Safety controller suitable for engineering machinery, control method and engineering machinery

Abstract

The invention discloses a safety controller suitable for engineering machinery, a control method and the engineering machinery in the field of engineering machinery, and the safety controller comprises a multi-core processor which comprises a first processing core, a second processing core and a third processing core; the first processing core is used for running a BootLoader program; the second processing core is used for running an application program, inputting and outputting safety related signals and reading and writing safety related memories and non-safety related memories; the third processing core is used for running an application program, inputting and outputting non-security-related signals, reading and writing a non-security-related memory and reading a security-related memory; according to the method, the BootLoader program, the functional security related application program and the non-functional security related application program are operated in a core-by-core isolation manner based on the multi-core processor, so that the operation efficiency is ensured while the security is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of engineering machinery, and in particular to a safety controller suitable for engineering machinery, a control method and the engineering machinery. Background Art

[0002] A controller is a device used to control or adjust mechanical, electrical and other systems, usually implemented using technologies such as smart chips, program control, and sensors. It is widely used in engineering machinery, household appliances, automotive electronics and other fields, and is an indispensable and important part of modern production and life. Controllers are divided into combinational logic controllers and microprogram controllers. The two controllers have their own advantages and disadvantages. The combinational logic controller has a simple design structure, fast execution speed, and high reliability, but once the design is completed, it cannot be modified or expanded; the microprogram controller control logic is easy to modify, and only the controller program needs to be re-modified, but the reliability is greatly affected by the quality of the programming code and the controller circuit design, and reliability problems are prone to occur.

[0003] At present, in the field of engineering machinery, such as excavators, loaders, cranes, aerial work platforms, etc., controllers are used as the core controller units of the host. As the functions of the host are becoming more and more complex and new requirements are frequently proposed, microprogram controllers are generally used in the field of engineering machinery to develop host control systems. The operating environment of the host of engineering machinery has high requirements for safety and reliability. Traditional controllers use a single channel to collect and execute controller signals, lack feedback signal monitoring of the execution channel, and are prone to cause controller failure. There is also a lack of protection processing execution functions after failure. Therefore, it is very necessary to develop safe controllers and systems suitable for engineering machinery. Summary of the invention

[0004] The purpose of the present invention is to overcome the deficiencies in the prior art and to provide a safety controller, a control method and a construction machine suitable for construction machinery, so as to solve the problem that traditional controllers cannot adapt to the safety and reliability requirements of the construction machinery host operating environment.

[0005] To achieve the above object, the present invention is implemented by adopting the following technical solutions: In a first aspect, the present invention provides a safety controller suitable for engineering machinery, comprising a multi-core processor, wherein the multi-core processor includes a first processing core, a second processing core and a third processing core; the first processing core is used to run a BootLoader program; the second processing core is used to run an application program, input and output safety-related signals, and read and write safety and non-safety-related memories; the third processing core is used to run an application program, input and output non-safety-related signals, read and write non-safety-related memories, and read safety-related memories.

[0006] Optionally, the multi-core processor adopts a multi-core MCU chip.

[0007] Optionally, the second processing core uses dual signal acquisition channels to acquire dual signal results for the same signal source, and performs error check on the dual signal results. If the error is within a preset error range, the signal acquisition is deemed to be successful.

[0008] Optionally, if the error is outside a preset error range, the signal acquisition is deemed to have failed, and the output signal of the second processing core relative to the signal source is turned off, or all output signals of the second processing core are turned off.

[0009] Optionally, the output signal of the second processing core reaches the controlled device via a load driving module; the load driving module includes a main switch, a group switch and a sub-switch group, the input end of the main switch is externally connected to a power supply, the output end of the main switch is connected to the input end of each of the group switches, and the output end of the group switch is connected to a load via one of the sub-switch groups; the output signal of the second processing core is connected to the control ends of the main switch, the group switch and the sub-switch group.

[0010] Optionally, the third processing core uses a single signal acquisition channel to collect a single signal result for the same signal source.

