Security detection method and device, nonvolatile storage medium and computer equipment

Abstract

The invention discloses a security detection method and device, a nonvolatile storage medium and computer equipment. The method comprises the following steps: acquiring a first safety parameter and a second safety parameter; judging whether the first safety parameter is matched with the second safety parameter or not to obtain a matching result; under the condition that the matching result is that the first safety parameter is matched with the second safety parameter, obtaining first operation data and second operation data; based on the first chip, judging whether the first operation data conforms to a first safety parameter or not; based on the second chip, judging whether the second operation data conforms to a second safety parameter or not; and when the first operation data accords with the first safety parameter and the second operation data accords with the second safety parameter, determining that the operation process of the motor is normal. The technical problem that risks exist in the operation process of the motor due to the fact that abnormity is prone to occurring in the writing and storing process of the safety parameters is solved.

Description

Technical Field

[0001] The present invention relates to the field of motor control, and in particular to a safety detection method, device, non-volatile storage medium and computer equipment. Background Art

[0002] At the EtherCAT communication layer, FSOE can be used to reduce the risk of data failure during the communication transmission process, but it still cannot solve certain human causes: such as misoperation of the master station to write parameters and random hardware failures: such as parameter changes caused by EEPROM damage, etc. Abnormal changes in safety parameters may bring unpredictable safety risks to the operation of servo equipment.

[0003] To address the above-mentioned problems, no effective solution has been proposed yet. Summary of the invention

[0004] The embodiments of the present invention provide a safety detection method, device, non-volatile storage medium and computer equipment to at least solve the technical problem that the writing and storage process of safety parameters is prone to abnormalities, which may cause risks in the operation process of the motor. When the master station writes the safety parameters, it is necessary to refer to the protocol regulations to write the parameter value and its verification value. When the master station writes the verification value, it can be written manually after manual calculation, or it can be written by its program after automatic calculation. However, there is a certain risk of writing wrong parameters due to human error. The embodiments of the present invention can be used to solve the above-mentioned human error risks.

[0005] According to one aspect of an embodiment of the present invention, a safety detection method is provided, including: obtaining a first safety parameter and a second safety parameter, wherein the first safety parameter is stored in a memory corresponding to a first chip, and the second safety parameter is stored in a memory corresponding to a second chip; determining whether the first safety parameter and the second safety parameter match to obtain a matching result; when the matching result is that the first safety parameter and the second safety parameter match, obtaining first operating data and second operating data, wherein the first operating data is data generated by the operation of a motor transmitted to the first chip, and the second operating data is data generated by the operation of the motor transmitted to the second chip; based on the first chip, determining whether the first operating data complies with the first safety parameter; based on the second chip, determining whether the second operating data complies with the second safety parameter; when the first operating data complies with the first safety parameter and the second operating data complies with the second safety parameter, determining that the operation process of the motor is normal.

[0006] Optionally, obtaining the first security parameter and the second security parameter includes: receiving the security parameter written based on the target account; verifying the security parameter based on the first chip to obtain a first verification result; if the first verification result is a passed verification, sending the security parameter to the second chip through the first chip; verifying the security parameter based on the second chip to obtain a second verification result; if the second verification result is a passed verification, controlling the second chip to store the security parameter into a corresponding memory to obtain the second security parameter; controlling the first chip to store the security parameter into a corresponding memory to obtain the first security parameter.

[0007] Optionally, based on the first chip, the security parameters are verified to obtain a first verification result, including: obtaining a standard verification value; controlling the first chip to extract the verification value from the security parameters; based on the first chip, determining whether the verification value matches the standard verification value to obtain the first verification result.

[0008] Optionally, before controlling the first chip to store the security parameters into the corresponding memory to obtain the first security parameters, it includes: when the second verification result is passed, controlling the second chip to generate prompt information and send it to the first chip, wherein the prompt information is used to prompt that the security parameter verification of the first chip has passed.

[0009] Optionally, determining whether the first security parameter and the second security parameter match to obtain a matching result includes: respectively controlling the first chip and the second chip to extract their respective corresponding first verification values ​​and second verification values ​​from the first security parameter and the second security parameter; controlling the first chip to send the first verification value to the second chip; and controlling the second chip to determine whether the first verification value and the second verification value match to obtain a matching result.

[0010] Optionally, obtaining the first operating data and the second operating data includes: during the operation of the motor, based on a preset external sensor, transmitting the acquired external data to the first chip and the second chip to obtain the first external data and the second external data; during the operation of the motor, based on a preset signal acquisition device, transmitting the acquired internal data to the first chip and the second chip to obtain the first internal data and the second internal data; determining the first operating data based on the first external data and the first internal data; determining the second operating data based on the second external data and the second internal data.

[0011] Optionally, the method further includes: determining whether the first operating data and the second operating data match; if the first operating data and the second operating data do not match, determining that the operation process of the motor is abnormal, and controlling the operation process to stop by the first chip or the second chip.

