Information forwarding device and information forwarding method

Abstract

The purpose of the present invention is to provide a technique capable of ensuring real-time performance with respect to control of a control device. The information transfer device has a real-time data processing unit and a non-real-time data processing unit. The real-time data processing unit includes a first data management unit that manages data among the control data generation unit, the first data collection unit, the first inter-OS communication unit, and the real-time data storage unit. The non-real-time data processing unit includes a second data management unit that manages data among the second data collection unit, the second inter-OS communication unit, and the non-real-time data storage unit.

Description

Technical Field

[0001] This invention relates to an information forwarding device and an information forwarding method. Background Technology

[0002] Various technologies have been proposed for control devices used in production sites (e.g., Patent Document 1).

[0003] Patent Document 1: Japanese Patent Application Publication No. 2022-101969 Summary of the Invention

[0004] For control devices operating multiple operating systems (OS) used in production environments, it is desirable to save data to memory and output it externally in order to utilize data related to motion control equipment and sequencer control equipment. However, a problem exists: if saving and outputting are performed in the same way across multiple OSes, real-time control of external control equipment cannot be guaranteed.

[0005] The present invention is made in view of the above-mentioned problems, and its object is to provide a technique for controlling a control device in a way that ensures real-time performance.

[0006] The information forwarding apparatus of the present invention comprises: a real-time data processing unit that processes data on a real-time operating system; a real-time data storage unit operated by the real-time data processing unit; a non-real-time data processing unit that processes data on a non-real-time operating system; and a non-real-time data storage unit operated by the non-real-time data processing unit. The real-time data processing unit includes: a device control unit that controls an externally connected control device; a control data generation unit that generates instruction values ​​for controlling the control device and sends them to the device control unit; a first data collection unit that receives feedback values ​​from the control device; a first inter-OS communication unit that communicates with the non-real-time data processing unit; and a first data management unit. The control data generation unit, the first data collection unit, the first inter-OS communication unit, and the real-time data storage unit manage the instruction value, the feedback value, and the data received by the first inter-OS communication unit from the non-real-time data processing unit. The non-real-time data processing unit includes: a second data collection unit that receives input information from an externally connected input device; a second inter-OS communication unit that communicates with the real-time data processing unit; and a second data management unit that manages the input information and the data received by the second inter-OS communication unit from the real-time data processing unit among the second data collection unit, the second inter-OS communication unit, and the non-real-time data storage unit.

[0007] The effects of the invention

[0008] According to the present invention, the real-time data processing unit and the non-real-time data processing unit can forward data to each other, so the control of the control device by the real-time data processing unit can be ensured in real time.

[0009] The objects, features, solutions, and advantages of the present invention will become clearer from the following detailed description and accompanying drawings. Attached Figure Description

[0010] Figure 1 This is a block diagram illustrating the system structure of the information forwarding device involved in Implementation 1.

[0011] Figure 2 This is a block diagram illustrating the functional structure of the information forwarding device involved in Implementation Method 1.

[0012] Figure 3 This is a diagram showing the sequence of information forwarding devices according to Embodiment 1.

[0013] Figure 4 This is a diagram showing the sequence of information forwarding devices according to Embodiment 1.

[0014] Figure 5 This is a diagram showing the sequence of information forwarding devices according to Embodiment 1.

[0015] Figure 6 This is a diagram showing the sequence of information forwarding devices according to Embodiment 1.

[0016] Figure 7 This is a flowchart illustrating the operation of the information forwarding device according to Embodiment 2.

[0017] Figure 8 This is a diagram showing the sequence of information forwarding devices involved in Embodiment 2.

[0018] Figure 9 This is a diagram showing the sequence of information forwarding devices involved in Embodiment 2.

[0019] Figure 10 This is a block diagram illustrating the functional structure of the information forwarding device involved in Implementation Method 3.

[0020] Figure 11 This is a diagram illustrating the selection conditions involved in implementation method 3.

[0021] Figure 12 This is a diagram used to illustrate the operation of the information forwarding device according to Embodiment 3.