[0011] Optionally, the multi-core processor is also connected to a watchdog circuit and a bus communication circuit.

[0012] In a second aspect, the present invention provides a control method for a safety controller applicable to engineering machinery, using the safety controller as described above, the control method comprising: In response to the safety controller being powered on, the safety controller enters a BootLoader program, runs the BootLoader program through the first processing core, and determines whether a program update is required; If no program update is required, enter the application, The second processing core runs the application program to input and output safety-related signals and read and write safety and non-safety-related memories; The application program is run through the third processing core to input and output non-safety-related signals, read and write non-safety-related memory, and read safety-related memory.

[0013] Optionally, if a program update is required, enter the application after updating the program.

[0014] In a third aspect, the present invention provides an engineering machine, comprising the safety controller as described above.

[0015] Compared with the prior art, the present invention has the following beneficial effects: The present invention provides a safety controller, control method and engineering machinery suitable for engineering machinery. In the safety controller, based on a multi-core processor, the BootLoader program, functional safety-related applications and non-functional safety-related applications are run in separate cores and isolated from each other, thereby improving safety while ensuring operating efficiency. At the same time, the processing core of the functional safety-related application is designed with dual-channel redundant input and multi-level output, taking into account both safety and flexibility. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a structural schematic diagram of a safety controller applicable to engineering machinery provided by an embodiment of the present invention; Figure 2 is a schematic diagram of input signal redundancy design of a second processing core provided by an embodiment of the present invention; Figure 3 It is a schematic diagram of multi-level control of output signals of the second processing core provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0017] The present invention will be further described below in conjunction with the accompanying drawings. The following embodiments are only used to more clearly illustrate the technical solution of the present invention, and cannot be used to limit the protection scope of the present invention.

[0018] Embodiment 1:

[0019] like Figure 1 As shown, an embodiment of the present invention provides a safety controller suitable for engineering machinery, including a multi-core processor, the multi-core processor including a first processing core, a second processing core and a third processing core; the first processing core is used to run the BootLoader program; the second processing core is used to run the application program, input and output safety-related signals, and read and write safety and non-safety-related memories; the third processing core is used to run the application program, input and output non-safety-related signals, read and write non-safety-related memories, and read safety-related memories. This embodiment is based on a multi-core processor to isolate the BootLoader program, functional safety-related applications, and non-functional safety-related applications from each other, thereby improving safety while ensuring work efficiency.

[0020] Specifically in this embodiment, the multi-core processor adopts a multi-core MCU chip. In other optional embodiments, other multi-core processors may also be adopted.

[0021] like Figure 2As shown, in order to improve the safety of safety-related signal processing, a dual-channel redundant design is adopted for the input of the second processing core. The second processing core uses dual signal acquisition channels to collect dual signal results for the same signal source, and performs error check on the dual signal results. If the error is within the preset error range, the signal acquisition is deemed to be successful; if the error is outside the preset error range, the signal acquisition is deemed to have failed, and the output signal of the second processing core relative to the signal source is turned off, or all output signals of the second processing core are turned off.

[0022] like Figure 3 As shown, the output signal of the second processing core reaches the controlled device through the load driving module; the load driving module includes a main switch, a group switch and a sub-switch group, the input end of the main switch is externally connected to a power supply, the output end of the main switch is connected to the input end of each group switch, and the output end of the group switch is connected to a load through a sub-switch group; the output signal of the second processing core is connected to the control end of the main switch, the group switch and the sub-switch group. In this embodiment, the main switch is recorded as EMC STOP, the group switch is set to 4, respectively recorded as GROUP0, GROUP1, GROUP2, GROUP3, and there are also 4 sub-switch groups. Each sub-switch group is set to 10 sub-switches to control 10 output channels, thereby realizing multi-level control from the main, sub, and sub levels.

[0023] According to the error level or other fault level, severe fault control can be set to disconnect the main switch; general fault control can be set to disconnect the corresponding group switch; minor fault control can be set to disconnect the corresponding sub-switch.