[0012] According to another aspect of an embodiment of the present invention, a safety detection device is also provided, including: a first acquisition module, used to acquire a first safety parameter and a second safety parameter, wherein the first safety parameter is stored in a memory corresponding to the first chip, and the second safety parameter is stored in a memory corresponding to the second chip; a judgment module, used to judge whether the first safety parameter and the second safety parameter match, and obtain a matching result; a second acquisition module, used to acquire first operating data and second operating data when the matching result is that the first safety parameter and the second safety parameter match, wherein the first operating data is data generated by the operation of the motor transmitted to the first chip, and the second operating data is data generated by the operation of the motor transmitted to the second chip; a first judgment module, used to judge whether the first operating data meets the first safety parameter based on the first chip; a second judgment module, used to judge whether the second operating data meets the second safety parameter based on the second chip; a determination module, used to determine that the operation process of the motor is normal when the first operating data meets the first safety parameter and the second operating data meets the second safety parameter.

[0013] According to another aspect of an embodiment of the present invention, a non-volatile storage medium is provided, the non-volatile storage medium including a stored program, wherein when the program is running, the device where the non-volatile storage medium is located is controlled to execute any one of the above-mentioned security detection methods.

[0014] According to another aspect of the embodiments of the present invention, a computer device is provided. The computer device includes a processor, and the processor is used to run a program. When the program is run, any one of the above security detection methods is executed.

[0015] According to yet another aspect of an embodiment of the present invention, a computer program product is provided, including a computer program, and when the computer program is executed by a processor, any one of the above security detection methods is implemented.

[0016] In an embodiment of the present invention, a safety detection method is adopted, by obtaining a first safety parameter and a second safety parameter, wherein the first safety parameter is stored in a memory corresponding to the first chip, and the second safety parameter is stored in a memory corresponding to the second chip; judging whether the first safety parameter and the second safety parameter match to obtain a matching result; when the matching result is that the first safety parameter and the second safety parameter match, obtaining first operating data and second operating data, wherein the first operating data is data generated by the operation of the motor transmitted to the first chip, and the second operating data is data generated by the operation of the motor transmitted to the second chip; judging whether the first operating data complies with the first safety parameter based on the first chip; judging whether the second operating data complies with the second safety parameter based on the second chip; when the first operating data complies with the first safety parameter and the second operating data complies with the second safety parameter, determining that the operation process of the motor is normal, achieving the purpose of improving the reliability of the safety parameters, thereby achieving the technical effect of reducing the safety risks caused by abnormal safety parameters, and further solving the technical problem that the operation process of the motor is at risk due to abnormalities that are prone to occur during the writing and storage process of the safety parameters. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The drawings described herein are used to provide a further understanding of the present invention and constitute a part of this application. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0018] Figure 1 A hardware structure block diagram of a computer terminal for implementing a safety detection method is shown;

[0019] Figure 2 is a schematic flow chart of a safety detection method provided according to an embodiment of the present invention;

[0020] Figure 3 is a system architecture diagram of a first chip and a second chip in a security detection method provided according to an optional embodiment of the present invention;

[0021] Figure 4 is a system architecture diagram connected to a sensor in a safety detection method provided according to an optional embodiment of the present invention;

[0022] Figure 5 is a system architecture diagram connected to a signal acquisition device in a safety detection method provided according to an optional embodiment of the present invention;

[0023] Figure 6 is a structural block diagram of a safety detection device provided according to an embodiment of the present invention. DETAILED DESCRIPTION

[0024] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0025] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0026] According to an embodiment of the present invention, a method embodiment of a security detection method is provided. It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer executable instructions, and although a logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in an order different from that shown here.

[0027] The method embodiment provided in the first embodiment of the present application can be executed in a mobile terminal, a computer terminal or a similar computing device. Figure 1 FIG. 1 shows a hardware structure block diagram of a computer terminal for implementing a security detection method. Figure 1 As shown, the computer terminal 10 may include one or more (102a, 102b, ..., 102n are used to illustrate) processors (the processor may include but is not limited to a processing device such as a microprocessor MCU or a programmable logic device FPGA or other logical programmable processor), a memory 104 for storing data. In addition, it may also include: a display, an input / output interface (I / O interface), a universal serial bus (USB) port (which may be included as one of the ports of the BUS bus), a network interface, a power supply and / or a camera. It can be understood by those skilled in the art that Figure 1 The structure shown is only for illustration and does not limit the structure of the above electronic device. Figure 1 More or fewer components as shown, or with Figure 1 Different configurations shown.

[0028] It should be noted that the one or more processors and / or other data processing circuits described above may generally be referred to herein as "data processing circuits". The data processing circuits may be embodied in whole or in part as software, hardware, firmware, or any other combination thereof. In addition, the data processing circuit may be a single independent processing module, or may be incorporated in whole or in part into any of the other components in the computer terminal 10. As described in the embodiments of the present application, the data processing circuit acts as a processor control (e.g., selection of a variable resistor terminal path connected to an interface).

[0029] The memory 104 can be used to store software programs and modules of application software, such as the program instructions / data storage device corresponding to the security detection method in the embodiment of the present invention. The processor executes various functional applications and data processing by running the software programs and modules stored in the memory 104, that is, the security detection method of the above-mentioned application is realized. The memory 104 may include a high-speed random access memory, and may also include a non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some examples, the memory 104 may further include a memory remotely arranged relative to the processor, and these remote memories may be connected to the computer terminal 10 via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and a combination thereof.

[0030] The display may be, for example, a touch screen liquid crystal display (LCD) that enables a user to interact with a user interface of the computer terminal 10 .

[0031] Figure 2 is a flow chart of a safety detection method provided according to an embodiment of the present invention, such as Figure 2 As shown, the method comprises the following steps:

[0032] Step S202, obtaining a first security parameter and a second security parameter, wherein the first security parameter is stored in a memory corresponding to the first chip, and the second security parameter is stored in a memory corresponding to the second chip.

