Information transfer device and information transfer method

Abstract

The objective of the present invention is to provide a technology that can ensure real-time control for control equipment. This information transfer device comprises a real-time data processing unit and a non-real-time data processing unit. The real-time data processing unit includes a control data generation unit, a first data collection unit, a first OS-to-OS communication unit, and a first data management unit that manages data to and from a real-time data storage unit. The non-real-time data processing unit includes a second data collection unit, a second OS-to-OS communication unit, and a second data management unit that manages data to and from a non-real-time data storage unit.

Description

Information transfer device and information transfer method

[0001] The present disclosure relates to an information transfer device and an information transfer method.

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

[0003] Japanese Patent Application Laid-Open No. 2022-101969

[0004] In control devices used in production sites and running multiple operating systems (OS), it is desirable to store data in storage and output it externally in order to utilize data related to motion control devices, sequencer control devices, etc. However, if storage and output are performed in the same way across multiple OSs, there is a problem in that real-time control of external control devices cannot be ensured.

[0005] Therefore, the present disclosure has been made in consideration of the above-mentioned problems, and aims to provide a technology that can ensure real-time control of control devices.

[0006] The information transfer device according to the present disclosure includes a real-time data processing unit that performs processing on a real-time OS, a real-time data storage unit handled by the real-time data processing unit, a non-real-time data processing unit that performs processing on a non-real-time OS, and a non-real-time data storage unit handled by the non-real-time data processing unit, wherein 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 command values ​​for controlling the control device and sends the command values ​​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 The system includes a first data management unit that manages the command value, the feedback value, and the data received by the first inter-OS communication unit from the non-real-time data processing unit between the first data collection unit, the first inter-OS communication unit, and the real-time data storage unit, and 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 between the second data collection unit, the second inter-OS communication unit, and the non-real-time data storage unit.

[0007] According to the present disclosure, since the real-time data processing unit and the non-real-time data processing unit can transfer data to each other, real-timeness can be ensured in the control of the control device by the real-time data processing unit.

[0008] The objects, features, aspects and advantages of the present disclosure will become more apparent from the following detailed description and the accompanying drawings.

[0009] FIG. 1 is a block diagram showing a system configuration of an information transfer device according to a first embodiment. FIG. 2 is a block diagram showing a functional configuration of an information transfer device according to a first embodiment. FIG. 3 is a diagram showing a sequence of an information transfer device according to a first embodiment. FIG. 4 is a diagram showing a sequence of an information transfer device according to a first embodiment. FIG. 5 is a diagram showing a sequence of an information transfer device according to a first embodiment. FIG. 6 is a flowchart showing the operation of an information transfer device according to a second embodiment. FIG. 7 is a diagram showing a sequence of an information transfer device according to the second embodiment. FIG. 8 is a block diagram showing a functional configuration of an information transfer device according to a third embodiment. FIG. 9 is a diagram showing selection conditions according to the third embodiment. FIG. 10 is a diagram for explaining the operation of an information transfer device according to the third embodiment. FIG. 11 is a diagram showing a sequence of an information transfer device according to a fourth embodiment.

[0010] 1 is a block diagram showing the system configuration of an information transfer device 100 according to the first embodiment. In the following description, it is assumed that data and information are essentially the same thing.

[0011] The information transfer device 100 is, for example, an industrial computer that collects data from factory automation (FA) devices used at production sites and performs processing such as feedback. The information transfer device 100 includes hardware 140 and a hypervisor 130.

[0012] The hypervisor 130 runs on the hardware 140. A real-time OS 111 and a non-real-time OS 121, which are guest OSs, run on the hypervisor 130. A plurality of files, such as application programs and user data, exist on each of the real-time OS 111 and the non-real-time OS 121.

[0013] The real-time data processing unit 110 performs real-time data processing on a real-time OS 111, and the non-real-time data processing unit 120 performs non-real-time data processing on a non-real-time OS 121. The real-time data processing only needs to be superior in real-time performance with respect to data processing to the non-real-time data processing.

