A safety controller, control method and working machine suitable for a working machine

Abstract

This invention discloses a safety controller, control method, and construction machinery applicable to the field of construction machinery. The safety controller includes a multi-core processor comprising a first processing core, a second processing core, and a third processing core. The first processing core runs a BootLoader program; the second processing core runs an application program, performs input / output of safety-related signals, and reads / writes safety- and non-safety-related memory; the third processing core runs the application program, performs input / output of non-safety-related signals, reads / writes non-safety-related memory, and reads safety-related memory. This invention, based on a multi-core processor, isolates the BootLoader program, functional safety-related applications, and non-functional safety-related applications for separate core operation, improving safety while ensuring operational efficiency.

Description

Technical Field

[0001] This invention relates to the field of engineering machinery technology, and in particular to a safety controller, control method, and engineering machinery suitable for engineering machinery. Background Technology

[0002] A controller is a device used to control or regulate mechanical, electrical, and other systems. It is typically implemented using technologies such as smart chips, programmable logic controllers (PLCs), and sensors. Widely used in engineering machinery, home appliances, and automotive electronics, it is an indispensable component of modern production and daily life. Controllers are divided into combinational logic controllers and microprogrammed controllers. Each type has its advantages and disadvantages. Combinational logic controllers have a simple design structure, fast execution speed, and high reliability, but once designed, they cannot be modified or expanded. Microprogrammed controllers are easy to modify in terms of control logic, requiring only a reprogramming of the controller program; however, their reliability is significantly affected by the quality of the programming code and the controller circuit design, making them prone to reliability issues.

[0003] Currently, in the construction machinery field, such as excavators, loaders, cranes, and aerial work platforms, controllers are used as the core controller unit of the main unit. Due to the increasingly complex functions of the main unit and the frequent emergence of new requirements, microprogrammed controllers are widely used in the development of main unit control systems in the construction machinery field. Construction machinery main units have high safety and reliability requirements in their operating environment. Traditional controllers use a single channel for signal acquisition and execution, lacking monitoring of feedback signals from the execution channel, which easily leads to controller failure. Furthermore, they lack protective processing functions after a failure. Therefore, developing a safety-oriented controller and system suitable for construction machinery is essential. Summary of the Invention

[0004] The purpose of this invention is to overcome the shortcomings of the prior art and provide a safety controller, control method and engineering machinery suitable for construction machinery, solving the problem that traditional controllers cannot meet the safety and reliability requirements of the main operating environment of construction machinery.

[0005] To achieve the above objectives, the present invention is implemented using the following technical solution:

[0006] In a first aspect, the present invention provides a safety controller suitable for engineering machinery, comprising 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 a BootLoader program; the second processing core is used to run an application program, perform input and output of safety-related signals, and read and write to safety-related and non-safety-related memory; the third processing core is used to run an application program, perform input and output of non-safety-related signals, and read and write to non-safety-related memory and read from safety-related memory.

[0007] Optionally, the multi-core processor uses a multi-core MCU chip.

[0008] Optionally, the second processing core uses dual signal acquisition channels to acquire dual signal results for the same signal source and performs error verification on the dual signal results. If the error is within the preset error range, the signal acquisition is considered successful.

[0009] Optionally, if the error is outside the preset error range, the signal acquisition is considered 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.

[0010] 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, group switches, and sub-switch groups, the input terminal of the main switch is connected to an external power supply, the output terminal of the main switch is connected to the input terminals of each of the group switches, and the output terminals of the group switches are connected to a load via one of the sub-switch groups; the output signal of the second processing core is connected to the control terminals of the main switch, the group switches, and the sub-switch groups.

[0011] Optionally, the third processing core uses a single signal acquisition channel to acquire single signal results for the same signal source.

[0012] Optionally, the multi-core processor is also connected to a watchdog circuit and a bus communication circuit.

[0013] Secondly, the present invention provides a control method for a safety controller suitable for engineering machinery, employing the safety controller described above, the control method comprising:

[0014] In response to the power-on of the safety controller, the safety controller enters the BootLoader program, runs the BootLoader program through the first processing core, and determines whether a program update is needed;

[0015] If no program update is needed, go to the application.

[0016] The application runs through the second processing core, performing input and output of security-related signals and reading and writing of security and non-security-related memory;

[0017] The application runs through the third processing core, performing input and output of non-security-related signals, reading and writing of non-security-related memory, and reading of security-related memory.

[0018] Optionally, if a program update is required, update the program and then enter the application.

[0019] Thirdly, the present invention provides an engineering machine, including the safety controller as described above.

[0020] Compared with the prior art, the beneficial effects achieved by the present invention are as follows:

[0021] This invention provides a safety controller, control method, and engineering machinery suitable for construction machinery. In the safety controller, the BootLoader program, functional safety-related applications, and non-functional safety-related applications are run separately and in isolation based on a multi-core processor, which improves safety while ensuring operational efficiency. At the same time, the processing core of the functional safety-related applications is designed with dual-channel redundant input and multi-level output to balance safety and flexibility. Attached Figure Description

[0022] Figure 1 This is a schematic diagram of the structure of a safety controller suitable for engineering machinery provided in an embodiment of the present invention;

[0023] Figure 2 This is a schematic diagram of the input signal redundancy design of the second processing core provided in an embodiment of the present invention;

[0024] Figure 3 This is a schematic diagram of multi-level control of the output signal of the second processing core provided in the embodiment of the present invention. Detailed Implementation

[0025] The present invention will be further described below with reference to the accompanying drawings. The following embodiments are only used to more clearly illustrate the technical solution of the present invention, and should not be used to limit the scope of protection of the present invention.