[0022] Figure 13 This is a diagram showing the sequence of information forwarding devices involved in Embodiment 4. Detailed Implementation

[0023] <Implementation Method 1>

[0024] Figure 1 This is a block diagram illustrating the system structure of the information forwarding device 100 according to Embodiment 1. Furthermore, in the following description, data and information are essentially the same.

[0025] The information forwarding device 100 is, for example, an industrial computer that collects data from FA equipment used in the production site and processes it, such as by providing feedback. The information forwarding device 100 includes hardware 140 and management software 130.

[0026] The hypervisor 130 runs on hardware 140. A real-time OS 111, acting as a guest OS, and a non-real-time OS 121 run on the hypervisor 130. Each of the real-time OS 111 and the non-real-time OS 121 contains, for example, multiple files such as applications and user data.

[0027] The real-time data processing unit 110 performs real-time data processing on the real-time OS 111, while the non-real-time data processing unit 120 performs non-real-time data processing on the non-real-time OS 121. Real-time data processing is only required to be superior in terms of real-time performance compared to non-real-time data processing.

[0028] The hypervisor 130 is a software program used to implement the runtime environment of multiple operating systems, including a real-time OS 111 and a non-real-time OS 121. The hypervisor 130 allocates the resources of hardware 140, such as the processing power of the CPU (Central Processing Unit), RAM (Random Access Memory), ROM (Read Only Memory), and the recording area of ​​the hard disk, to the real-time data processing unit 110 and the non-real-time data processing unit 120, which are virtual machines.

[0029] The storage area operated by the real-time data processing unit 110 is used as a real-time data storage unit, and the storage area operated by the non-real-time data processing unit 120 is used as a non-real-time data storage unit. Both the real-time data processing unit 110 and the non-real-time data processing unit 120 are virtualized computers running on the hypervisor 130. Therefore, both the real-time data processing unit 110 and the non-real-time data processing unit 120 can operate like the hardware of a single computer.

[0030] Figure 2 This is a block diagram illustrating the functional structure of the information forwarding device 100 according to Embodiment 1. As described above, the information forwarding device 100 includes a real-time data processing unit 110, a non-real-time data processing unit 120, a real-time data storage unit 141, and a non-real-time data storage unit 142.

[0031] Real-time Data Processing Department

[0032] The real-time data processing unit 110 includes a device control unit 116, a control data generation unit 115, a first data collection unit 114, a first data management unit 113, and a first inter-OS communication unit 112.

[0033] The equipment control unit 116 has an interface for communicating with a control device 200 externally connected to the information forwarding device 100. The equipment control unit 116 controls the control device 200 by converting instruction values ​​sent from the control data generation unit 115 into control instruction values ​​that can be input to the control device 200, and outputting control instruction values ​​to the control device 200. Examples of control devices 200 include motion control devices and sequencer control devices installed in robotic arms and belt conveyors.

[0034] The control data generation unit 115 receives feedback values ​​from the control device 200 via the first data collection unit 114, and receives processed data from the non-real-time data processing unit 120 via the first inter-OS communication unit 112. Based on at least one of the feedback values ​​and the processed data, the control data generation unit 115 generates an instruction value for controlling the control device 200, and sends the instruction value to the device control unit 116. Furthermore, in this specification, for example, "at least one of A, B, C, ..., and Z" refers to any one of all combinations from the group of A, B, C, ..., and Z that contains one or more values.

[0035] Additionally, the control data generation unit 115 sends instruction values ​​to the first data management unit 113 as needed. Since control instruction values ​​need to be sent to the externally connected control device 200 at specific intervals to ensure real-time performance, the real-time data processing unit 110 needs to generate instruction values ​​for generating the control instruction values.

[0036] The first data collection unit 114 has an interface for communicating with the control device 200. The first data collection unit 114 receives feedback values ​​from the control device 200 and sends them to the first data management unit 113.

[0037] The first inter-OS communication unit 112 has an inter-OS interface for communicating with the non-real-time data processing unit 120, and exchanges data with the non-real-time data processing unit 120. For example, through this communication, the first inter-OS communication unit 112 sends various requests to the non-real-time data processing unit 120 and receives data from the non-real-time data processing unit 120.

