Terminal device and method for restarting the terminal device

Abstract

To reduce the time from instruction to completion of restart.SOLUTION: A second receiving unit 22 is provided with a second receiving unit radio part CPU 28, a second receiving unit security part CPU 29, and a connector 24. The first processing performed by the second receiving unit radio part CPU 28 is different from the second processing performed by the second receiving unit security part CPU 29. The connector 24 receives a restart instruction to the second receiver 22. When the connector 24 receives the restart instruction, the first processing program is terminated by the second receiving unit radio part CPU 28 in a state where the power supply is maintained, and then restarted. The second processing program is restarted by restarting the power supply of the second receiving unit security part CPU 29 after being stopped once.SELECTED DRAWING: Figure 6

Description

Technical Field

[0001] The present invention relates to the restart of a terminal device having a plurality of CPUs.

Background Art

[0002] A terminal device having a plurality of CPUs is disclosed in, for example, Patent Document 1.

[0003] Patent Document 1 discloses a machine-side communication device connected to an industrial machine. This machine-side communication device is provided with a second reception unit wireless unit and a second reception unit security unit. Both the second reception unit wireless unit and the second reception unit security unit are configured as computers including a CPU, a ROM, a RAM, and the like.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0005] In the machine-side communication device of Patent Document 1, it may be necessary to restart the machine-side communication device when a communication abnormality occurs or the like. However, restarting a computer may take a relatively long time, and improvement has been desired from the viewpoint of workability.

[0006] The present invention has been made in view of the above circumstances, and an object thereof is to shorten the time from when a restart instruction is given until completion. Means and Effects for Solving the Problems

[0007] The problems to be solved by the present invention are as described above. Next, the means for solving this problem and its effects will be described.

[0008] According to a first aspect of the present invention, a terminal device having the following configuration is provided. That is, the terminal device comprises a first CPU, a second CPU, and a reception unit. The first CPU executes a first process. The second CPU executes a second process different from the first process. The reception unit receives a restart instruction. When power is turned on, the first CPU starts operating due to the supplied power, which automatically starts the program for the first process, and the second CPU starts operating due to the supplied power, which automatically starts the program for the second process. When the reception unit receives a restart instruction, the program for the first process is terminated by the first CPU while the power supply is maintained and then restarted, and the program for the second process is restarted by temporarily stopping the power supply to the second CPU and then starting it.

[0009] This allows for a quick restart when a restart command is accepted, without complicating the startup process when the power is turned on.

[0010] In the aforementioned terminal device, it is preferable to communicate wirelessly with a wireless transmission device and transmit a signal to an industrial machine based on the results.

[0011] This enables a rapid restart when a restart operation is accepted, without complicating the startup process when the power is turned on, in terminal devices that communicate wirelessly with wireless transmitters.

[0012] In the aforementioned terminal device, the following configuration is preferable. That is, the first process is wireless communication with the wireless transmitting device. The second process is the process of transmitting a safety state request signal to the industrial machine to put the industrial machine into a safe state, in accordance with the result of the wireless communication.

[0013] In this configuration, safety considerations are required for the second process. In this regard, in the above configuration, when restarting the program for the second process performed by the second CPU, the reliability of the restart process can be increased by turning the power supply to the second CPU OFF and ON. While safety considerations are not so important for the first process, restarting it, which involves turning the power supply OFF and ON, takes a relatively long time. Therefore, when restarting the program for the first process performed by the first CPU, a quick restart can be achieved by maintaining the power supply to the first CPU.

[0014] In the aforementioned terminal device, the following configuration is preferable. That is, the first CPU and the second CPU are connected by a communication line that enables them to send and receive information from each other. After the program of the first process restarts because the reception unit has received a restart instruction, the first CPU periodically transmits a signal to the second CPU via the communication line. After the program of the second process restarts because the reception unit has received a restart instruction, the second CPU transmits a signal to the first CPU in response to the signal from the first CPU.

[0015] This allows the first CPU to wait for the second CPU to finish restarting, even if the first CPU's restart is completed before the second CPU's restart is finished. Therefore, the first and second CPUs can work together smoothly to perform processing.

[0016] In the aforementioned terminal device, the following configuration is preferable: The program for the first process is installed in the operating system. When the receiving unit receives a restart instruction, the program for the first process is restarted without restarting the operating system.

[0017] This allows the restart of the first processing program to be completed in a short amount of time.

