Redundant undisturbed switching method and device and electronic medium

The invention relates to a redundancy undisturbed switching method and device and an electronic medium, when a downstream module confirms that the data difference between redundant upstream cards is greater than an allowable error, the downstream module abandons the data of a working card in the current period and keeps the data of the upstream cards in the previous period meeting the precision requirement, and the data of the upstream cards in the previous period meets the precision requirement. And the data retention time is longer than the time of the self-diagnosis period of the upstream card, so that the upstream card can judge the reason of data deviation through self-diagnosis and re-confirm the working card and the standby card, and the problems that the downstream module uses wrong data and the safety interlocking is mistakenly triggered due to the fact that the self-diagnosis of the card cannot find the fault of the card in time are avoided. Out-of-plan emergency stop is caused, and great economic l