I turned on the heart rate transmission function of my Forerunner 955 and rode indoors. At one point, the heart rate was measured very low. I don't know if it's a software bug or hardware defect.

You are doing a HIT with probably a lot of wrist movement. That is amongst the most difficult activities to track HR via an optical sensor. Your watch bounces around and the muscles underneath contract. For any of such activities, you should use a HR strap. I believe this to be normal. Maybe comepare this to a running activity of yours.
It's really nonsense. It's not a hard exercise for me at all, and when I felt that the heart rate sensor was strange, I readjusted the strap, but it was abnormal for a long time. Can it be abnormal for this long? My hands were still on the handlebars of the cycle machine. Significantly lower heart rate readings are not the first symptoms that occur often and cause discomfort. If this is movement, this watch is not a Forerunner. your answer is an excuse
On a bike, indoors or outdoors, you really should wear a HR strap. Something about wrist position/movement on a bike often leads to poor optical heart rate readings. I can run w/optical HR and get excellent results. However, on the bike it's hit or miss, usually miss!
Whan an error occurred due to the shaking or wearing method of the Forerunner, it should have recognized a normal heartbeat within a few seconds when worn again or stopped moving. Also, many runners who use the Forerunner will not use an additional heart rate monitor.
No problem w/running while using optical. I only use heart rate strap if I am doing a test or race. As I stated before, excellent results! The problem is when cycling. It has to do w/wrist angle and/or movement which causes it to not get a good reading. Hence, I wear a heart rate strap when cycling.