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Safety control device and safety control method

A safety control, non-safety technology, applied in safety arrangement, program control, program control in sequence/logic controllers, etc., can solve problems such as increasing software development costs, and achieve the effect of suppressing execution delays

Inactive Publication Date: 2014-06-04
TOYOTA JIDOSHA KK
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Therefore, there is a problem that software development costs increase

Method used

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  • Safety control device and safety control method
  • Safety control device and safety control method
  • Safety control device and safety control method

Examples

Experimental program
Comparison scheme
Effect test

Embodiment approach 1

[0043] The safety control device 1 according to the present embodiment is mounted on a service robot, transportation equipment, etc., and executes safety control for ensuring functional safety. The safety control device 1 is configured to execute safety-related applications and non-safety-related applications through the same computer system. figure 1 It is a block diagram showing a configuration example of the safety control device 1 according to the present embodiment.

[0044] The processor 10 acquires a program (command stream), decodes a command, and performs arithmetic processing according to the decoding result of the command. Additionally, despite the figure 1 Only one processor 10 is shown in , but the safety control device 1 may also have a multi-processor structure with a plurality of processors 10 . In addition, the processor 10 may also be a multi-core processor. The processor 10 provides a multiprogramming environment by executing an operating system (OS) 10...

Embodiment approach 2

[0108] Next, refer to Figure 9 The safety control device 2 according to Embodiment 2 will be described. Figure 9 It is a block diagram showing a configuration example of the safety control device 2 according to the second embodiment. Hereinafter, description of the same contents as those of the safety control device 1 according to Embodiment 1 will be omitted.

[0109] The processor 10 detects an interrupt from a control object and a timer interrupt. The processor 10 detects an interrupt from the controlled object by inputting an interrupt signal from the controlled object. When the processor 10 detects an interrupt from the controlled object, it executes an interrupt handler (interrupt handler) 31 described later. Here, the microcontroller 15 of the safety control device 2 has a timer (not shown in the figure). The timer outputs an interrupt signal to the processor 10 at a predetermined cycle based on the clock signal. The processor 10 detects a timer interrupt based o...

Embodiment approach 3

[0145] Next, the safety control device 2 in Embodiment 3 will be described. In addition, since the structure of the safety control device 2 concerning this Embodiment 3 is the same as the structure of the safety control device 2 concerning this Embodiment 2, description is abbreviate|omitted. Furthermore, for segment scheduler 21 and task 24,

[0146] The relationship between 26, 28, and 30 and the interrupt processing program 31 is also the same as the configuration of the safety control device 2 according to the second embodiment, so description thereof will be omitted.

[0147] Next, refer to Figure 16 The scheduling processing procedure according to Embodiment 2 of the present invention will be described. Figure 16 It is a flowchart showing a specific example of the scheduling processing procedure according to Embodiment 2 of the present invention. In addition, since steps S101-S105 are the same as steps S91-95, description is abbreviate|omitted. in addition, Figur...

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PUM

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Abstract

The present invention relates to time partitioning to prevent a failure of processing while suppressing execution delay of interrupt processing even when the interrupt processing is executed. A safety controller includes: a processor; a system program for controlling allocation of an execution time of the processor to a safety-related task, a non-safety-related task, and an interrupt processing task; and an interrupt handler. Upon generation of an interrupt, the processor executes the interrupt handler to reserve execution of the interrupt processing task as an execution reserved task, and executes the system program to schedule the tasks in accordance with scheduling information on a safety-related TP to which the safety-related task belongs, a non-safety-related TP to which the non-safety-related task belongs, and a reservation execution TP to which the execution reserved task belongs. When execution of a task in a previous TP is finished before the period of the previous TP prior to the execution reservation TP has expired, the execution time in the previous TP is allocated to the execution reserved task.

Description

technical field [0001] The present invention relates to a safety control device mounted on a service robot, conveyance equipment, etc. to ensure functional safety, and particularly relates to a safety control device using a computer system. Background technique [0002] Service robots need to continuously monitor the safety status through external sensors or self-diagnostic devices, and ensure functional safety by executing appropriate safety control logic when any hazard is detected. [0003] IEC61508 has been established as an international standard related to functional safety for systems that operate based on electrical principles, such as the above-mentioned service robots and transportation equipment. In IEC61508, a system installed to ensure functional safety is called a safety-related system. IEC61508 specifies various methods for constructing a safety-related system using hardware such as a microprocessor and a PLC (Programmable Logic Controller: Programmable Logic...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05B19/05B25J19/06G05B9/02G05B15/02G06F9/48
CPCG05B19/0428G05B19/0426G06F9/4812G06F9/5077G06F9/4887G05B2219/34383G05B2219/25343G05B2219/34382G05B2219/25347G05B9/02
Inventor 平哲也尾藤浩司
Owner TOYOTA JIDOSHA KK