[0018] A second aspect of the present invention provides a method for restarting a terminal device as follows: The terminal device comprises a first CPU, a second CPU, and a reception unit. The first CPU executes a first process. The second CPU executes a second process different from the first process. The reception unit receives a restart instruction. When power is turned on, the first CPU starts operating due to the supplied power, which automatically starts the program for the first process, and the second CPU starts operating due to the supplied power, which automatically starts the program for the second process. The method for restarting the terminal device includes a first step and a second step. In the first step, the reception unit receives a restart instruction. In the second step, if the reception unit receives the restart instruction, the first CPU, while power is maintained, terminates and restarts the program for the first process, and then the power supply to the second CPU is temporarily stopped and then restarted, thereby restarting the program for the second process.

[0019] This allows for a quick restart when a restart command is accepted, without complicating the startup process when the power is turned on. [Brief explanation of the drawing]

[0020] [Figure 1] A schematic plan view showing the configuration of an automated warehouse in which a wireless communication method according to one embodiment of the present invention is implemented. [Figure 2] A diagram illustrating the configuration of one stacker crane that makes up an automated warehouse. [Figure 3] A block diagram showing the configuration of the stacker crane control system. [Figure 4] A block diagram showing the configuration of the safety signaling system. [Figure 5] A perspective view showing the configuration of the second receiving unit. [Figure 6] A block diagram showing the detailed electrical configuration of the second receiving section. [Figure 7] A front view showing a portable control unit configured with a tablet attached to a portable remote control. [Figure 8] Side view of the portable operation unit. [Figure 9] Flowchart for explaining the processing after startup of the second receiving unit radio unit CPU. [Figure 10] Flowchart for explaining the processing after startup of the second receiving unit security unit CPU.

Embodiments for Carrying Out the Invention

[0021] Next, embodiments of the present invention will be described with reference to the drawings. FIG. 1 is a plan view schematically showing the configuration of an automated warehouse 1 in which a wireless communication method according to an embodiment of the present invention is performed. FIG. 2 is a diagram for explaining the configuration of one stacker crane 12 that constitutes the automated warehouse 1. FIG. 3 is a block diagram showing the configuration of the control system 10 of the stacker crane 12. FIG. 4 is a block diagram showing the configuration of the safety signal system 20.

[0022] The automated warehouse 1 shown in FIG. 1 includes a plurality of stacker racks 11 and a plurality of stacker cranes (industrial machines) 12. A large number of storage spaces capable of storing goods such as parts and materials are formed in the stacker racks 11. The stacker crane 12 automatically loads / unloads goods into / from the storage spaces of the stacker racks 11. The automated warehouse 1 can automatically store goods in the stacker racks 11 via the stacker crane 12, or automatically unload the goods stored in the stacker racks 11.

[0023] As shown in FIG. 2, each stacker crane 12 includes a traveling carriage 13 that travels along a track, a lifting platform 14 that can move up and down, and a crane controller (machine controller) 2 that controls the operations of the traveling carriage 13 and the lifting platform 14.

[0024] The stacker crane 12 can be moved by selecting an operation mode from an automatic operation mode and a manual operation mode. In the automatic operation mode, the stacker crane 12 moves automatically according to pre-programmed rules. In the manual operation mode, the stacker crane 12 moves according to the operation instructions of an operator.

[0025] The crane controller 2 shown in Figures 2 and 3 is composed of a known control unit consisting of, for example, a CPU, ROM, RAM, and an input / output unit. The ROM stores various programs and data (rules) related to automatic operation. The CPU can read and execute various programs from the ROM.

[0026] When the automatic operation mode is selected as the operating mode for the stacker crane 12, the crane controller 2 controls the operation of the traveling carriage 13 and the lifting platform 14 based on stored automatic operation data, etc.

[0027] When manual operation mode is selected as the operating mode for the stacker crane 12, the crane controller 2 controls the operation of the traveling carriage 13 and the lifting platform 14 according to the operation instructions from the operator received via the first receiver 21 and the status signals of each switch received via the second receiver 22.

[0028] The automated warehouse 1 comprises a first receiving unit 21 and a second receiving unit (terminal device) 22. The first receiving unit 21 and the second receiving unit 22 are each configured as communication devices and are installed near the crane controller 2 on the stacker crane 12. The first receiving unit 21 and the second receiving unit 22 are electrically connected to the crane controller 2. One first receiving unit 21 and one second receiving unit 22 are provided for each stacker crane 12.