[0038] The first data management unit 113 has an interface for communicating with the real-time data storage unit 141. The first data management unit 113 manages the exchange of information among the control data generation unit 115, the first data collection unit 114, the first inter-OS communication unit 112, and the real-time data storage unit 141, namely: instruction values, feedback values, and data received by the first inter-OS communication unit 112 from the non-real-time data processing unit 120. Examples of the management of the first data management unit 113 will be described later.

[0039] Non-real-time data processing department

[0040] The non-real-time data processing unit 120 includes a data processing unit 125, a second data collection unit 124, a second data management unit 123, and a second OS communication unit 122.

[0041] The second data collection unit 124 has an interface for communicating with an input device 300 externally connected to the information forwarding device 100. The second data collection unit 124 receives input information from the input device 300 and sends it to the second data management unit 123.

[0042] The data processing unit 125 receives input information from the second data collection unit 124 via the second data management unit 123, performs calculations and other processing based on the input information to generate processed data, and sends the processed data to the second data management unit 123. For example, when the input information is image data from a camera, the data processing unit 125 generates processed data that includes at least one of the following: results of detecting objects in the image, detection results of foreign objects present in the image, and prediction results of object degradation. Furthermore, although in Figure 2 The description states that the control device 200 and the input device 300 are set separately, but the control device 200 and the input device 300 can also be the same.

[0043] The second OS communication unit 122 has an inter-OS interface for communicating with the real-time data processing unit 110 and exchanging data with the real-time data processing unit 110. For example, through this communication, the second OS communication unit 122 sends processed data to the real-time data processing unit 110 and receives data from the real-time data processing unit 110.

[0044] The second data management unit 123 has an interface for communicating with the non-real-time data storage unit 142. The second data management unit 123 manages the exchange of information among the data processing unit 125, the second data collection unit 124, the second OS inter-operation communication unit 122, and the non-real-time data storage unit 142, namely: processed data, input information, and data received by the second OS inter-operation communication unit 122 from the real-time data processing unit 110. An example of the management of the second data management unit 123 will be described later.

[0045] <sequence>

[0046] Figure 3 The sequence at the start of information forwarding of the information forwarding device 100 according to Embodiment 1 is shown.

[0047] In step S1, the control data generation unit 115 of the real-time data processing unit 110 sends a request to the first data management unit 113 as a data loading request to initiate information forwarding between the real-time data processing unit 110 and the non-real-time data processing unit 120. The data loading request may also include the category of information to be forwarded.

[0048] In steps S2 to S4, the first data management unit 113 sends a data loading request to the second data management unit 123 via the first inter-OS communication unit 112 and the second inter-OS communication unit 122. Furthermore, for ease of explanation, the descriptions of the first inter-OS communication unit 112 and the second inter-OS communication unit 122 may be omitted in the following description of data transmission between the first data management unit 113 and the second data management unit 123.

[0049] If the second data management unit 123 receives a data loading request, i.e., a request to start information forwarding, it determines whether information forwarding can be performed. If it determines that information forwarding can be performed, the second data management unit 123 sends a loading start notification to the first data management unit 113 via the second inter-OS communication unit 122 and the first inter-OS communication unit 112 in steps S5 to S7. In step S8, the first data management unit 113 sends the loading start notification to the control data generation unit 115. Then, the second data management unit 123, for example, as described later... Figure 5 As shown, data is accessed periodically and sent to the First Data Management Department 113.

[0050] Figure 4 This illustrates another sequence at the start of information forwarding in the information forwarding apparatus 100 according to Embodiment 1. The source of the data loading request is... Figure 3 The middle part is the control data generation unit 115, while... Figure 4 The middle part is transformed into the data processing department 125.

[0051] In step S11, the data processing unit 125 of the non-real-time data processing unit 120 sends a data loading request to the second data management unit 123. If the second data management unit 123 receives the data loading request, it performs data processing in steps S12 to S15. Figure 3 The process is the same for steps S5 to S8. For example... Figure 3 as well as Figure 4As shown, the trigger for the start of information forwarding can be either the real-time data processing unit 110 or the non-real-time data processing unit 120.