[0033] In this step, the first safety parameter stored in the memory corresponding to the first chip and the second safety parameter stored in the memory corresponding to the second chip are obtained. The first chip and the second chip here can be MCU chips or FPGA chips. A servo drive is a device for controlling a servo motor. By receiving a control signal, the servo drive can accurately control the movement of the servo motor so that it can accurately perform specific motion tasks as required. However, servo drives based on EtherCAT (real-time Ethernet communication protocol) are prone to abnormalities during parameter writing and storage. For example, master station misoperation, EERPOM storage error, RAM error, etc. In the EtherCAT servo control system architecture, there is a first chip for safety detection and motor motion control, and a second chip is added. The first chip and the second chip are used together for safety detection to achieve two independent safety detection configurations, which can improve the reliability of safety parameters and avoid safety risks caused by abnormal safety parameters to the operation of the motor. The first safety parameter and the second safety parameter should be the same under normal circumstances, but stored in different memories for use by different chips. Safety parameters can include parameters related to safety monitoring, that is, a lot of data will be obtained during the operation of the motor, and safety parameters can be used to determine whether these data are normal, so safety parameters can be a value or a safe range of values. The safety parameters may also include some important configuration parameters, control parameters, etc., which may be determined based on actual conditions.

[0034] Step S204, determining whether the first security parameter matches the second security parameter, and obtaining a matching result.

[0035] In this step, it is determined whether the first safety parameter and the second safety parameter match to obtain a matching result. Because under normal circumstances, the first safety parameter should be the same as the second safety parameter. Each time before the motor starts running, the first chip and the second chip must obtain the corresponding safety parameters, that is, the first safety parameter and the second safety parameter, from the corresponding memory, for subsequent judgment on whether the acquired data is normal. However, there may be anomalies in the storage process of the security parameters, such as accidental deletion or storage errors, which may cause the security parameters to be abnormal, which may cause the subsequent safety detection process to be abnormal, resulting in risks in the operation of the motor. Therefore, judging whether the first safety parameter and the second safety parameter match can reduce the occurrence of safety parameter errors, thereby reducing the probability of safety risks during the operation of the motor.

[0036] Step S206, when the matching result is that the first safety parameter and the second safety parameter match, obtain the first operation data and the second operation data, wherein the first operation data is the data generated by the motor operation transmitted to the first chip, and the second operation data is the data generated by the motor operation transmitted to the second chip.

[0037] In this step, when the first safety parameter and the second safety parameter match, it can be considered that the safety parameter storage is normal. Therefore, the operating data of the motor at this time, that is, the first operating data and the second operating data, can be obtained. Under normal circumstances, the first operating data and the second operating data should be the same, the difference is that the first operating data is the data generated by the operation of the motor transmitted to the first chip, and the second operating data is the data generated by the operation of the motor transmitted to the second chip. Transmitting the operating data to the first chip and the second chip respectively, and performing independent safety detection in the first chip and the second chip can improve the reliability of safety detection, detect abnormalities in the operation of the motor in a timely manner, and reduce safety risks.

[0038] Step S208: Based on the first chip, determine whether the first operating data complies with the first safety parameter.

[0039] Step S210: determining whether the second operating data complies with the second safety parameter based on the second chip.

[0040] In this step, the first chip will perform a safety check on the first operating data, that is, to determine whether the first operating data meets the first safety parameter. At the same time, the second chip will also perform a safety check on the second operating data, that is, to determine whether the second operating data meets the second safety parameter. Specifically, according to different operating data, the corresponding safety parameter can be a numerical value or a safety range. The safety data detection includes the following: Overtemperature protection, this function is used to monitor the driver temperature. When the driver temperature exceeds the set range, that is, the safety parameter, it is considered that the operation is abnormal at this time. Overcurrent protection, this function is used to monitor the three-phase current. When the three-phase current exceeds the set range, it is considered that the operation is abnormal at this time. Overload protection, this function is used to prevent the motor from overheating and damage. When the load of the motor exceeds the set range, it is considered that the operation is abnormal at this time. Overvoltage protection, this function is used to monitor the driver bus voltage. When the driver bus voltage exceeds the set range, it is considered that the operation is abnormal at this time. Undervoltage protection, this function is used to monitor the driver bus voltage. When the driver bus voltage is lower than the set range, it is considered that the operation is abnormal at this time. Optical encoder data abnormality protection, this function is used to monitor and verify the incremental encoder data. When the error exceeds the set range, it is considered that the operation is abnormal. Magnetic encoder data abnormality protection, this function is used to monitor and verify the absolute encoder data. When the error exceeds the set range, it is considered that the operation is abnormal. By using two chips for independent safety detection, the safety risks caused by safety detection errors can be reduced.

[0041] Step S212: When the first operating data meets the first safety parameter and the second operating data meets the second safety parameter, it is determined that the operation process of the motor is normal.