[0029] The first receiver 21 communicates wirelessly with the tablet 5, described later, via a wireless LAN. The wireless LAN has multiple wireless communication channels and transmits data using radio waves, infrared rays, etc. In this embodiment, Wi-Fi (Wi-Fi is a registered trademark) is used as the wireless LAN. Through this wireless communication, the first receiver 21 receives operation instructions input to the tablet 5 when the operator operates the tablet 5. Examples of operation instructions include instructions to move the traveling trolley 13 and instructions to raise and lower the lifting platform 14. The first receiver 21 outputs signals indicating these instructions to the crane controller 2 as control signals to control the operation of the stacker crane 12.

[0030] The second receiver 22 communicates wirelessly with the portable remote control 6 (described later) via a wireless LAN. Through this wireless communication, the second receiver 22 receives various status signals. Examples of status signals include the status signal of the emergency stop switch and the status signal of the enable switch for activating operation instructions from the tablet 5. The second receiver 22 outputs the received status signals to the crane controller 2 as control signals for controlling the operation of the stacker crane 12. The first receiver 21 and the second receiver 22 communicate wirelessly using different frequency bands or channels.

[0031] Next, the second receiving unit 22 will be described in detail with reference to Figures 5 and 6. Figure 5 is a perspective view showing the configuration of the second receiving unit 22. Figure 6 is a block diagram showing the detailed electrical configuration of the second receiving unit 22.

[0032] As shown in Figure 6, the second receiving unit 22 includes a wireless unit board 41 and a safety unit board 42.

[0033] The wireless circuit board 41 houses the CPU 28 of the second receiving wireless unit. Furthermore, the wireless circuit board 41 also houses a connector 24, a voltage converter 43, a photocoupler 45, a linear regulator 44, a transistor 46, and an FET 47.

[0034] The safety unit board 42 houses the second receiving unit safety unit CPU 29.

[0035] As shown in Figure 5, etc., a cable 91 is connected to the connector 24. Power necessary for the operation of the second receiver 22 (in other words, the operation of the second receiver wireless CPU 28 and the second receiver safety CPU 29) is supplied via this cable 91. The cable 91 contains multiple wires and is used not only for power supply but also for signal input and output.

[0036] For example, cable 91 is connected to a power supply unit (not shown) of the stacker crane 12. Therefore, power is supplied to the second receiving unit 22 from the stacker crane 12. The stacker crane 12 is equipped with a control panel, which has a reset button. When the reset button on the control panel is operated, a reset signal is input to the second receiving unit 22 via cable 91 and connector 24.

[0037] In addition to the connector 24, the second receiving unit 22 is provided with a connector (not shown) for electrically connecting an antenna cable 93. A wireless antenna (not shown) for transmitting and receiving radio waves is connected to this antenna cable 93.

[0038] The voltage converter 43 shown in Figure 6 converts the power supply voltage input to the connector 24 into a voltage suitable for the operation of the second receiver wireless CPU 28 and the second receiver safety CPU 29. The voltage converted by the voltage converter 43 is supplied to the second receiver wireless CPU 28 via the linear regulator 44. The voltage converted by the voltage converter 43 is also supplied to the second receiver safety CPU 29 located on the safety board 42 via the FET 47.

[0039] A photocoupler 45 is connected to the reset signal input terminal among the multiple terminals that make up the connector 24 for the purpose of electrical isolation. The signal from the photocoupler 45 (essentially the reset signal input to the connector 24) is output to the CPU 28 of the second receiver wireless unit and also to the transistor 46.

[0040] The linear regulator 44 reduces voltage fluctuations and stabilizes the operation of the CPU 28 of the second receiver wireless unit.

[0041] The FET (switch) 47 switches the power supplied to the second receiving unit safety unit CPU 29 ON / OFF in response to the signal from the transistor 46.

[0042] As shown in Figure 4, the second receiving unit 22 is provided with a second receiving unit wireless unit CPU 28 and a second receiving unit safety unit CPU 29. The second receiving unit wireless unit CPU 28 and the second receiving unit safety unit CPU 29 are connected by a data communication line (communication line) 48 shown in Figure 6, and can exchange signals with each other, for example, by known serial communication.