[0014] The hypervisor 130 is a software program for realizing an operating environment for multiple OSs including the real-time OS 111 and the non-real-time OS 121. The hypervisor 130 allocates resources of the hardware 140, such as the processing power of a central processing unit (CPU), random access memory (RAM), read-only memory (ROM), and hard disk storage area, to the real-time data processing unit 110 and the non-real-time data processing unit 120, which are virtual machines.

[0015] The storage area handled by the real-time data processing unit 110 is used as a real-time data storage unit, and the storage area handled by the non-real-time data processing unit 120 is used as a non-real-time data storage unit. The real-time data processing unit 110 and the non-real-time data processing unit 120 are virtualized computers that operate on the hypervisor 130. Therefore, each of the real-time data processing unit 110 and the non-real-time data processing unit 120 can behave like the hardware of a single computer.

[0016] 2 is a block diagram showing the functional configuration of the information transfer device 100 according to Embodiment 1. As described above, the information transfer device 100 includes the real-time data processing unit 110, the non-real-time data processing unit 120, the real-time data storage unit 141, and the non-real-time data storage unit 142.

[0017] <Real-time Data Processing Unit> 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 .

[0018] The device control unit 116 has an interface for communicating with a control device 200 connected to the outside of the information transfer device 100. The device control unit 116 converts command values ​​sent from the control data generation unit 115 into control command values ​​that can be input to the control device 200, and controls the control device 200 by outputting the control command values ​​to the control device 200. Examples of the control device 200 include motion control devices and sequencer control devices provided on robot arms, belt conveyors, etc.

[0019] The control data generation unit 115 receives a feedback value 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. The control data generation unit 115 generates a command value for controlling the control device 200 based on at least one of the feedback value and the processed data, and sends the command value to the device control unit 116. In this specification, for example, "at least one of A, B, C, ..., and Z" means any one of all combinations of one or more items selected from the group of A, B, C, ..., and Z.

[0020] Furthermore, the control data generation unit 115 sends a command value to the first data management unit 113 as necessary. The control command value needs to be sent to the externally connected control device 200 at a specific cycle that ensures real-time performance, and therefore the command value for generating the control command value needs to be generated by the real-time data processing unit 110.

[0021] 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.

[0022] 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.

[0023] 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 command values, feedback values, and data received by the first inter-OS communication unit 112 from the non-real-time data processing unit 120 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. An example of management by the first data management unit 113 will be described later.

[0024] <Non-Real-Time Data Processing Unit> 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 inter-OS communication unit 122 .

[0025] The second data collection unit 124 has an interface for communicating with an input device 300 connected to the outside of the information transfer 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.

[0026] The data processing unit 125 receives input information from the second data collection unit 124 via the second data management unit 123, generates processed data by performing processing such as calculations based on the input information, and sends the processed data to the second data management unit 123. For example, if the input information is camera image data, the data processing unit 125 generates processed data including at least one of the results of detecting an object in the image, the results of detecting foreign matter or the like present in the image, and the results of predicting deterioration of the object. Note that although the control device 200 and the input device 300 are shown in FIG. 2 as being provided separately, the control device 200 and the input device 300 may be the same device.

[0027] The second inter-OS communication unit 122 has an inter-OS interface for communicating with the real-time data processing unit 110, and exchanges data with the real-time data processing unit 110. For example, through this communication, the second inter-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.

[0028] 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 processed data, input information, and data received by the second inter-OS communication unit 122 from the real-time data processing unit 110 among the data processing unit 125, the second data collection unit 124, the second inter-OS communication unit 122, and the non-real-time data storage unit 142. An example of management by the second data management unit 123 will be described later.

[0029] <Sequence> FIG. 3 shows a sequence at the start of information transfer in the information transfer device 100 according to the first embodiment.

[0030] In step S1, the control data generation unit 115 of the real-time data processing unit 110 sends a request to start information transfer between the real-time data processing unit 110 and the non-real-time data processing unit 120 as a data load request to the first data management unit 113. The data load request may include the type of information to be transferred.