[0026] Example 1:

[0027] like Figure 1 As shown, this embodiment of the invention provides a safety controller suitable for engineering machinery, including a multi-core processor. 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 application programs, perform input / output of safety-related signals, and read / write to safety- and non-safety-related memory; the third processing core is used to run application programs, perform input / output of non-safety-related signals, and read / write to non-safety-related memory and read from safety-related memory. This embodiment uses a multi-core processor to isolate and run the BootLoader program, functional safety-related application programs, and non-functional safety-related application programs, improving safety while ensuring operational efficiency.

[0028] Specifically, in this embodiment, a multi-core MCU chip is used as the multi-core processor. In other optional embodiments, other multi-core processors may also be used.

[0029] like Figure 2As shown, in order to improve the security of security-related signal processing, the input of the second processing core adopts a dual-channel redundant design. The second processing core uses dual signal acquisition channels to acquire dual signal results for the same signal source and performs error verification on the dual signal results. If the error is within the preset error range, the signal acquisition is considered successful; if the error is outside the preset error range, the signal acquisition is considered to have failed, and the output signal of the second processing core relative to the signal source or all output signals of the second processing core are turned off.

[0030] like Figure 3 As shown, the output signal of the second processing core reaches the controlled device via the load drive module. The load drive module includes a main switch, group switches, and sub-switch groups. The input terminal of the main switch is connected to an external power supply, and the output terminal of the main switch is connected to the input terminals of each group switch. The output terminals of each group switch are connected to a load via a sub-switch group. The output signal of the second processing core is connected to the control terminals of the main switch, group switches, and sub-switch groups. In this embodiment, the main switch is denoted as EMC STOP, there are four group switches, denoted as GROUP0, GROUP1, GROUP2, and GROUP3, and four sub-switch groups. Each sub-switch group has 10 sub-switches, controlling 10 output channels, thereby realizing multi-level control from main, sub, and sub-switch levels.

[0031] Depending on the error level or other fault level, a critical fault control can be set to disconnect the main switch; a general fault control can be set to disconnect the corresponding group switch; and a minor fault control can be set to disconnect the corresponding sub-switch.

[0032] The third processing core uses a single signal acquisition channel to acquire single signal results for the same signal source, effectively reducing usage costs while ensuring control functions.

[0033] The multi-core processor also has a watchdog circuit and a bus communication circuit connected to it to realize conventional monitoring and communication functions.

[0034] Example 2:

[0035] Based on the safety controller provided in Embodiment 1, this embodiment of the invention provides a control method for a safety controller suitable for engineering machinery, including:

[0036] In response to the power-on of the safety controller, the safety controller enters the BootLoader program, runs the BootLoader program through the first processing core, and determines whether a program update is needed;

[0037] If a program update is required, update the program and then enter the application.

[0038] If no program update is needed, go to the application.

[0039] The application runs through the second processing core, performing input and output of security-related signals and reading and writing of security and non-security-related memory;

[0040] The application runs through the third processing core, performing input and output of non-security-related signals, reading and writing of non-security-related memory, and reading of security-related memory.

[0041] Example 3:

[0042] This invention provides an engineering machinery, including a safety controller as provided in Embodiment 1.

[0043] Those skilled in the art will understand that embodiments of the present invention can be provided as methods, systems, or computer program products. Therefore, the present invention can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present invention can take the form of a computer program product embodied 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.

[0044] This invention is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart illustrations and / or block diagrams. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0045] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0046] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0047] The above description is only a preferred embodiment of the present invention. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the technical principles of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A safety controller suitable for engineering machinery, characterized in that, The system includes 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 to run a BootLoader program; the second processing core is used to run application programs, perform input and output of security-related signals, and read and write security-related and non-security-related memory. The third processing core is used to run applications, input and output non-security-related signals, read and write non-security-related memory, and read security-related memory. The output signal of the second processing core reaches the controlled device via the load driving module; the load driving module includes a main switch, group switches, and sub-switch groups. The input terminal of the main switch is connected to an external power supply, the output terminal of the main switch is connected to the input terminals of each of the group switches, and the output terminals of each group switch are connected to a load via one of the sub-switch groups; the output signal of the second processing core is connected to the control terminals of the main switch, the group switches, and the sub-switch groups. When handling a critical core fault, disconnect the main switch; when handling a general core fault, disconnect the corresponding group switch; when handling a minor core fault, disconnect the corresponding sub-switch.

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

3. The safety controller 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 verification on the dual signal results. If the error is within the preset error range, the signal acquisition is considered successful.

4. The safety controller for engineering machinery according to claim 3, characterized in that, If the error is outside the preset error range, the signal acquisition is considered 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.

5. The safety controller for engineering machinery according to claim 1, characterized in that, The third processing core uses a single signal acquisition channel to acquire single signal results for the same signal source.

6. The safety controller 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.

7. A control method for a safety controller suitable for engineering machinery, characterized in that, The control method employs a safety controller as described in any one of claims 1-6, wherein the control method comprises: In response to the power-on of the safety controller, the safety controller enters the BootLoader program, runs the BootLoader program through the first processing core, and determines whether a program update is needed; If no program update is needed, go to the application. The application runs through the second processing core, performing input and output of security-related signals and reading and writing of security and non-security-related memory; The application runs through the third processing core, performing input and output of non-security-related signals, reading and writing of non-security-related memory, and reading of security-related memory.

8. The control method for a safety controller applicable to engineering machinery according to claim 7, characterized in that, If a program update is required, update the program and then access the application.

9. An engineering machinery, characterized in that, Including the safety controller as described in any one of claims 1-6.

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