[0043] The second receiver's wireless unit CPU 28 functions as a computer (specifically, a wireless communication module) along with ROM, RAM, etc. (not shown in the diagram). A program that performs processing related to wireless communication (first processing) is executed in the second receiver's wireless unit CPU 28. Through the execution of this program, the second receiver's wireless unit CPU 28 can communicate wirelessly with the portable remote control 6 and send and receive data.

[0044] The second receiver safety unit CPU 29 functions as a computer, along with ROM, RAM, etc. (not shown in the diagram). This computer is used as the functional safety unit. The second receiver safety unit CPU 29 executes a program that performs functional safety processing (second processing). Based on the results of the second receiver wireless unit CPU 28's communication with the portable remote control 6, the second receiver safety unit CPU 29 determines whether or not the stacker crane 12 should be put into a safe state where it does not operate. The second receiver safety unit CPU 29 outputs a safety state request signal to the crane controller 2 as needed.

[0045] As shown in Figure 3, the automated warehouse 1 of this embodiment includes a control system 10 for controlling the stacker crane 12. The control system 10 includes a control instruction transmitter 3 for the operator to give instructions to the stacker crane 12. The control instruction transmitter 3 consists of one or more transmitters. Each transmitter communicates via wireless LAN through a first receiving unit 21 and a second receiving unit 22 to give instructions to the crane controller 2.

[0046] The control instruction transmitter 3 includes a portable operation unit (transmitter) 30. The portable operation unit 30 will be described in detail with reference to Figure 7. Figure 7 is a front view showing the portable operation unit 30.

[0047] The portable control unit 30 consists of a tablet (portable device) 5 and a portable remote control (wireless transmitter) 6. "Remote control" is an abbreviation for "remote controller."

[0048] The tablet 5, which constitutes the portable operation unit 30, is a known tablet-type computer composed of a CPU, ROM, RAM, input / output unit, etc. The tablet 5 has a built-in wireless antenna (not shown) and can communicate wirelessly with the first receiver 21, as shown in Figure 3. The tablet 5 wirelessly transmits various instructions to the first receiver 21 in response to the operator's operation, such as instructions to switch the operating mode of the stacker crane 12 and instructions to operate the stacker crane 12 in manual operation mode.

[0049] The portable remote control 6 is used in combination with the tablet 5 to control the operation of the stacker crane 12 in manual operation mode. The portable remote control 6 has a built-in wireless antenna (not shown) and can communicate wirelessly with the second receiver 22, as shown in Figure 3, etc.

[0050] As shown in Figures 7 and 8, the portable remote control 6 includes a data communication cable 64, an enable switch 65, and an emergency stop switch 66.

[0051] The data communication cable 64 is routed from the housing of the portable remote control 6 and connected to the tablet 5. This allows the tablet 5 and the portable remote control 6 to work together as a portable operating unit 30.

[0052] The enable switch 65 is configured, for example, as a push-button switch. The enable switch 65 is pressed to indicate that the stacker crane 12 is permitted to operate when the stacker crane 12 is in manual operation mode.

[0053] The emergency stop switch 66 is configured, for example, as a push-button switch. The emergency stop switch 66 is pressed when the stacker crane 12 is to be brought to an emergency stop in manual operation mode.

[0054] As shown in Figure 4, the portable remote control 6 is equipped with a remote control wireless unit CPU 67 and a remote control safety unit CPU 68. The remote control wireless unit CPU 67 and the remote control safety unit CPU 68 are connected by an appropriate data communication line and perform serial communication.

[0055] The remote control wireless unit CPU 67, together with ROM, RAM, etc. (not shown in the diagram), constitutes a computer (specifically, a wireless communication module). The remote control wireless unit CPU 67 can send and receive data wirelessly with the second receiver wireless unit CPU 28, which is provided in the second receiver unit 22.

[0056] The remote control safety unit CPU 68, together with ROM, RAM, etc. (not shown in the diagram), constitutes a computer. This computer is used as a functional safety unit. Specifically, the remote control safety unit CPU 68 is electrically connected to the enable switch 65 and the emergency stop switch 66. Depending on the state of the enable switch 65 and the emergency stop switch 66, the remote control safety unit CPU 68 outputs a safety state release signal or a safety state request signal to the remote control wireless unit CPU 67.

[0057] A safe state means that the stacker crane 12 is stopped, and this is the state required in an emergency. Releasing the safe state means that the stacker crane 12 is permitted to operate.

