the final output of abnormal status signals, a large amount of intermediate data will also be generated. These intermediate data can also represent the status of the monitoring objects, so these data can be recorded , making it easier for operators to track.

继续参照图9，所述监控方法还可以包括：Continuing to refer to Figure 9, the monitoring method may also include:

步骤S14，记录所述多个监控对象的状态数据，并在所述监控对象被复位时，锁存所述状态数据。Step S14, record the status data of the multiple monitoring objects, and reset the monitoring objects when the monitoring objects are reset. When, the status data is latched.

在本说明书一些实施例中，所述状态数据可以包括以下至少一种：In some embodiments of this specification, the status data may include at least one of the following:

对各监控对象输出的特征信号的具体判定方法(参见前述示例中列举的情景1)至4))；各监控对象的状态判定结果，对状态判定结果进行统计的方式以及统计结果；预设阈值的大小，以及统计结果与预设阈值的比较结果；各监控对象异常发生的时间；各监控对象对应的异常判定结果；各监控对象对应的异常状态预警信号；各监控对象对应的异常状态信号。The specific determination method of the characteristic signal output by each monitoring object (see the scenarios 1) to 4) listed in the previous example); the status determination results of each monitoring object, the statistical method and statistical results of the status determination results; preset thresholds The size, and the comparison between the statistical results and the preset threshold; the time when each monitoring object anomaly occurs; the abnormality determination result corresponding to each monitoring object; the abnormal status warning signal corresponding to each monitoring object; the abnormal status signal corresponding to each monitoring object.

在实际监控过程中，可以根据监控到的各监控对象的状态，对上述步骤进行调整，以优化异常监控方法。继续按照图9，所述异常监控方法还可以包括：In the actual monitoring process, the above steps can be adjusted according to the monitored status of each monitoring object to optimize the abnormal monitoring method. Continuing to follow Figure 9, the abnormality monitoring method may also include:

步骤S15，基于配置数据，进行功能配置；和/或，基于复位数据，进行功能复位。Step S15: Perform function configuration based on the configuration data; and/or perform function reset based on the reset data.

本说明书实施例还提供了一种异常处理方法，以下结合附图，通过示例进行详细说明。The embodiments of this specification also provide an exception handling method, which will be described in detail below with examples in conjunction with the accompanying drawings.

参照图10所示的本说明书实施例中一种异常处理方法的流程图，如图10所示，可以采用如下步骤对异常进行处理：Referring to the flow chart of an exception handling method in the embodiment of this specification shown in Figure 10, as shown in Figure 10, the following steps can be used to handle exceptions:

步骤S21，基于接收的多个监控对象输出的特征信号，得到对应的异常状态信号。Step S21: Obtain corresponding abnormal status signals based on the received characteristic signals output by multiple monitoring objects.

具体而言，特征信号能够表征监控对象的当前运行状态，通过对特征信号进行判定，能够确定监控对象是处于异常状态还是正常状态，进而能够得到与特征信号相对应的异常状态信号。Specifically, the characteristic signal can represent the current operating status of the monitored object. By judging the characteristic signal, it can be determined whether the monitored object is in an abnormal state or a normal state, and then the abnormal state signal corresponding to the characteristic signal can be obtained.

步骤S22，根据所述异常状态信号，进行复位操作。Step S22: Perform a reset operation according to the abnormal status signal.

在具体实施中，根据所述异常状态信号，可以采用如下至少两种方式，进行复位操作：In a specific implementation, according to the abnormal status signal, the reset operation can be performed in at least two ways as follows:

异常状态信号中可以不携带监控对象的标识信息，根据所述异常状态信号时，对所有监控对象进行复位操作。The abnormal status signal may not carry the identification information of the monitoring object. When the abnormal status signal is used, a reset operation is performed on all monitoring objects.

异常状态信号中携带各监控对象的标识信息，当根据所述异常状态信号时，仅对与异常状态信号中标识信息所对应的监控对象进行复位操作，而不对未发生异常的监控设备进行复位操作。The abnormal status signal carries the identification information of each monitoring object. When the abnormal status signal is used, only the monitoring object corresponding to the identification information in the abnormal status signal is reset, and the monitoring equipment where no abnormality occurs is not reset. .