[0031] In steps S2 to S4, the first data management unit 113 sends a data load 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 ease of explanation, in the following description, when data is sent between the first data management unit 113 and the second data management unit 123, the first inter-OS communication unit 112 and the second inter-OS communication unit 122 may be omitted.

[0032] When the second data management unit 123 receives a data load request, i.e., a request to start information transfer, it determines whether the information transfer is possible. If the second data management unit 123 determines that the information transfer is possible, in steps S5 to S7, it sends a load 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 step S8, the first data management unit 113 sends the load start notification to the control data generation unit 115. Thereafter, the second data management unit 123 periodically accesses the data and sends the data to the first data management unit 113, for example, as shown in FIG. 5, which will be described later.

[0033] 4 shows another sequence at the start of information transfer in the information transfer device 100 according to the first embodiment. The source of the data load request is the control data generation unit 115 in FIG. 3, but is the data processing unit 125 in FIG.

[0034] In step S11, the data processing unit 125 of the non-real-time data processing unit 120 sends a data load request to the second data management unit 123. When the second data management unit 123 receives the data load request, in steps S12 to S15, processing similar to steps S5 to S8 in Fig. 3 is performed. As shown in Figs. 3 and 4, the trigger for starting information transfer may be the real-time data processing unit 110 or the non-real-time data processing unit 120.

[0035] 5 shows a sequence, i.e., a data load sequence, for the non-real-time data processing unit 120 to transfer processed data to the real-time data processing unit 110 in the information transfer device 100 according to the first embodiment. Note that it is assumed that the processed data has already been stored in the non-real-time data storage unit 142 before the sequence of FIG. 5 is performed.

[0036] In step S21, second data management unit 123 sends a data access request to non-real-time data storage unit 142. In step S22, when processed data is sent from non-real-time data storage unit 142, second data management unit 123 sends the processed data to first data management unit 113 via second inter-OS communication unit 122 and first inter-OS communication unit 112 in steps S23 to S25. In step S26, first data management unit 113 stores the received processed data in real-time data storage unit 141.

[0037] By periodically performing the series of processes in steps S21 to S26, the processed 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. Note that although the example in Fig. 5 shows the periodic transfer of processed data from the non-real-time data processing unit 120 to the real-time data processing unit 110, the transfer may also be performed every time processed data is generated.

[0038] FIG. 6 shows a sequence for the control data generating unit 115 to acquire processed data from the real-time data storage unit 141, that is, a data reading sequence, in the information transferring device 100 according to the first embodiment.

[0039] 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. In step S33, the first data management unit 113 receives processed data from the real-time data storage unit 141, and in step S34, the first data management unit 113 returns the processed data to the control data generation unit 115. By periodically sending a data read request, the control data generation unit 115 can periodically obtain the necessary processed data. Note that the control data generation unit 115 may send a data read request as needed, rather than periodically sending a data read request.

[0040] 5 and 6, the processed data stored in the non-real-time data storage unit 142 is stored in the real-time data storage unit 141 and then acquired by the control data generation unit 115. However, this is not limiting. For example, the processed data generated by the data processing unit 125 may be stored in the real-time data storage unit 141 and then acquired by the control data generation unit 115.

[0041] Summary of First Embodiment The information transfer device 100 according to the first embodiment as described above includes a real-time data processing unit 110 and a non-real-time data processing unit 120 that are capable of transferring data to each other. With this configuration, the real-time data processing unit 110 can perform real-time data processing that requires real-time performance, while acquiring data for non-real-time data processing that does not require real-time performance from the non-real-time data processing unit 120. This ensures real-time performance in the control of the control device 200 by the real-time data processing unit.

[0042] Furthermore, in the first embodiment, the second data management unit 123 stores the processed data in the real-time data storage unit 141 via the first data management unit 113, and the control data generation unit 115 acquires the processed data from the real-time data storage unit 141 via the first data management unit 113. With this configuration, the control data generation unit 115 can acquire the processed data from within the real-time data processing unit 110 without accessing the non-real-time data storage unit 142 or transferring the processed data between OSs. This improves the real-time performance of the control data generation unit 115 in acquiring the processed data, thereby improving the real-time performance of the real-time data processing unit 110.