[0052] Figure 5 This embodiment 1 illustrates a sequence, or data loading sequence, for forwarding processed data from the non-real-time data processing unit 120 to the real-time data processing unit 110 in the information forwarding apparatus 100. Furthermore, during the... Figure 5 The sequence has already stored all the processed data in the non-real-time data storage unit 142.

[0053] In step S21, the second data management unit 123 sends a data access request to the non-real-time data storage unit 142. In step S22, if processed data is sent from the non-real-time data storage unit 142, then in steps S23 to S25, the second data management unit 123 sends the processed data to the first data management unit 113 via the second inter-OS communication unit 122 and the first inter-OS communication unit 112. In step S26, the first data management unit 113 stores the received processed data in the real-time data storage unit 141.

[0054] By periodically performing a series of processes from S21 to S26, the processing data required by the real-time data processing unit 110 is periodically sent to the real-time data processing unit 110 and periodically stored in the real-time data storage unit 141. Furthermore, although in Figure 5 The example shows the periodic forwarding of processed data from the non-real-time data processing unit 120 to the real-time data processing unit 110, but forwarding can also be performed each time processed data is generated.

[0055] Figure 6 The present invention illustrates a sequence, namely a data read-in sequence, for obtaining processed data from the real-time data storage unit 141 by the control data generation unit 115 in the information forwarding apparatus 100 according to Embodiment 1.

[0056] In step S31, the control data generation unit 115 sends a data read request to the first data management unit 113. In step S32, the first data management unit 113 sends a data access request to the real-time data storage unit 141. If, in step S33, processing data is sent from the real-time data storage unit 141 to the first data management unit 113, then in step S34, the first data management unit 113 sends the processing data back to the control data generation unit 115. By periodically sending data read requests, the control data generation unit 115 can periodically obtain the required processing data. Alternatively, the control data generation unit 115 may not send data read requests periodically, but rather send data read requests as needed.

[0057] In addition, Figure 5 as well as Figure 6In this process, the processing data stored in the non-real-time data storage unit 142 is stored in the real-time data storage unit 141 and then retrieved by the control data generation unit 115, but it is not limited to this. For example, the processing data generated by the data processing unit 125 may also be stored in the real-time data storage unit 141 and then retrieved by the control data generation unit 115.

[0058] <Summary of Implementation Method 1>

[0059] The information forwarding apparatus 100 according to Embodiment 1 described above includes a real-time data processing unit 110 and a non-real-time data processing unit 120 capable of forwarding data to each other. With this structure, the real-time data processing unit 110 can perform real-time data processing requiring real-time performance while simultaneously obtaining non-real-time data from the non-real-time data processing unit 120 that does not require real-time performance. Therefore, the control of the control device 200 by the real-time data processing unit can ensure real-time performance.

[0060] Furthermore, in this embodiment 1, the second data management unit 123 stores the processed data to the real-time data storage unit 141 via the first data management unit 113, and the control data generation unit 115 obtains the processed data from the real-time data storage unit 141 via the first data management unit 113. With this structure, the control data generation unit 115 can obtain the processed data from the real-time data processing unit 110 even without accessing the non-real-time data storage unit 142 or forwarding the processed data between OSes. Therefore, the real-time performance of obtaining the processed data from the control data generation unit 115 can be improved, thereby improving the real-time performance of the real-time data processing unit 110.

[0061] <Implementation Method 2>

[0062] The system structure of the information forwarding device 100 involved in this embodiment 2 is similar to... Figure 1 The information forwarding device 100 involved in Embodiment 1 has the same system structure, and the information forwarding device 100 involved in Embodiment 2 has the same functional structure. Figure 2 The information forwarding device 100 involved in Embodiment 1 has the same functional structure. Hereinafter, structural elements in the structural elements involved in Embodiment 2 that are the same as or similar to the above-described structural elements will be marked with the same or similar reference numerals, and the description will mainly focus on the different structural elements.