[0042] In this step, only when the first operating data meets the first safety parameter and the second operating data meets the second safety parameter can it be determined that the operation process of the motor is normal. Figure 3 is a system architecture diagram of a first chip and a second chip in a security detection method provided according to an optional embodiment of the present invention, such as Figure 3 As shown, core1 is the processor core of the first chip, and core2 is the processor core of the second chip. Motor is the motor operation control, and Brake is the brake control. The first chip is responsible for controlling the motor and the brake, and the second chip is responsible for controlling the brake. The brake can lock the rotor of the motor in a specific position to prevent the motor from being damaged or causing safety accidents due to inertial operation. When the first chip detects that the first operation data does not meet the first safety parameter, the first chip considers that the motor operation is abnormal at this time, and can control the brake to stop the motor operation. When the second chip detects that the second operation data does not meet the second safety parameter, the second chip considers that the motor operation is abnormal at this time, and can control the brake to stop the motor operation. Through the two independent safety detection configurations of the first chip and the second chip, the reliability of safety detection is improved and the safety risks caused by abnormal safety detection are reduced.

[0043] Through the above steps, the purpose of improving the reliability of safety parameters is achieved, thereby achieving the technical effect of reducing the safety risks caused by abnormal safety parameters, and further solving the technical problem that abnormalities are prone to occur in the writing and storage process of safety parameters, resulting in risks in the operation process of the motor.

[0044] As an optional embodiment, obtaining the first security parameter and the second security parameter includes: receiving the security parameter written based on the target account; verifying the security parameter based on the first chip to obtain a first verification result; if the first verification result is a passed verification, sending the security parameter to the second chip through the first chip; verifying the security parameter based on the second chip to obtain a second verification result; if the second verification result is a passed verification, controlling the second chip to store the security parameter into a corresponding memory to obtain the second security parameter; controlling the first chip to store the security parameter into a corresponding memory to obtain the first security parameter.

[0045] Optionally, security parameters written based on the target account are received, where the security parameters can be manually input by relevant personnel based on experience. When the security parameters written based on the target account are received, the security parameters will be sent to the first chip first, and the first chip will verify the security parameters. Specifically, the data format, check value or time of writing the security parameters can be detected to determine whether the security parameters are correct. When the first verification result is that the verification is passed, the first chip transmits the security parameters to the second chip, wherein the first chip and the second chip can communicate through UART. When the second chip receives the security parameters, it will verify the security parameters again to determine whether the check value or data format of the security parameters is correct. When the second verification result is that the verification is passed, the second chip can write the security parameters into EEPROM2 to obtain the second security parameters, wherein EEPROM2 is the memory corresponding to the second chip. Then the first chip can also write the security parameters into EEPROM1 to obtain the first security parameters, wherein EEPROM1 is the memory corresponding to the first chip, and the security parameters take effect at this time.

[0046] As an optional embodiment, based on the first chip, the security parameters are verified to obtain a first verification result, including: obtaining a standard verification value; controlling the first chip to extract the verification value from the security parameters; based on the first chip, determining whether the verification value matches the standard verification value to obtain the first verification result.

[0047] Optionally, the first chip can first obtain a standard check value for the security parameter check. For example, the index number of the required security parameter can be defined in the COE object dictionary of the processor core core1 of the first chip, and the CRC check value address of the security parameter can be defined to store the CRC32 check value of all security parameters. Then the master station obtains the object dictionary and the CRC32 check value of all security parameters through the XML file. The master station here can be a host computer, and the target user can write the parameter value to be updated to the slave station based on the master station. The slave station here can be the first chip and the second chip. When the target user writes the security parameters based on the master station, the master station will merge the security parameters and the check value and send them to the first chip for security detection. The first chip can determine whether the master station writes the CRC check value at the specified time, and whether the written CRC value is correct. When the master station does not write the CRC check value at the specified time or the CRC check value is wrong, it is considered that the security parameters are abnormal at this time. The first chip will retain the original security parameters stored in the memory. When the first chip passes the verification, the first chip will send the security parameters, verification code and corresponding index value to the processor core core2 in the second chip. Similarly, core2 will again determine whether the CRC corresponding to the security parameters is correct. If it is correct, the security parameters will be written into EEPROM2, the parameters will take effect, and feedback will be given that the writing is successful. After receiving the feedback from core2, core1 will also write the parameters into the corresponding address of EEPROM1, and the parameters will take effect.

[0048] As an optional embodiment, before controlling the first chip to store the security parameters into the corresponding memory and obtaining the first security parameters, it includes: when the second verification result is passed, controlling the second chip to generate prompt information and send it to the first chip, wherein the prompt information is used to prompt that the security parameter verification of the first chip has passed.

[0049] Optionally, when the second chip performs security detection on the security parameters and passes the verification, the second chip will generate a prompt message, which is used to prompt the first chip that the security parameters have passed the verification. The first chip can write the security parameters into the corresponding memory based on the prompt message sent by the second chip to obtain the first security parameters, and the parameters will take effect.

[0050] As an optional embodiment, determining whether the first security parameter and the second security parameter match to obtain a matching result includes: respectively controlling the first chip and the second chip to extract the first verification value and the second verification value corresponding to each other from the first security parameter and the second security parameter; controlling the first chip to send the first verification value to the second chip; and controlling the second chip to determine whether the first verification value and the second verification value match to obtain a matching result.