[0024] The third processing core uses a single signal acquisition channel to collect single signal results for the same signal source, effectively reducing the cost of use while ensuring the control function.

[0025] The multi-core processor is also connected with a watchdog circuit and a bus communication circuit to realize conventional monitoring and communication functions.

[0026] Embodiment 2:

[0027] Based on the safety controller provided in the first embodiment, the present invention provides a control method for a safety controller applicable to engineering machinery, including: In response to the safety controller being powered on, the safety controller enters the BootLoader program, runs the BootLoader program through the first processing core, and determines whether a program update is required; If a program update is required, enter the application after updating the program; If no program update is required, enter the application, The second processing core runs the application program to input and output safety-related signals and read and write safety and non-safety-related memories; The application program is run through the third processing core to input and output non-safety-related signals, read and write non-safety-related memory, and read safety-related memory.

[0028] Embodiment three:

[0029] An embodiment of the present invention provides an engineering machine, including the safety controller provided in the first embodiment.

[0030] It will be appreciated by those skilled in the art that embodiments of the present invention may be provided as methods, systems, or computer program products. Therefore, the present invention may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Furthermore, the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0031] The present invention is described with reference to flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to embodiments of the present invention. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0032] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0033] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0034] 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 technical principles 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 controller suitable for engineering machinery, characterized in that: A multi-core processor is included, wherein the multi-core processor includes a first processing core, a second processing core and a third processing core; the first processing core is used to run a BootLoader program; the second processing core is used to run an application program, input and output safety-related signals, and read and write safety-related and non-safety-related memories; The third processing core is used to run application programs, perform input and output of non-safety-related signals, read and write non-safety-related memories, and read safety-related memories.

2. The safety controller suitable for engineering machinery according to claim 1, characterized in that: The multi-core processor adopts a multi-core MCU chip.

3. The safety controller suitable for engineering machinery according to claim 1, characterized in that: The second processing core uses dual signal acquisition channels to acquire dual signal results for the same signal source, and performs error check on the dual signal results. If the error is within a preset error range, the signal acquisition is deemed to be successful.

4. The safety controller suitable for engineering machinery according to claim 3, characterized in that: If the error is outside the preset error range, it is determined that the signal acquisition has failed, and the output signal of the second processing core relative to the signal source is turned off or all output signals of the second processing core are turned off.

5. The safety controller suitable for engineering machinery according to claim 1, characterized in that: The output signal of the second processing core reaches the controlled device via a load driving module; the load driving module includes a main switch, a group switch and a sub-switch group, the input end of the main switch is externally connected to a power supply, the output end of the main switch is connected to the input end of each of the group switches, and the output end of the group switch is connected to a load via a sub-switch group; the output signal of the second processing core is connected to the control ends of the main switch, the group switch and the sub-switch group.

6. The safety controller suitable for engineering machinery according to claim 1, characterized in that: The third processing core uses a single signal acquisition channel to collect a single signal result for the same signal source.

7. The safety controller suitable for engineering machinery according to claim 1, characterized in that: The multi-core processor is also connected to a watchdog circuit and a bus communication circuit.

8. A control method for a safety controller suitable for engineering machinery, characterized in that: Using the safety controller according to any one of claims 1 to 7, the control method comprises: In response to the safety controller being powered on, the safety controller enters a BootLoader program, runs the BootLoader program through the first processing core, and determines whether a program update is required; If no program update is required, enter the application, The second processing core runs the application program to input and output safety-related signals and read and write safety and non-safety-related memories; The application program is run through the third processing core to input and output non-safety-related signals, read and write non-safety-related memory, and read safety-related memory.

9. The control method of the safety controller suitable for engineering machinery according to claim 8, characterized in that: If a program update is required, enter the application after updating the program.

10. An engineering machine, characterized in that: Comprising a safety controller as described in any one of claims 1-7.

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