[0058] If the enable switch 65 of the portable remote control 6 is pressed and the emergency stop switch 66 is not pressed, the remote control wireless unit CPU 67 outputs a safety state release signal. In response, the remote control wireless unit CPU 67 transmits the safety state release signal to the second receiver wireless unit CPU 28 of the second receiver unit 22.

[0059] If the enable switch 65 is not pressed, or if the emergency stop switch 66 is pressed, the portable remote control 6 outputs a safety status request signal to the remote control wireless unit CPU 67. In response, the remote control wireless unit CPU 67 transmits the safety status request signal to the second receiver wireless unit CPU 28 of the second receiver unit 22.

[0060] As described above, the control system 10 includes a safety signal system (wireless communication system) 20 that communicates signals to prevent the operation of the stacker crane 12 in an emergency, in addition to the operation instruction signal system (first receiver 21 and tablet 5) that communicates operation instruction signals to operate the stacker crane 12. This safety signal system 20 consists of a second receiver 22 and a portable remote control 6, as shown in Figure 4.

[0061] Focusing on the wireless communication path, when the stacker crane 12 is operated in manual operation mode, signals are exchanged between the crane controller 2 and the portable control unit 30 operated by the operator via two wireless communication paths. The first wireless communication path is established between the first receiver 21 and the tablet 5. The second wireless communication path is established between the second receiver 22 and the portable remote control 6.

[0062] In this way, the wireless communication paths for the operation instruction signals that control the operation of the stacker crane 12 and the signals that realize the safe state of the stacker crane 12 are separated. Therefore, in the event of an emergency, the safety state request signal can be transmitted to the second receiving unit 22 without delay, and the stacker crane 12 can be stopped immediately and reliably.

[0063] In this embodiment, in addition to the signal system for issuing operation instructions for the stacker crane 12, a safety signal system 20 is implemented via wireless communication. Therefore, there is no risk of signal cables getting caught on the machine, resulting in superior handling. Furthermore, the portable control unit 30 can be made lighter by eliminating the signal cables, reducing the burden on the operator.

[0064] Next, we will explain the operation when power is supplied to the connector 24 of the second receiving unit 22 from a state where power supply was stopped to a state where power supply is started.

[0065] As power is supplied to the connector 24 via the cable 91, power is supplied to the second receiver wireless unit CPU 28 via the voltage converter 43 and the linear regulator 44. This allows the second receiver wireless unit CPU 28 to start up.

[0066] Since no reset signal is input to connector 24, transistor 46 does not operate and FET 47 is closed. As a result, power from connector 24 is supplied to the second receiver safety unit CPU 29 via voltage converter 43 and FET 47, allowing the second receiver safety unit CPU 29 to start up.

[0067] Next, we will explain the operation when a reset signal is input while power is continuously supplied to the connector 24 of the second receiving unit 22.

[0068] The second receiver's wireless unit CPU 28 monitors the reset signal input to connector 24 via photocoupler 45. When it detects the input of a reset signal to connector 24, the second receiver's wireless unit CPU 28 performs a process to forcibly terminate the wireless communication program process. This stops the wireless communication program.

[0069] When a reset signal is input to connector 24, photocoupler 45 outputs an appropriate signal to transistor 46. Transistor 46, upon receiving this signal, opens FET 47. As a result, power is no longer supplied to the second receiver safety unit CPU 29, and the second receiver safety unit CPU 29 shuts down.

[0070] When the reset signal input to connector 24 is lost, the signal from photocoupler 45 is lost. At this time, the second receiver wireless unit CPU 28 starts a new process for the wireless communication program. This allows the wireless communication program to be started again. Simultaneously, transistor 46, which has detected the absence of a signal from photocoupler 45, closes FET 47, supplying power to the second receiver safety unit CPU 29. As a result, the second receiver safety unit CPU 29 starts up. This allows the functional safety program to be started.

[0071] Here, we will explain the architectural differences between programs related to wireless communication and programs related to functional safety.

[0072] The computer, which includes the second receiver unit wireless unit CPU 28, has an appropriate OS installed. OS is an abbreviation for operating system. The aforementioned wireless communication processing is implemented by the wireless communication program installed in the OS. In addition to the wireless communication program, the OS also has a reset signal monitoring program installed. The wireless communication program and the reset signal monitoring program are configured to start automatically as soon as the OS starts up.