[0051] Optionally, to determine whether the first security parameter and the second security parameter match, the first chip and the second chip can be used to verify the security parameters in their corresponding memories. The first chip can verify whether the verification value corresponding to the first security parameter in the corresponding memory is correct, and the second chip can verify whether the verification value corresponding to the second security parameter in the corresponding memory is correct. The first chip can also send the verification value corresponding to the first security parameter to the second chip, and the second chip determines whether the first verification value and the second verification value match. The second chip can also send the second verification value corresponding to the second security parameter to the first chip, and the first chip determines whether the first verification value and the second verification value match. By independently performing security detection through two security detection systems and cross-detecting through data transmission, the reliability of security parameters is improved.

[0052] As an optional embodiment, obtaining the first operating data and the second operating data includes: during the operation of the motor, based on a preset external sensor, transmitting the acquired external data to the first chip and the second chip to obtain the first external data and the second external data; during the operation of the motor, based on a preset signal acquisition device, transmitting the acquired internal data to the first chip and the second chip to obtain the first internal data and the second internal data; determining the first operating data based on the first external data and the first internal data; determining the second operating data based on the second external data and the second internal data.

[0053] Optionally, Figure 4 is a system architecture diagram connected to a sensor in a safety detection method provided in an optional embodiment of the present invention, such as Figure 4 As shown, the Sensor includes multiple sensors from the outside: such as encoders, temperature sensors, current sensors, voltage sensors, etc. During the operation of the motor, the Sensor will transmit the acquired external data to the processor core core1 of the first chip and the processor core core2 of the second chip to obtain the first external data and the second external data. The external sensor here is used to obtain the operation data of the external device connected to the driver. Figure 5 is a system architecture diagram connected to a signal acquisition device in a safety detection method provided in an optional embodiment of the present invention, such as Figure 5As shown, On-board monitoring data is a signal acquisition device located on the board where the two chips are located, such as bus voltage, phase current, on-board temperature, etc. These signals reflect the status of each module on the board inside the driver. The acquired internal data can be transmitted to the processor core core1 of the first chip and the processor core core2 of the second chip based on the signal acquisition device to obtain the first internal data and the second internal data. The first chip can obtain the first operating data according to the first external data and the first internal data, and the second chip can obtain the second operating data according to the second external data and the second internal data.

[0054] As an optional embodiment, it is determined whether the first operating data and the second operating data match; if the first operating data and the second operating data do not match, it is determined that the operation process of the motor is abnormal, and the operation process is stopped by controlling the first chip or the second chip.

[0055] Optionally, when the first chip obtains the first operation data and the second chip obtains the second operation data, it can also be determined whether the first operation data and the second operation data match. Because in normal operation, the first operation data and the second operation data should match. When the first operation data and the second operation data do not match, it is considered that the operation process of the motor is abnormal, and the operation process of the motor can be controlled to stop by the first chip or the second chip. At this time, the first chip can also generate a prompt message or a safety signal to prompt the relevant personnel that an abnormal situation has occurred. Specifically, data transmission between the two chips can be based on UART. When the first chip transmits the first operation data to the second chip for detection, if the second chip detects that the second operation data does not match the first operation data, the second chip can control the brake to stop the motor. When the second chip transmits the second operation data to the first chip, if the first chip detects that the first operation data and the second operation data do not match, the first chip can control the brake to stop the motor. Among them, in the event of an abnormality, the first chip and the second chip can also trigger a safe stop. When the motor stops safely, it is safely monitored from movement to stop. After deceleration, STO is started to cut off the drive torque and power supply. And monitor the deceleration time. If a deviation occurs during deceleration, STO is immediately activated and enters a fault state. Among them, safe torque off (STO) is a safety function that prohibits the control signal of the power semiconductor at the drive output end, which can prevent the drive from generating torque at the motor shaft end and prevent accidental startup. If the motor is running, it will decelerate freely to 0.

[0056] It should be noted that, for the above-mentioned method embodiments, for the sake of simplicity, they are all described as a series of action combinations, but those skilled in the art should know that the present invention is not limited by the described action sequence, because according to the present invention, certain steps can be performed in other sequences or simultaneously. Secondly, those skilled in the art should also know that the embodiments described in the specification are all preferred embodiments, and the actions and modules involved are not necessarily required by the present invention.

[0057] Through the description of the above implementation methods, those skilled in the art can clearly understand that the security detection method according to the above embodiment can be implemented by means of software plus a necessary general hardware platform, and of course it can also be implemented by hardware, but in many cases the former is a better implementation method. Based on such an understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product, which is stored in a storage medium (such as ROM / RAM, a magnetic disk, or an optical disk), and includes a number of instructions for a terminal device (which can be a mobile phone, a computer, a server, or a network device, etc.) to execute the methods described in each embodiment of the present invention.

[0058] According to an embodiment of the present invention, a safety detection device for implementing the above safety detection method is also provided. Figure 6 is a structural block diagram of a safety detection device provided according to an embodiment of the present invention, such as Figure 6 As shown, the safety detection device includes: a first acquisition module 602, a judgment module 604, a second acquisition module 606, a first judgment module 608, a second judgment module 610 and a determination module 612. The safety detection device is described below.

[0059] The first acquisition module 602 is used to acquire a first security parameter and a second security parameter, wherein the first security parameter is stored in a memory corresponding to the first chip, and the second security parameter is stored in a memory corresponding to the second chip.

[0060] The judgment module 604 is connected to the first acquisition module 602 and is used to judge whether the first security parameter matches the second security parameter and obtain a matching result.