[0043] <Second Embodiment> The system configuration of the information transfer device 100 according to the second embodiment is the same as the system configuration of the information transfer device 100 according to the first embodiment shown in Fig. 1, and the functional configuration of the information transfer device 100 according to the second embodiment is the same as the functional configuration of the information transfer device 100 according to the first embodiment shown in Fig. 2. Hereinafter, among the components according to the second embodiment, components that are the same as or similar to the components described above will be assigned the same or similar reference numerals, and different components will be mainly described.

[0044] The real-time data storage unit 141 and the non-real-time data storage unit 142 are capable of storing processed data in the same manner as in embodiment 1. When no processed data is stored in the real-time data storage unit 141, the first data management unit 113, which has received a request for processed data from the control data generation unit 115, is configured to obtain the processed data from the non-real-time data storage unit 142 via the second data management unit 123.

[0045] FIG. 7 is a flowchart showing the operation of the information transfer device 100 according to the second embodiment.

[0046] 6, the control data generation unit 115 sends a data read request to the first data management unit 113 for the processing data to be used in creating the command value. In step S42, the first data management unit 113 checks whether the processing data to be used is 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, and if it is not confirmed that the processing data is stored, the process proceeds to step S44.

[0047] If the process proceeds to step S43, the sequence for when the processed data is stored in the real-time data storage unit is executed. Specifically, the first data management unit 113 reads the processed data from the real-time data storage unit 141 and sends the processed data to the control data generation unit 115. Then, the operation of FIG. 7 ends.

[0048] If the process proceeds to step S44, the process of the sequence when the processed data is not stored in the real-time data storage unit is executed. Specifically, the first data management unit 113 sends a data acquisition request to the second data management unit 123 to acquire 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.

[0049] 8 and 9 show a sequence in which the control data generating unit 115 acquires processed data from the non-real-time data storage unit 142 in the information transfer device 100 according to the second embodiment. The sequence in Fig. 8 corresponds to the processing of steps S41, S42, and S43 in Fig. 7.

[0050] In step S51, the control data generation unit 115 sends a data read request to the first data management unit 113. In step S52, the first data management unit 113, which has received the data read request, causes the real-time data storage unit 141 to check whether the requested processed data is 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 indicating that the processed data is stored.

[0051] In step S54, the first data management unit 113 sends a data access request to the real-time data storage unit 141. In step S55, when the first data management unit 113 receives processed data from the real-time data storage unit 141, the first data management unit 113 sends the processed data to the control data generation unit 115 in step S56.

[0052] The sequence in FIG. 9 corresponds to the processes in steps S41, S42, S44, and S45 in FIG.

[0053] In step S61, the control data generation unit 115 sends a data read request to the first data management unit 113. In step S62, the first data management unit 113, which has received the data read request, causes the real-time data storage unit 141 to check whether the requested processed data is 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 no processed data is stored.

[0054] In steps S64 to S66, first data management unit 113 sends a data acquisition request for the requested processed data to second data management unit 123 via first inter-OS communication unit 112 and second inter-OS communication unit 122. In step S67, second data management unit 123 causes non-real-time data storage unit 142 to confirm whether the requested processed data is stored in non-real-time data storage unit 142. In step S68, second data management unit 123 receives a response from non-real-time data storage unit 142 indicating that the processed data is stored.

[0055] In step S69, second data management unit 123 sends a data access request to non-real-time data storage unit 142. In step S70, when processed data is sent from non-real-time data storage unit 142, second data management unit 123 sends the processed data to first data management unit 113 via second inter-OS communication unit 122 and first inter-OS communication unit 112 in steps S71 to S73. In step S74, first data management unit 113 sends the received processed data to control data generation unit 115.