[0073] The reset signal monitoring program constantly monitors the signal from the photocoupler 45 (effectively the reset signal input to the connector 24), and when it detects a signal from the photocoupler 45, it forcibly terminates the execution process of the wireless communication program. When the reset signal monitoring program no longer detects a signal from the photocoupler 45, it regenerates the execution process of the wireless communication program. This allows for a de facto restart of the wireless communication process without an OS restart process (i.e., a so-called software reset). Therefore, the time required for the restart process can be reduced.

[0074] Computers built with the Second Receiver Safety Unit CPU 29 do not have an operating system installed. Functional safety processing is performed by a functional safety program directly installed on the computer. The functional safety program is configured to start automatically immediately after the computer boots up. The Second Receiver Safety Unit CPU 29 can restart functional safety processing by interrupting and then restoring power. Since OS restart is not inherently necessary in computers with the Second Receiver Safety Unit CPU 29, the time required to complete the restart, even if the power is turned OFF / ON, is generally shorter than the time required to complete a CPU restart that involves an OS restart.

[0075] In this embodiment, if a specific abnormality is detected in the second receiving unit 22 (for example, if a communication abnormality occurs between the second receiving unit 22 and the portable remote control 6), the system transitions to an abnormality detection state. In this abnormality detection state, the second receiving unit 22 outputs a safety state request signal to the crane controller 2. These processes are included in the functional safety processing performed by the second receiving unit safety unit CPU 29.

[0076] To clear the above abnormal detection state, it is necessary to input a reset signal to connector 24 and restart the second receiver unit 22. However, if restarting the second receiver unit 22 takes time, the operator will have to wait for a long time, reducing work efficiency. In particular, a quick response is required when an abnormality occurs, so there was a demand for a reduction in restart time. In this embodiment, the processing program of the second receiver unit wireless unit CPU 28 can be substantially restarted without turning the power OFF / ON. Therefore, the operator does not need to wait for the OS to restart, etc., and can perform maintenance work quickly.

[0077] In this embodiment, when a reset signal is input to the connector 24, the restart of the wireless communication program in the second receiver wireless unit CPU 28 and the restart of the functional safety program in the second receiver safety unit CPU 29 are initiated at approximately the same time. Generally, the restart of the program on the second receiver safety unit CPU 29 side takes longer than the restart of the program on the second receiver wireless unit CPU 28 side.

[0078] The wireless communication processing in the second receiver wireless unit CPU 28 and the functional safety processing in the second receiver safety unit CPU 29 both include processing that communicates between the second receiver wireless unit CPU 28 and the second receiver safety unit CPU 29 via the data communication line 48. If the program startup of the second receiver wireless unit CPU 28 is completed and wireless communication processing begins before the program startup of the second receiver safety unit CPU 29 is completed, communication with the second receiver safety unit CPU 29 will not be possible, which will cause the program to terminate abnormally due to a communication error.

[0079] To prevent this, the wireless communication processing program of the second receiver wireless unit CPU 28 is configured to send an activation inquiry signal to the second receiver safety unit CPU 29 via the data communication line 48 before starting any actual processing. Unless the second receiver safety unit CPU 29 responds to this activation inquiry signal, the second receiver wireless unit CPU 28 will not start processing related to wireless communication and will repeatedly send the activation inquiry signal to the second receiver safety unit CPU 29 at predetermined intervals.

[0080] The functional safety program executed in the second receiver safety unit CPU 29 is configured to send a response signal to the second receiver wireless unit CPU 28 when it receives an activation inquiry signal from the second receiver wireless unit CPU 28 via the data communication line 48. Therefore, as soon as the functional safety program is activated in the second receiver safety unit CPU 29, the second receiver safety unit CPU 29 becomes able to respond to the activation inquiry signal from the second receiver wireless unit CPU 28.

[0081] After confirming that the startup of the second receiver's safety unit CPU 29 has been completed based on the above response, the second receiver's wireless unit CPU 28 effectively begins wireless communication processing. This prevents the second receiver's wireless unit CPU 28 from encountering communication errors with the second receiver's safety unit CPU 29.

[0082] Next, with reference to Figures 9 and 10, the specific processing of the second receiver wireless unit CPU 28 and the second receiver safety unit CPU 29 will be explained.