[0063] The real-time data storage unit 141 and the non-real-time data storage unit 142 are capable of storing processing data in the same way as in Embodiment 1. When the processing data is not yet stored in the real-time data storage unit 141, the first data management unit 113, which requests processing data from the controlled data generation unit 115, is configured to obtain the processing data from the non-real-time data storage unit 142 via the second data management unit 123.

[0064] Figure 7 This is a flowchart illustrating the operation of the information forwarding device 100 according to Embodiment 2.

[0065] In step S41, the control data generation unit 115 and Figure 6 Similarly to step S31, for the processing data that becomes the object of use when the instruction value is created, a data read request is sent to the first data management unit 113. In step S42, the first data management unit 113 confirms whether the processing data that becomes the object of use has been stored in the real-time data storage unit 141. If it is confirmed that the processing data is stored, the process proceeds to step S43; otherwise, the process proceeds to step S44.

[0066] If the process proceeds to step S43, the sequence of processing data stored in the real-time data storage unit is processed. Specifically, the first data management unit 113 reads the processing data from the real-time data storage unit 141 and sends the processing data to the control data generation unit 115. Then, the process ends. Figure 7 The action.

[0067] If the process proceeds to step S44, it performs processing of the sequence before the processed data is stored in the real-time data storage unit. Specifically, the first data management unit 113 sends a data acquisition request to the second data management unit 123 to obtain the processed data requested by the control data generation unit 115. In step S45, the second data management unit 123 reads the processed data from the non-real-time data storage unit 142 and sends the processed data to the control data generation unit 115 via the first data management unit 113.

[0068] Figure 8 as well as Figure 9 The sequence shown is for obtaining processed data from the non-real-time data storage unit 142 by the control data generation unit 115 in the information forwarding device 100 according to Embodiment 2. Figure 8 The sequence corresponds to Figure 7 The processing of steps S41, S42, and S43.

[0069] In step S51, the control data generation unit 115 sends a data read request to the first data management unit 113. In step S52, upon receiving the data read request, the first data management unit 113 instructs the real-time data storage unit 141 to confirm whether the requested processing data has been stored in the real-time data storage unit 141. In step S53, the first data management unit 113 receives a response from the real-time data storage unit 141 confirming that the processing data is stored therein.

[0070] In step S54, the first data management unit 113 sends a data access request to the real-time data storage unit 141. If processing data is sent from the real-time data storage unit 141 in step S55, then in step S56, the first data management unit 113 sends the processing data to the control data generation unit 115.

[0071] Figure 9 The sequence corresponds to Figure 7 The processing of steps S41, S42, S44, and S45.

[0072] In step S61, the control data generation unit 115 sends a data read request to the first data management unit 113. In step S62, upon receiving the data read request, the first data management unit 113 instructs the real-time data storage unit 141 to confirm whether the requested processing data has already been stored in the real-time data storage unit 141. In step S63, the first data management unit 113 receives a response from the real-time data storage unit 141 indicating that the processing data has not yet been stored.

[0073] In steps S64 to S66, the first data management unit 113 sends a data acquisition request to the second data management unit 123 via the first inter-OS communication unit 112 and the second inter-OS communication unit 122 for the requested processing data. In step S67, the second data management unit 123 instructs the non-real-time data storage unit 142 to confirm whether the requested processing data has been stored in the non-real-time data storage unit 142. In step S68, the second data management unit 123 receives a response from the non-real-time data storage unit 142 confirming that the processing data is stored therein.

[0074] In step S69, the second data management unit 123 sends a data access request to the non-real-time data storage unit 142. If processing data is sent from the non-real-time data storage unit 142 in step S70, then in steps S71 to S73, the second data management unit 123 sends the processing data to the first data management unit 113 via the second inter-OS communication unit 122 and the first inter-OS communication unit 112. In step S74, the first data management unit 113 sends the received processing data to the control data generation unit 115.

[0075] <Summary of Implementation Method 2>

[0076] According to the information forwarding apparatus 100 of this embodiment 2 as described above, when the real-time data storage unit 141 has not yet stored the processed data, the controlled data generation unit 115 requests the first data management unit 113, which requests the processed data, to obtain the processed data from the non-real-time data storage unit 142 via the second data management unit 123. With this structure, by performing access to the non-real-time data storage unit 142 and forwarding the processed data between OSs with the minimum necessary access, the controlled data generation unit 115 can obtain the processed data. Therefore, even when the corresponding processed data is not present in the real-time data storage unit 141, the controlled data generation unit 115 can obtain the processed data from the real-time data storage unit 142.