本说明书实施例还提供了能够用于监控雷达的异常监控方法，其中，所述雷达包括多个安全诊断单元，适于对雷达的多项功能进行安全诊断，如图11所示，具体可以按照如下步骤执行异常监控： The embodiments of this specification also provide an abnormality monitoring method that can be used to monitor radar, wherein the radar includes multiple safety diagnosis units, which are suitable for safety diagnosis of multiple functions of the radar, as shown in Figure 11, specifically according to Follow the steps below to perform exception monitoring:

S31，监控所述多个功能安全诊断单元的运行状态。S31. Monitor the running status of the multiple functional safety diagnostic units.

S32，监控到所述多个功能安全诊断单元出现异常时，输出异常状态信号。S32: When an abnormality is detected in the plurality of functional safety diagnosis units, an abnormal status signal is output.

S33，根据所述异常状态信号，对所述多个功能安全诊断单元进行复位；和/或对所述雷达进行安全关断。S33: Reset the plurality of functional safety diagnostic units according to the abnormal status signal; and/or safely shut down the radar.

虽然本说明书实施例披露如上，但本发明并非限定于此。任何本领域技术人员，在不脱离本发明的精神和范围内，均可作各种更动与修改，因此本发明的保护范围应当以权利要求所限定的范围为准。 Although the embodiments of this specification are disclosed as above, the present invention is not limited thereto. Any person skilled in the art can make various changes and modifications without departing from the spirit and scope of the present invention. Therefore, the protection scope of the present invention should be subject to the scope defined by the claims.

Claims

一种异常监控***，其特征在于，包括：多个异常判定和状态采集单元、异常处理单元以及延迟单元，所述异常监控***适于对多个监控对象进行状态监控，其中：An abnormality monitoring system, characterized in that it includes: a plurality of abnormality determination and status acquisition units, an exception processing unit and a delay unit. The abnormality monitoring system is suitable for status monitoring of multiple monitoring objects, wherein:

所述异常判定和状态采集单元，与所述监控对象耦接，适于接收所述监控对象输出的特征信号，并根据所述特征信号输出异常判定结果，以及采集所述监控对象的运行状态；The abnormality determination and status acquisition unit is coupled to the monitoring object and is adapted to receive the characteristic signal output by the monitoring object, output the abnormality determination result according to the characteristic signal, and collect the operating status of the monitoring object;

所述异常处理单元，与所述多个异常判定和状态采集单元耦接，适于接收所述异常判定和状态采集单元输出的所述异常判定结果，基于所述异常判定结果输出异常状态预警信号；The abnormality processing unit is coupled to the plurality of abnormality determination and status acquisition units, and is adapted to receive the abnormality determination result output by the abnormality determination and status acquisition unit, and output an abnormality status early warning signal based on the abnormality determination result. ;

所述延迟单元，与所述异常处理单元耦接，适于接收所述异常状态预警信号，当接收到所述异常状态预警信号的时间达到预设延迟时长后输出异常状态信号，所述异常状态信号用于复位所述监控对象。The delay unit, coupled to the abnormality processing unit, is adapted to receive the abnormal state early warning signal, and when the time of receiving the abnormal state early warning signal reaches a preset delay time, it outputs an abnormal state signal. The signal is used to reset the monitored object.
根据权利要求1所述的异常监控***，其特征在于，所述异常判定和状态采集单元，包括：The abnormality monitoring system according to claim 1, characterized in that the abnormality determination and status acquisition unit includes:

异常判定模块，适于接收所述监控对象输出的所述特征信号，判定所述特征信号是否满足预设的异常判定条件，并输出状态判定结果；An abnormality determination module, adapted to receive the characteristic signal output by the monitoring object, determine whether the characteristic signal satisfies preset abnormality determination conditions, and output a status determination result;

异常次数记录模块，适于记录所述状态判定结果的次数，并统计所述状态判定结果的次数得到统计次数；The abnormal number recording module is suitable for recording the number of the status determination results, and counting the number of the status determination results to obtain the statistical number;