[0083] As shown in the flowchart in Figure 9, once the program startup of the second receiver wireless unit CPU 28 is complete, the second receiver wireless unit CPU 28 first sends a startup inquiry signal to the second receiver safety unit CPU 29 (step S101).

[0084] The second receiver wireless unit CPU 28 determines whether or not it has received a response to the startup query from the second receiver safety unit CPU 29 within a predetermined time from transmission (step S102). If no response is received, the process returns to step S101.

[0085] If, based on the judgment in step S102, a response to the startup inquiry is received from the second receiving unit safety unit CPU 29, processing related to wireless communication is started (step S103).

[0086] As shown in the flowchart of Figure 10, once the program startup of the second receiver safety unit CPU 29 is complete, the second receiver safety unit CPU 29 executes processing related to functional safety (step S201).

[0087] Next, the second receiver safety unit CPU 29 determines whether or not it has received a startup query from the second receiver wireless unit CPU 28 (step S202). If it has received a startup query, the second receiver safety unit CPU 29 sends a reply to the second receiver wireless unit CPU 28 (step S203). After that, the process returns to step S201, and the above process is repeated.

[0088] As described above, the second receiver unit 22 of this embodiment includes a second receiver unit wireless CPU 28, a second receiver unit safety CPU 29, and a connector 24. The second receiver unit wireless CPU 28 performs processing related to wireless communication. The second receiver unit safety CPU 29 performs processing related to functional safety, which is different from the processing related to wireless communication. The connector 24 receives a restart instruction for the second receiver unit 22. When power is supplied to the second receiver unit 22, the second receiver unit wireless CPU 28 starts operating due to the supplied power, and the program for processing related to wireless communication is automatically started. The second receiver unit safety CPU 29 starts operating due to the supplied power, and the program for processing related to functional safety is automatically started. When the connector 24 receives a restart instruction, the program for processing related to wireless communication is terminated by the second receiver unit wireless CPU 28 while the power supply is maintained, and then restarted. The program for processing related to functional safety is restarted by temporarily stopping the power supply to the second receiver unit safety CPU 29 and then starting it.

[0089] This allows for a quick restart when a restart command is accepted, without complicating the startup process when the power is turned on.

[0090] Furthermore, the second receiving unit 22 in this embodiment is a terminal device that communicates wirelessly with the portable operating unit 30 and transmits a signal to the stacker crane 12 based on the result.

[0091] This allows the second receiver unit 22, which communicates wirelessly with the portable operating unit 30, to perform a quick restart when a restart operation is accepted, without complicating the startup process when the power is turned on.

[0092] Furthermore, in the second receiving unit 22 of this embodiment, the processing performed by the second receiving unit wireless unit CPU 28 is wireless communication with the portable operation unit 30. The processing performed by the second receiving unit safety unit CPU 29 is to transmit a safety state request signal to the stacker crane 12 to put the stacker crane 12 into a safe state, in accordance with the result of the wireless communication.

[0093] In this configuration, safety considerations are required for the processing performed by the CPU 29 of the second receiver safety unit. In this embodiment, the reliability of the restart process can be improved by turning the power supply OFF / ON when restarting the program of the processing performed by the CPU 29 of the second receiver safety unit. While safety considerations are not as important for the processing performed by the CPU 28 of the second receiver wireless unit, restarting it, which involves turning the power supply OFF / ON, takes a relatively long time. Therefore, when restarting the program of the processing performed by the CPU 28 of the second receiver wireless unit, a quick restart can be achieved by maintaining the power supply to the CPU 28 of the second receiver wireless unit.

[0094] Furthermore, in the second receiving unit 22 of this embodiment, the second receiving unit wireless CPU 28 and the second receiving unit safety CPU 29 are connected by a data communication line 48 that enables them to send and receive information to each other. After the program for processing wireless communication restarts because the connector 24 has received a restart instruction, the second receiving unit wireless CPU 28 periodically transmits a signal to the second receiving unit safety CPU 29 via the data communication line 48. After the program for processing wireless communication restarts because the connector 24 has received a restart instruction, the second receiving unit safety CPU 29 transmits a signal to the second receiving unit wireless CPU 28 in response to the signal from the second receiving unit wireless CPU 28.