[0077] <Implementation Method 3>

[0078] The system structure of the information forwarding device 100 involved in this embodiment 3 is similar to... Figure 1 The system structure of the information forwarding device 100 involved in Implementation 1 is the same. Figure 10 This is a block diagram illustrating the functional structure of the information forwarding device 100 according to Embodiment 3. Hereinafter, structural elements in Embodiment 3 that are the same as or similar to the above-described structural elements will be labeled with the same or similar reference numerals, and the explanation will primarily focus on the different structural elements.

[0079] Figure 10 Structure and orientation Figure 2 The structure is the same after adding a selection condition storage unit 143, a first moment provision unit 117 of a real-time data processing unit 110, and a second moment provision unit 126 of a non-real-time data processing unit 120.

[0080] The first time-providing unit 117 and the second time-providing unit 126 are included in the concept of a time-providing unit. The first time-providing unit 117 and the second time-providing unit 126 provide time information, which is assigned as a timestamp to the selection object data stored in the real-time data storage unit 141. In this embodiment 3, the selection object data consists of instruction values ​​generated by the control data generation unit 115, feedback values ​​obtained by the first data collection unit 114, processing data generated by the data processing unit 125, and input information obtained by the second data collection unit 124. However, the selection object data may be at least one of these, or it may be other information.

[0081] The first time-providing unit 117 sends time information to the control data generation unit 115 and the first data collection unit 114. The control data generation unit 115 assigns time information to the instruction value and stores it in the real-time data storage unit 141 via the first data management unit 113. The first data collection unit 114 assigns time information to the feedback value and stores it in the real-time data storage unit 141 via the first data management unit 113.

[0082] The second time-providing unit 126 sends time information to the data processing unit 125 and the second data collection unit 124. The data processing unit 125 assigns time information to the processed data and stores it in the real-time data storage unit 141 via the second data management unit 123 and the first data management unit 113. The second data collection unit 124 assigns time information to the input information and stores it in the real-time data storage unit 141 via the second data management unit 123 and the first data management unit 113.

[0083] Selection criteria storage unit 143 stores selection criteria. Figure 11 The candidate selection criteria that can be used as selection criteria and the currently used selection criteria are shown. Selection criteria are time-information-related conditions used to select from the real-time data storage unit 141 and obtain selection object data assigned with time information. Furthermore, the number of selection criteria and the number of candidate selection criteria that can be used as selection criteria are not limited to... Figure 11 The conditions and quantity.

[0084] The first data management unit 113 has an interface for communicating with the selection condition storage unit 143. When the controlled data generation unit 115 requests selection object data, the first data management unit 113 selects and obtains the selection object data from the real-time data storage unit 141 based on the selection conditions.

[0085] Figure 12 This is a diagram used to illustrate the selection of target data performed by the first data management unit 113. Hereinafter, it will be used... Figure 12 The example given is that the selected object data is processing data, but the same applies when the selected object data is an instruction value, feedback value, or input information.

[0086] exist Figure 12 In the middle, the time increases to the right of the horizontal axis, and the period for the first data management unit 113 and the control data generation unit 115 to acquire data is t. [1] indicates the time and sequence of the time information assigned to the processing data.

[0087] [2] indicates the use of Figure 11The processing data and its time information are selected based on the No.1 condition of the selection criteria. Under this selection condition, the processing data closest to time (N+1)×t among the processing data between time N (N=0, 1, 2, ...)×t and time (N+1)×t becomes the selection object. The first data management unit 113 obtains the processing data selected as the selection object at time (N+1)×t. The hollow quadrilateral attached to the processing data in [2] represents the difference between the time of the time information assigned to the processing data selected as the selection object and the time of the processing data selected as the selection object obtained by the first data management unit 113 under the selection condition in [2], i.e., jitter.