异常结果确认模块，适于基于所述统计次数，输出所述异常判定结果。The abnormal result confirmation module is adapted to output the abnormal determination result based on the statistical number of times.
根据权利要求2所述的监控***，其特征在于，所述异常判定模块，适于根据所述特征信号的类型，采用与所述特征信号的类型相对应的异常判定条件，输出所述状态判定结果。The monitoring system according to claim 2, wherein the abnormality determination module is adapted to output the status determination according to the type of the characteristic signal, using an abnormality determination condition corresponding to the type of the characteristic signal. result.
根据权利要求3所述的异常监控***，其特征在于，所述异常判定模块，适于在接收到的所述特征信号的类型为心跳信号时，确定所述监控对象的输出的心跳信号处于预设的第一周期范围时，输出一次状态正常结果，否则，输出一次状态异常结果；The abnormality monitoring system according to claim 3, wherein the abnormality determination module is adapted to determine that the heartbeat signal output by the monitoring object is in a predetermined state when the type of the received characteristic signal is a heartbeat signal. When the first cycle range is set, a normal status result is output; otherwise, an abnormal status result is output;

和/或and / or

所述异常判定模块，适于在接收到的所述特征信号的类型为功能输出信号时，确定对应的监控对象的功能输出结果与预设的第一输出结果相同时，输出一次状态正常结果，否则，输出一次状态异常结果；The abnormality determination module is adapted to, when the type of the received characteristic signal is a function output signal, determine that the function output result of the corresponding monitoring object is the same as the preset first output result, and output A normal status result, otherwise, an abnormal status result is output;

和/或and / or

所述异常判定模块，适于在接收到的所述特征信号的类型为电路输出信号时，确定对应的监控对象的电路输出结果与预设的第二输出结果相同时，输出一次状态正常结果，否则，输出一次状态异常结果；The abnormality determination module is adapted to output a normal state result when it determines that the circuit output result of the corresponding monitoring object is the same as the preset second output result when the type of the received characteristic signal is a circuit output signal, Otherwise, output a status abnormality result;

和/或所述异常判定模块，适于在接收到的所述特征信号的类型为运算结果信号时，确定在预设的第二周期范围内接收到的对应的监控对象返回的第二运算结果与自身计算的第一运算结果相同时，输出一次状态正常结果，否则，输出一次状态异常结果。And/or the abnormality determination module is adapted to determine the second operation result returned by the corresponding monitoring object received within the preset second period range when the type of the received characteristic signal is an operation result signal. When the first operation result calculated by itself is the same, a normal state result is output; otherwise, an abnormal state result is output.
根据权利要求4所述的异常监控***，其特征在于，所述异常次数记录模块，适于基于如下至少一种类型的统计方式对所述状态判定结果的次数进行统计：The abnormality monitoring system according to claim 4, characterized in that the abnormal number recording module is adapted to count the number of the status determination results based on at least one of the following types of statistical methods:

统计所述状态异常结果的累计次数；Count the cumulative number of abnormal status results;

统计所述状态异常结果的连续次数；Count the number of consecutive times of abnormal status results;

统计所述状态正常结果次数和所述状态异常结果次数的加权次数。The weighted number of the number of normal state results and the number of abnormal state results is counted.
根据权利要求1所述的异常监控***，其特征在于，还包括：The anomaly monitoring system according to claim 1, further comprising:

状态记录单元，分别与所述多个异常判定和状态采集单元、所述异常处理单元以及所述延迟单元耦接，适于记录所述多个监控对象的状态数据，以及适于在所述监控对象被复位时，锁存所述状态数据。A status recording unit, respectively coupled to the plurality of abnormality determination and status acquisition units, the abnormality processing unit and the delay unit, is suitable for recording status data of the plurality of monitoring objects, and is suitable for monitoring When the object is reset, the state data is latched.
根据权利要求1所述的异常监控***，其特征在于，还包括：The anomaly monitoring system according to claim 1, further comprising:

配置与复位单元，分别与所述多个异常判定和状态采集单元、所述延迟单元耦接，适于基于配置数据，对所述多个异常判定和状态采集单元、所述延迟单元进行功能配置；和/或，基于复位数据，对所述多个异常判定和状态采集单元、所述延迟单元进行功能复位。A configuration and reset unit, respectively coupled to the plurality of abnormality determination and status acquisition units and the delay unit, and adapted to perform functional configuration on the plurality of abnormality determination and status acquisition units and the delay unit based on configuration data ; and/or, based on the reset data, perform functional reset on the plurality of abnormality determination and status acquisition units and the delay unit.
一种应用异常监控***的装置，其特征在于，包括：多个监控对象和权利要求1-7任一项所述的异常监控***，其中：A device for applying an abnormality monitoring system, characterized in that it includes: a plurality of monitoring objects and the abnormality monitoring system according to any one of claims 1 to 7, wherein:

所述多个监控对象，与所述异常监控***耦接，适于向所述异常监控***输出特征信号；The plurality of monitoring objects are coupled to the abnormality monitoring system and are adapted to output characteristic signals to the abnormality monitoring system;

所述异常监控***，适于接收所述多个监控对象输出的所述特征信号，并根据所述特征信号，输出异常状态信号；The abnormality monitoring system is adapted to receive the characteristic signals output by the plurality of monitoring objects, and output abnormal status signals according to the characteristic signals;

所述装置，适于接收所述异常状态信号，并根据所述异常状态信号，使所述监控对象进行复位。The device is adapted to receive the abnormal status signal and make the abnormal status signal The above-mentioned monitoring object is reset.
根据权利要求8所述的装置，其特征在于，所述异常监控***，还适于记录所述多个监控对象的状态数据，以及适于在所述监控对象被复位时，锁存所述状态数据；The device according to claim 8, characterized in that the abnormality monitoring system is further adapted to record status data of the plurality of monitoring objects, and is adapted to latch the status when the monitoring objects are reset. data;

所述装置，还适于在重新启动时，读取所述异常监控***记录的所述状态数据，并根据所述状态数据，判断所述多个监控对象是否发生异常，根据判断结果，进行相应的处理。The device is also adapted to read the status data recorded by the abnormality monitoring system when restarting, and determine whether an abnormality occurs in the multiple monitoring objects based on the status data, and perform corresponding actions based on the judgment results. processing.
根据权利要求9所述的装置，其特征在于，当根据所述状态数据，判断所述多个监控对象均未发生异常时，所述装置正常启动；当判断所述多个监控对象中任一监控对象发生异常时，所述装置根据所述状态数据对所述多个监控对象进行状态配置。The device according to claim 9, characterized in that, when it is determined that no abnormality occurs in any of the plurality of monitoring objects according to the status data, the device starts normally; when it is determined that any one of the plurality of monitoring objects is abnormal. When an abnormality occurs in a monitored object, the device performs status configuration on the multiple monitored objects according to the status data.
根据权利要求9所述的装置，其特征在于，还适于在重新启动时，根据所述状态数据，输出配置数据和/或复位数据至所述异常监控***；The device according to claim 9, further adapted to output configuration data and/or reset data to the abnormality monitoring system according to the status data when restarting;

所述异常监控***，还适于基于所述配置数据，进行功能配置；和/或，基于所述复位数据，进行功能复位。The abnormality monitoring system is further adapted to perform function configuration based on the configuration data; and/or perform function reset based on the reset data.
根据权利要求8所述的装置，其特征在于，还包括：The device according to claim 8, further comprising:

安全防护***，与所述异常监控***耦接，适于接收所述异常监控***输出的所述异常状态信号，启动安全防护功能。A safety protection system is coupled to the abnormality monitoring system and is adapted to receive the abnormal status signal output by the abnormality monitoring system and activate the safety protection function.
根据权利要求8所述的装置，其特征在于，所述装置包括可编程逻辑列阵，所述异常监控***运行于所述可编程逻辑列阵。The device according to claim 8, wherein the device includes a programmable logic array, and the abnormality monitoring system runs on the programmable logic array.
根据权利要求13所述的装置，其特征在于，还包括：定时器和看门狗，其中：The device according to claim 13, further comprising: a timer and a watchdog, wherein:

所述定时器，与所述异常监控***耦接，适于接收所述异常监控***输出的所述异常状态信号，并根据所述异常状态信号，输出对应的触发信号；The timer is coupled to the abnormality monitoring system, adapted to receive the abnormal status signal output by the abnormality monitoring system, and output a corresponding trigger signal according to the abnormal status signal;

所述看门狗，与所述定时器耦接，适于根据所述触发信号，向所述装置输出复位和/或关断信号。The watchdog is coupled to the timer and is adapted to output a reset and/or shutdown signal to the device according to the trigger signal.
一种雷达，其特征在于，包括：A radar is characterized by including:

多个功能安全诊断单元，适于对雷达的多项功能进行安全诊断；Multiple functional safety diagnostic units, suitable for safety diagnosis of multiple functions of the radar;

权利要求1-7任一项所述的异常监控***，与所述多个功能安全诊断单元耦接，适于监控所述多个功能安全诊断单元的运行状态，当监控到所述多个功能安全诊断单元出现异常时，输出异常状态信号； The abnormality monitoring system according to any one of claims 1 to 7, coupled to the plurality of functional safety diagnostic units, and suitable for monitoring the operating status of the plurality of functional safety diagnostic units. When the plurality of functions are monitored, When an abnormality occurs in the safety diagnosis unit, it outputs an abnormal status signal;

所述功能安全诊断单元根据所述异常状态信号进行复位；和/或所述雷达根据所述异常状态信号进行安全关断。The functional safety diagnosis unit is reset according to the abnormal status signal; and/or the radar is safely shut down according to the abnormal status signal.
根据权利要求15所述的雷达，其特征在于，所述异常监控***，适于监控所述多个功能安全诊断单元在预设运行周期输出的特征信号，并在监控到所述特征信号与预设特征信号不一致或者未接收到所述特征信号时，输出所述异常状态信号。The radar according to claim 15, characterized in that the abnormality monitoring system is adapted to monitor the characteristic signals output by the plurality of functional safety diagnosis units in a preset operating cycle, and monitor the characteristic signals and the predetermined If the characteristic signals are inconsistent or the characteristic signal is not received, the abnormal status signal is output.
一种异常监控方法，其特征在于，包括：An abnormality monitoring method, characterized by including:

接收多个监控对象输出的特征信号，并根据所述特征信号判定和采集所述监控对象的运行状态，得到异常判定结果；Receive characteristic signals output by multiple monitoring objects, determine and collect the operating status of the monitoring objects based on the characteristic signals, and obtain abnormality determination results;

基于所述异常判定结果输出异常状态预警信号；Output an abnormal state early warning signal based on the abnormality determination result;

当接收到所述异常状态预警信号的时间达到预设延迟时长后输出异常状态信号，所述异常状态信号用于复位所述监控对象。When the time for receiving the abnormal state warning signal reaches a preset delay time, an abnormal state signal is output, and the abnormal state signal is used to reset the monitoring object.
根据权利要求17所述的异常监控方法，其特征在于，还包括：The abnormality monitoring method according to claim 17, further comprising:

记录所述多个监控对象的状态数据，并在所述监控对象被复位时，锁存所述状态数据。Record the status data of the plurality of monitoring objects, and latch the status data when the monitoring objects are reset.
根据权利要求17所述的异常监控方法，其特征在于，还包括：The abnormality monitoring method according to claim 17, further comprising:

基于配置数据，进行功能配置；和/或，基于复位数据，进行功能复位。Function configuration is performed based on the configuration data; and/or function reset is performed based on the reset data.
一种异常处理方法，其特征在于，包括：An exception handling method, characterized by including:

基于接收的多个监控对象输出的特征信号，得到对应的异常状态信号；Based on the received characteristic signals output by multiple monitoring objects, the corresponding abnormal status signal is obtained;

根据所述异常状态信号，进行复位操作。According to the abnormal status signal, a reset operation is performed.
一种雷达的异常监控方法，其中，所述雷达包括多个安全诊断单元，适于对雷达的多项功能进行安全诊断，其特征在于，包括：A radar anomaly monitoring method, wherein the radar includes a plurality of safety diagnosis units, suitable for safety diagnosis of multiple functions of the radar, and is characterized by including:

监控所述多个功能安全诊断单元的运行状态；Monitor the operating status of the plurality of functional safety diagnostic units;

监控到所述多个功能安全诊断单元出现异常时，输出异常状态信号；When an abnormality is detected in the plurality of functional safety diagnostic units, an abnormal status signal is output;

根据所述异常状态信号，对所述多个功能安全诊断单元进行复位；和/或对所述雷达进行安全关断。 According to the abnormal state signal, the plurality of functional safety diagnostic units are reset; and/or the radar is safely shut down.