[0095] As a result, even if the restart of the second receiver's wireless unit CPU 28 is completed before the restart of the second receiver's safety unit CPU 29 is completed, the second receiver's wireless unit CPU 28 can wait for the second receiver's safety unit CPU 29 to complete its restart. Therefore, the second receiver's wireless unit CPU 28 and the second receiver's safety unit CPU 29 can work together smoothly to perform processing.

[0096] In the second receiving unit 22 of this embodiment, the program for processing wireless communication is installed in the OS. When the connector 24 receives a restart instruction, the program for processing wireless communication is restarted without restarting the OS.

[0097] This significantly reduces the time required to restart the program for processing wireless communications.

[0098] Preferred embodiments of the present invention have been described above, but the above configuration can be modified as follows, for example. Modifications may be made individually, or multiple modifications may be made in any combination.

[0099] An operating system may be installed on the computer configured with the second receiving unit safety unit CPU 29. In this case, the configuration can be changed to install a program related to functional safety on the OS.

[0100] In the second receiver wireless unit CPU 28, a program for processing different from wireless communication with the portable operating unit 30 may be executed. In the second receiver safety unit CPU 29, a program for processing different from functional safety may be executed. The second receiver safety unit CPU 29 may be used to output signals to industrial machinery other than the stacker crane 12.

[0101] If a reset signal is input to connector 24, the CPU 28 of the second receiver wireless unit may restart the OS. The OS restart is performed while power is maintained to the CPU 28 of the second receiver wireless unit. The program for processing wireless communication is naturally restarted along with the OS restart.

[0102] Instead of inputting a reset signal via connector 24, the configuration can be changed to one in which a reset switch is provided in the second receiving unit 22, and the operation of the reset switch is accepted as a restart instruction.

[0103] The second receiving unit 22 may be supplied with power from a device other than the stacker crane 12. The second receiving unit 22 itself may be equipped with a power source such as a battery. [Explanation of symbols]

[0104] 6. Portable remote control (wireless transmitter) 12. Stacker Crane (Industrial Machinery) 22 Second receiving unit (terminal device) 24 Connector (reception section) 28. Second receiving unit wireless unit CPU (first CPU) 29. Second Receiver Safety Unit CPU (Second CPU) 48. Data communication lines (communication lines)

Claims

1. A first CPU that executes the first process, A second CPU that performs a second process different from the first process, A reception desk that accepts restart requests, Equipped with, When power is turned on, the first CPU starts operating due to the supplied power, thereby automatically starting the program for the first process, and the second CPU starts operating due to the supplied power, thereby automatically starting the program for the second process. A terminal device characterized in that, when the reception unit receives a restart instruction, the program for the first process is restarted after being terminated by the first CPU while the power supply is maintained, and the program for the second process is restarted by starting after temporarily stopping the power supply to the second CPU.

2. A terminal device according to claim 1, A terminal device characterized by performing wireless communication with a wireless transmitter and transmitting a signal to industrial machinery based on the results.

3. A terminal device according to claim 2, The first process is wireless communication with the wireless transmitting device, The terminal device is characterized in that the second process is a process of transmitting a safety state request signal to the industrial machine in order to put the industrial machine into a safe state, in accordance with the result of the wireless communication.

4. A terminal device according to any one of claims 1 to 3, The first CPU and the second CPU are connected by a communication line that allows them to send and receive information from each other. After the program for the first process restarts because the reception unit has received a restart instruction, the first CPU periodically transmits a signal to the second CPU via the communication line. A terminal device characterized in that, after the program for the second process is restarted because the reception unit has received a restart instruction, the second CPU transmits a signal to the first CPU in response to a signal from the first CPU.

5. A terminal device according to claim 1, The program for the first process is installed on the operating system. A terminal device characterized in that, when the reception unit receives a restart instruction, the program of the first process is restarted without restarting the operating system.

6. A first CPU that executes the first process, A second CPU that performs a second process different from the first process, A reception desk that accepts restart requests, Equipped with, A method for restarting a terminal device, wherein when power is turned on, the first CPU starts operating due to the supplied power, thereby automatically starting the program for the first process, and the second CPU starts operating due to the supplied power, thereby automatically starting the program for the second process, The first step involves receiving a restart instruction from the aforementioned reception unit, When the receiving unit receives the restart instruction, the second step involves restarting the program for the second process by restarting the first CPU, which is powered on, after it has finished, and then temporarily stopping and restarting the power supply to the second CPU, A method for restarting a terminal device, characterized by including the following:

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