[0088] [3] indicates the use of Figure 11 The processing data and its time information are selected based on the No.2 condition of the selection criteria. Under this selection condition, the processing data between time N (N=0, 1, 2, ...)×t and time (N+1)×t is selected based on the time closest to time N×t+g after an arbitrary time g offset from time N×t. The first data management unit 113 obtains the processing data selected at time (N+1)×t. The shaded quadrilateral attached to the processing data in [3] represents the difference between the time of the time information assigned to the processing data selected and the time when the first data management unit 113 obtains the processing data selected under the selection condition in [3], i.e., jitter. Although the jitter in [3] may be a negative jitter, it can make the absolute value of the jitter less than half compared to the jitter in [2].

[0089] <Summary of Implementation Method 3>

[0090] According to the information forwarding apparatus 100 of this embodiment 3 as described above, when the controlled data generation unit 115 requests selection target data, the first data management unit 113 selects and obtains selection target data from the real-time data storage unit 141 based on selection conditions. With this structure, the control data generation unit 115 can use the selection target data selected according to the desired selection conditions.

[0091] <Implementation Method 4>

[0092] The system structure of the information forwarding device 100 involved in this embodiment 4 is similar to... Figure 1 The information forwarding device 100 involved in Embodiment 1 has the same system structure, and the information forwarding device 100 involved in Embodiment 4 has the same functional structure. Figure 2 The information forwarding device 100 involved in Embodiment 1 has the same functional structure. Hereinafter, structural elements in the structural elements involved in this Embodiment 4 that are the same as or similar to the above-described structural elements will be marked with the same or similar reference numerals, and the description will mainly focus on the different structural elements.

[0093] In this embodiment 4, the first data management unit 113 stores at least one of the instruction value generated by the control data generation unit 115 and the feedback value received by the first data collection unit 114 in the non-real-time data storage unit 142 via the second data management unit 123.

[0094] Figure 13 The sequence shown is in which the control data generation unit 115 stores instruction values ​​in the non-real-time data storage unit 142 in the information forwarding device 100 according to this embodiment 4.

[0095] In step S81, the control data generation unit 115 sends an instruction value to the first data management unit 113. In steps S82 to S84, the first data management unit 113 sends an instruction value to the second data management unit 123 via the first inter-OS communication unit 112 and the second inter-OS communication unit 122. In step S85, the second data management unit 123 stores the instruction value in the non-real-time data storage unit 142.

[0096] <Summary of Implementation Method 4>

[0097] According to the information forwarding apparatus 100 of this embodiment 4 as described above, the first data management unit 113 stores at least one of the instruction value and the feedback value in the non-real-time data storage unit 142 via the second data management unit 123. With this structure, the non-real-time data processing unit 120 can perform the storage processing of the real-time data processing unit 110, thereby improving the real-time performance of the real-time data processing unit 110.

[0098] <Variation Example>

[0099] The structures of embodiments 1 to 4 can also be appropriately combined. Furthermore, the information forwarding method performed by the information forwarding device 100 may also include the following steps: (i) the non-real-time data processing unit 120 forwards at least one of the instruction value and the feedback value to the real-time data processing unit 110; and (ii) the real-time data processing unit 110 forwards the input information to the non-real-time data processing unit 120. Additionally, in the above description, the processing of input information and the processing of processed data may be interchanged, or these processes may be combined.

[0100] Furthermore, it is possible to freely combine various implementation methods and variations, and to appropriately modify or omit various implementation methods and variations.

[0101] The above description is illustrative rather than limiting in all respects. It should be considered that countless variations not illustrated can be envisioned.

[0102] Explanation of the label

[0103] 100 Information forwarding device, 110 Real-time data processing unit, 111 Real-time OS, 112 First OS inter-communication unit, 113 First data management unit, 114 First data collection unit, 115 Control data generation unit, 116 Equipment control unit, 117 First time provision unit, 120 Non-real-time data processing unit, 121 Non-real-time OS, 122 Second OS inter-communication unit, 123 Second data management unit, 124 Second data collection unit, 125 Data processing unit, 126 Second time provision unit, 141 Real-time data storage unit, 142 Non-real-time data storage unit, 143 Selection condition storage unit, 200 Control device, 300 Input device.