[0061] The second acquisition module 606 is connected to the judgment module 604, and is used to obtain the first operation data and the second operation data when the matching result is that the first safety parameter and the second safety parameter match, wherein the first operation data is the data generated by the motor operation transmitted to the first chip, and the second operation data is the data generated by the motor operation transmitted to the second chip.

[0062] The first judgment module 608 is connected to the second acquisition module 606, and is used to judge whether the first operation data meets the first safety parameter based on the first chip.

[0063] The second judgment module 610 is connected to the second acquisition module 606, and is used to judge whether the second operation data meets the second safety parameter based on the second chip.

[0064] The determination module 612 is connected to the first judgment module 608 and the second judgment module 610, and is used to determine that the operation process of the motor is normal when the first operation data meets the first safety parameter and the second operation data meets the second safety parameter.

[0065] It should be noted that the first acquisition module 602, the judgment module 604, the second acquisition module 606, the first judgment module 608, the second judgment module 610 and the determination module 612 correspond to steps S202 to S212 in the embodiment, and the examples and application scenarios implemented by the multiple modules and the corresponding steps are the same, but are not limited to the contents disclosed in the above embodiment. It should be noted that the above modules as part of the device can be run in the computer terminal 10 provided in the embodiment.

[0066] An embodiment of the present invention may provide a computer device. Optionally, in this embodiment, the computer device may be located in at least one network device among multiple network devices of a computer network. The computer device includes a memory and a processor.

[0067] Among them, the memory can be used to store software programs and modules, such as the program instructions / modules corresponding to the security detection method and device in the embodiment of the present invention, and the processor executes various functional applications and data processing by running the software programs and modules stored in the memory, that is, realizing the above-mentioned security detection method. The memory may include a high-speed random access memory, and may also include a non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some instances, the memory may further include a memory remotely arranged relative to the processor, and these remote memories may be connected to the computer terminal via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0068] The processor can call the information and application stored in the memory through the transmission device to perform the following steps: obtain the first safety parameter and the second safety parameter, wherein the first safety parameter is stored in the memory corresponding to the first chip, and the second safety parameter is stored in the memory corresponding to the second chip; determine whether the first safety parameter and the second safety parameter match to obtain a matching result; when the matching result is that the first safety parameter and the second safety parameter match, obtain the first operating data and the second operating data, wherein the first operating data is data generated by the motor operation transmitted to the first chip, and the second operating data is data generated by the motor operation transmitted to the second chip; based on the first chip, determine whether the first operating data meets the first safety parameter; based on the second chip, determine whether the second operating data meets the second safety parameter; when the first operating data meets the first safety parameter and the second operating data meets the second safety parameter, determine that the operation process of the motor is normal.

[0069] Optionally, the processor may also execute program code for the following steps: obtaining a first security parameter and a second security parameter, including: receiving a security parameter written based on a target account; verifying the security parameter based on the first chip to obtain a first verification result; if the first verification result is a passed verification, sending the security parameter to the second chip through the first chip; verifying the security parameter based on the second chip to obtain a second verification result; if the second verification result is a passed verification, controlling the second chip to store the security parameter into a corresponding memory to obtain a second security parameter; controlling the first chip to store the security parameter into a corresponding memory to obtain the first security parameter.

[0070] Optionally, the processor may also execute program codes of the following steps: based on the first chip, verifying the security parameters to obtain a first verification result, including: obtaining a standard verification value; controlling the first chip to extract the verification value from the security parameters; based on the first chip, determining whether the verification value matches the standard verification value to obtain a first verification result.

[0071] Optionally, the processor may also execute program code of the following steps: before controlling the first chip to store the security parameters into the corresponding memory and obtain the first security parameters, including: when the second verification result is passed, controlling the second chip to generate prompt information and send it to the first chip, wherein the prompt information is used to prompt that the security parameter verification of the first chip has passed.

[0072] Optionally, the processor may also execute program code for the following steps: determining whether the first security parameter and the second security parameter match to obtain a matching result, including: respectively controlling the first chip and the second chip to extract their respective first verification values ​​and second verification values ​​from the first security parameter and the second security parameter; controlling the first chip to send the first verification value to the second chip; and controlling the second chip to determine whether the first verification value and the second verification value match to obtain a matching result.

[0073] Optionally, the processor may also execute program codes of the following steps: obtaining first operating data and second operating data, including: during the operation of the motor, based on a preset external sensor, transmitting the obtained external data to the first chip and the second chip, to obtain first external data and second external data; during the operation of the motor, based on a preset signal acquisition device, transmitting the obtained internal data to the first chip and the second chip, to obtain first internal data and second internal data; determining first operating data based on the first external data and the first internal data; determining second operating data based on the second external data and the second internal data.

[0074] Optionally, the processor may also execute the following program code: determining whether the first operating data and the second operating data match; if the first operating data and the second operating data do not match, determining that the operation process of the motor is abnormal, and controlling the operation process to stop through the first chip or the second chip.

[0075] By adopting an embodiment of the present invention, a safety detection method is provided, which obtains a first safety parameter and a second safety parameter, wherein the first safety parameter is stored in a memory corresponding to a first chip, and the second safety parameter is stored in a memory corresponding to a second chip; determines whether the first safety parameter and the second safety parameter match to obtain a matching result; when the matching result is that the first safety parameter and the second safety parameter match, obtains first operating data and second operating data, wherein the first operating data is data generated by the operation of a motor transmitted to the first chip, and the second operating data is data generated by the operation of the motor transmitted to the second chip; based on the first chip, determines whether the first operating data complies with the first safety parameter; based on the second chip, determines whether the second operating data complies with the second safety parameter; when the first operating data complies with the first safety parameter and the second operating data complies with the second safety parameter, determines that the operation process of the motor is normal, thereby achieving the purpose of improving the reliability of the safety parameters, thereby achieving the technical effect of reducing the safety risks caused by abnormal safety parameters, and further solves the technical problem that the operation process of the motor is prone to risks due to abnormalities in the writing and storage process of the safety parameters.