Claims

1. An information forwarding device, comprising: The real-time data processing unit performs processing on the real-time OS; A real-time data storage unit, which is operated by the real-time data processing unit; The non-real-time data processing unit performs processing on a non-real-time OS; and The non-real-time data storage unit is operated by the non-real-time data processing unit. The real-time data processing unit includes: The equipment control department controls the control equipment connected to external devices; A control data generation unit generates instruction values ​​for controlling the control device and sends them to the device control unit. A first data collection unit receives feedback values ​​from the control device; The first OS inter-OS communication unit communicates with the non-real-time data processing unit; as well as A first data management unit manages the instruction value, the feedback value, and the data received by the first inter-OS communication unit from the non-real-time data processing unit, among the control data generation unit, the first data collection unit, the first inter-OS communication unit, and the real-time data storage unit. The non-real-time data processing unit includes: The second data collection unit receives input information from an externally connected input device; The second OS inter-OS communication unit communicates with the real-time data processing unit; as well as The second data management unit manages the input information and the data received by the second inter-OS communication unit from the real-time data processing unit, between the second data collection unit, the second inter-OS communication unit, and the non-real-time data storage unit.

2. The information forwarding device according to claim 1, wherein, The non-real-time data processing unit further includes a data processing unit that generates processed data based on the input information. The real-time data storage unit is capable of storing the processed data. The second data management unit stores the processed data in the real-time data storage unit via the first data management unit. The control data generation unit obtains the processed data from the real-time data storage unit via the first data management unit.

3. The information forwarding device according to claim 1, wherein, The non-real-time data processing unit further includes a data processing unit that generates processed data based on the input information. The real-time data storage unit and the non-real-time data storage unit are capable of storing the processed data. If the processing data is not yet stored in the real-time data storage unit, the first data management unit, which has been requested by the control data generation unit, obtains the processing data from the non-real-time data storage unit via the second data management unit.

4. The information forwarding device according to claim 1, further comprising: A time-providing unit provides time information, which is assigned to the selected object data stored in the real-time data storage unit; and The selection condition storage unit stores the conditions related to the time information used to select and obtain the selection object data assigned the time information from the real-time data storage unit as selection conditions. When the first data management unit is requested by the control data generation unit to select the target data, it selects and obtains the target data from the real-time data storage unit based on the selection criteria.

5. The information forwarding device according to any one of claims 1 to 4, wherein, The first data management unit stores at least one of the instruction value generated by the control data generation unit and the feedback value received by the first data collection unit in the non-real-time data storage unit via the second data management unit.

6. An information forwarding method, which is executed by an information forwarding device, in, The information forwarding device has: The real-time data processing unit performs processing on the real-time OS; A real-time data storage unit, which is operated by the real-time data processing unit; The non-real-time data processing unit performs processing on a non-real-time OS; and The non-real-time data storage unit is operated by the non-real-time data processing unit. The real-time data processing unit includes: The equipment control department controls the control equipment connected to external devices; A control data generation unit generates instruction values ​​for controlling the control device and sends them to the device control unit. A first data collection unit receives feedback values ​​from the control device; The first OS inter-OS communication unit communicates with the non-real-time data processing unit; as well as A first data management unit manages the instruction value, the feedback value, and the data received by the first inter-OS communication unit from the non-real-time data processing unit, among the control data generation unit, the first data collection unit, the first inter-OS communication unit, and the real-time data storage unit. The non-real-time data processing unit includes: The second data collection unit receives input information from an externally connected input device; The second OS inter-OS communication unit communicates with the real-time data processing unit; as well as The second data management unit manages the input information and the data received by the second inter-OS communication unit from the real-time data processing unit, connecting the second data collection unit, the second inter-OS communication unit, and the non-real-time data storage unit. In the information forwarding method, The non-real-time data processing unit forwards at least one of the instruction value and the feedback value to the real-time data processing unit. The real-time data processing unit forwards the input information to the non-real-time data processing unit.

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