[0076] A person of ordinary skill in the art can understand that all or part of the steps in the various methods of the above embodiments can be completed by instructing the hardware related to the terminal device through a program, and the program can be stored in a non-volatile storage medium, and the storage medium may include: a flash drive, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, etc.

[0077] The embodiment of the present invention further provides a non-volatile storage medium. Optionally, in this embodiment, the non-volatile storage medium can be used to store the program code executed by the security detection method provided by the above embodiment.

[0078] Optionally, in this embodiment, the non-volatile storage medium may be located in any computer terminal in a computer terminal group in a computer network, or in any mobile terminal in a mobile terminal group.

[0079] Optionally, in this embodiment, the non-volatile storage medium is configured to store program codes for executing the following steps: obtaining a first security parameter and a second security parameter, wherein the first security parameter is stored in a memory corresponding to the first chip and the second security parameter is stored in a memory corresponding to the second chip; determining whether the first security parameter and the second security parameter match to obtain a matching result; when the matching result is that the first security parameter and the second security parameter match, obtaining first operating data and second operating data, wherein the first operating data is data generated by the motor operation transmitted to the first chip and the second operating data is data generated by the motor operation transmitted to the second chip; based on the first chip, determining whether the first operating data complies with the first security parameter; based on the second chip, determining whether the second operating data complies with the second security parameter; when the first operating data complies with the first security parameter and the second operating data complies with the second security parameter, determining that the operation process of the motor is normal.

[0080] Optionally, in this embodiment, the non-volatile storage medium is configured to store program code for executing the following steps: obtaining a first security parameter and a second security parameter, including: receiving a security parameter written based on a target account; verifying the security parameter based on the first chip to obtain a first verification result; if the first verification result is a passed verification, sending the security parameter to the second chip through the first chip; verifying the security parameter based on the second chip to obtain a second verification result; if the second verification result is a passed verification, controlling the second chip to store the security parameter into a corresponding memory to obtain a second security parameter; controlling the first chip to store the security parameter into a corresponding memory to obtain the first security parameter.

[0081] Optionally, in this embodiment, the non-volatile storage medium is configured to store program code for executing the following steps: based on the first chip, verifying the security parameters to obtain a first verification result, including: obtaining a standard verification value; controlling the first chip to extract the verification value from the security parameters; based on the first chip, determining whether the verification value matches the standard verification value to obtain a first verification result.

[0082] Optionally, in this embodiment, the non-volatile storage medium is configured to store program codes for executing the following steps: before controlling the first chip to store the security parameters into the corresponding memory to obtain the first security parameters, including: when the second verification result is a passed verification, controlling the second chip to generate a prompt message and send it to the first chip, wherein the prompt message is used to prompt that the security parameter verification of the first chip has passed.

[0083] Optionally, in this embodiment, the non-volatile storage medium is configured to store program code for executing the following steps: determining whether the first security parameter and the second security parameter match to obtain a matching result, including: respectively controlling the first chip and the second chip to extract their respective corresponding first verification values ​​and second verification values ​​from the first security parameter and the second security parameter; controlling the first chip to send the first verification value to the second chip; controlling the second chip to determine whether the first verification value and the second verification value match to obtain a matching result.

[0084] Optionally, in this embodiment, the non-volatile storage medium is configured to store program codes for executing the following steps: obtaining first operating data and second operating data, including: during the operation of the motor, based on a preset external sensor, transmitting the acquired external data to the first chip and the second chip to obtain first external data and second external data; during the operation of the motor, based on a preset signal acquisition device, transmitting the acquired internal data to the first chip and the second chip to obtain first internal data and second internal data; determining the first operating data based on the first external data and the first internal data; determining the second operating data based on the second external data and the second internal data.

[0085] Optionally, in this embodiment, the non-volatile storage medium is configured to store program codes for executing the following steps: determining whether the first operating data and the second operating data match; when the first operating data and the second operating data do not match, determining that the operating process of the motor is abnormal, and controlling the operating process to stop by the first chip or the second chip.

[0086] An embodiment of the present invention also provides a computer program product, including a computer program. Optionally, in this embodiment, when the computer program is executed by a processor, it can achieve: obtaining a first safety parameter and a second safety parameter, wherein the first safety parameter is stored in a memory corresponding to the first chip, and the second safety parameter is stored in a memory corresponding to the second chip; determining whether the first safety parameter and the second safety parameter match to obtain a matching result; when the matching result is that the first safety parameter and the second safety parameter match, obtaining first operating data and second operating data, wherein the first operating data is data generated by the motor operation transmitted to the first chip, and the second operating data is data generated by the motor operation transmitted to the second chip; based on the first chip, determining whether the first operating data complies with the first safety parameter; based on the second chip, determining whether the second operating data complies with the second safety parameter; when the first operating data complies with the first safety parameter and the second operating data complies with the second safety parameter, determining that the operation process of the motor is normal.

[0087] The serial numbers of the above embodiments of the present invention are only for description and do not represent the advantages or disadvantages of the embodiments.

[0088] In the above embodiments of the present invention, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0089] In the several embodiments provided in this application, it should be understood that the disclosed technical content can be implemented in other ways. Among them, the device embodiments described above are only schematic. For example, the division of the units can be a logical function division. There may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of units or modules, which can be electrical or other forms.

[0090] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple units. Some or all of the units may be selected according to actual needs to achieve the purpose of the present embodiment.

[0091] In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0092] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a non-volatile storage medium. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product. The computer software product is stored in a storage medium, including a number of instructions to enable a computer device (which can be a personal computer, server or network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: U disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), mobile hard disk, magnetic disk or optical disk and other media that can store program codes.

[0093] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principle of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A safety detection method, characterized in that: include: Acquire a first security parameter and a second security parameter, wherein the first security parameter is stored in a memory corresponding to the first chip, and the second security parameter is stored in a memory corresponding to the second chip; Determine whether the first security parameter and the second security parameter match, and obtain a matching result; When the matching result is that the first safety parameter matches the second safety parameter, acquiring first operating data and second operating data, wherein the first operating data is data generated by the motor operation transmitted to the first chip, and the second operating data is data generated by the motor operation transmitted to the second chip; Based on the first chip, determining whether the first operating data complies with the first security parameter; Based on the second chip, determining whether the second operating data complies with the second security parameter; When the first operating data meets the first safety parameter and the second operating data meets the second safety parameter, it is determined that the operation process of the motor is normal.

2. The method according to claim 1, characterized in that: The obtaining of the first security parameter and the second security parameter comprises: Receive security parameters written based on the target account; Based on the first chip, verify the security parameter to obtain a first verification result; When the first verification result is verification passed, sending the security parameter to the second chip through the first chip; Based on the second chip, verify the security parameter to obtain a second verification result; If the second verification result is that the verification is passed, controlling the second chip to store the security parameter into a corresponding memory to obtain the second security parameter; Control the first chip to store the security parameter into a corresponding memory to obtain the first security parameter.

3. The method according to claim 2, characterized in that The verifying the security parameter based on the first chip to obtain a first verification result includes: Get the standard check value; Controlling the first chip to extract a check value from the security parameter; Based on the first chip, it is determined whether the verification value matches the standard verification value to obtain the first verification result.

4. The method according to claim 2, characterized in that: Before controlling the first chip to store the security parameter into a corresponding memory to obtain the first security parameter, the method includes: When the second verification result is that the verification is passed, the second chip is controlled to generate prompt information and send it to the first chip, wherein the prompt information is used to prompt the first chip that the security parameter verification is passed.

5. The method according to claim 1, characterized in that The determining whether the first security parameter matches the second security parameter to obtain a matching result includes: Respectively control the first chip and the second chip to extract respectively corresponding first verification values ​​and second verification values ​​from the first security parameter and the second security parameter; Controlling the first chip to send the first verification value to the second chip; The second chip is controlled to determine whether the first verification value matches the second verification value, and obtain the matching result.

6. The method according to claim 1, characterized in that The obtaining of the first operation data and the second operation data comprises: During the operation of the motor, based on a preset external sensor, the acquired external data is transmitted to the first chip and the second chip to obtain first external data and second external data; During the operation of the motor, based on a preset signal acquisition device, the acquired internal data is transmitted to the first chip and the second chip to obtain first internal data and second internal data; determining the first operation data based on the first external data and the first internal data; The second operating data is determined based on the second external data and the second internal data.

7. The method according to any one of claims 1 to 6, characterized in that: Also includes: determining whether the first operation data and the second operation data match; In the case that the first operation data and the second operation data do not match, it is determined that the operation process of the motor is abnormal, and the operation process is controlled to stop by the first chip or the second chip.

8. A safety detection device, characterized in that: include: A first acquisition module, used to acquire a first security parameter and a second security parameter, wherein the first security parameter is stored in a memory corresponding to the first chip, and the second security parameter is stored in a memory corresponding to the second chip; A judging module, used to judge whether the first security parameter and the second security parameter match, and obtain a matching result; a second acquisition module, configured to acquire first operating data and second operating data when the matching result is that the first safety parameter matches the second safety parameter, wherein the first operating data is data generated by the motor operation transmitted to the first chip, and the second operating data is data generated by the motor operation transmitted to the second chip; A first judging module, configured to judge whether the first operating data complies with the first security parameter based on the first chip; A second judging module, configured to judge whether the second operating data complies with the second security parameter based on the second chip; A determination module is used to determine that the operation process of the motor is normal when the first operation data meets the first safety parameter and the second operation data meets the second safety parameter.

9. A non-volatile storage medium, characterized in that: The non-volatile storage medium includes a stored program, wherein when the program is running, the device where the non-volatile storage medium is located is controlled to execute the security detection method described in any one of claims 1 to 7.

10. A computer device, characterized in that: include: Memory and processor, The memory stores a computer program; The processor is used to execute the computer program stored in the memory, and when the computer program is running, the processor executes the security detection method according to any one of claims 1 to 7.

11. A computer program product, comprising a computer program, characterized in that When the computer program is executed by a processor, the security detection method described in any one of claims 1 to 7 is implemented.

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