[0056] Summary of Second Embodiment According to the information transfer device 100 of the second embodiment described above, when processed data is not stored in the real-time data storage unit 141, the first data management unit 113, which is requested by the control data generation unit 115 for processed data, acquires the processed data from the non-real-time data storage unit 142 via the second data management unit 123. With this configuration, the control data generation unit 115 can acquire the processed data by accessing the non-real-time data storage unit 142 and transferring the processed data between OSs only as necessary. As a result, when the corresponding processed data is not present in the real-time data storage unit 141, the control data generation unit 115 can acquire the processed data from the real-time data storage unit 142.

[0057] <Third Embodiment> The system configuration of the information transfer device 100 according to the third embodiment is the same as the system configuration of the information transfer device 100 according to the first embodiment shown in Fig. 1. Fig. 10 is a block diagram showing the functional configuration of the information transfer device 100 according to the third embodiment. Below, among the components according to the third embodiment, components that are the same as or similar to the components described above are given the same or similar reference numerals, and different components will be mainly described.

[0058] The configuration of Figure 10 is similar to the configuration of Figure 2, with the addition of a selection condition storage unit 143, a first time providing unit 117 of the real-time data processing unit 110, and a second time providing unit 126 of the non-real-time data processing unit 120.

[0059] 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 to be added as a timestamp to the data to be selected stored in the real-time data storage unit 141. In the third embodiment, the data to be selected are the command value generated by the control data generating unit 115, the feedback value acquired by the first data collecting unit 114, the processed data generated by the data processing unit 125, and the input information acquired by the second data collecting unit 124. However, the data to be selected may be at least one of these, or may be information other than these.

[0060] The first time providing unit 117 sends time information to the control data generating unit 115 and the first data collecting unit 114. The control data generating unit 115 assigns time information to the command value and stores it in the real-time data storage unit 141 via the first data managing unit 113. The first data collecting unit 114 assigns time information to the feedback value and stores it in the real-time data storage unit 141 via the first data managing unit 113.

[0061] The second time providing unit 126 sends time information to the data processing unit 125 and the second data collecting unit 124. The data processing unit 125 adds 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 collecting unit 124 adds 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.

[0062] The selection condition storage unit 143 stores selection conditions. Fig. 11 shows selection condition candidates that can be used as selection conditions and the currently used selection conditions. The selection conditions are conditions related to time information for selecting and acquiring selection target data to which time information is assigned from the real-time data storage unit 141. Note that the selection conditions and the number of selection condition candidates that can be used as selection conditions are not limited to the conditions and numbers shown in Fig. 11.

[0063] The first data management unit 113 has an interface for communicating with the selection condition storage unit 143. When the control data generation unit 115 requests data to be selected, the first data management unit 113 selects and acquires the data to be selected from the real-time data storage unit 141 based on the selection conditions.

[0064] Fig. 12 is a diagram for explaining the selection of selection target data by the first data management unit 113. Below, an example in which the selection target data is processed data will be explained using Fig. 12, but the same applies to the case in which the selection target data is a command value, a feedback value, or input information.

[0065] 12, time increases to the right on the horizontal axis, and the period in which the first data management unit 113 and therefore the control data generation unit 115 acquire data is t. [1] indicates the time of the time information added to the processed data and the order of addition.

[0066] [2] indicates the processed data selected using the condition No. 1 of the selection condition candidates in Figure 11 and the time of its time information. Under this selection condition, of the processed data between time N (N = 0, 1, 2, ...) x t and time (N + 1) x t, the processed data closest to time (N + 1) x t is selected. The first data management unit 113 acquires the processed data to be selected at time (N + 1) x t. The open square accompanying the processed data in [2] indicates the difference, i.e., jitter, between the time of the time information assigned to the processed data to be selected and the time when the first data management unit 113 acquires the processed data to be selected under the selection condition in [2].

[0067] [3] indicates the processed data selected using the selection condition candidate No. 2 in Figure 11 and the time of its time information. Under this selection condition, among the processed data between time N (N = 0, 1, 2, ...) x t and time (N + 1) x t, the processed data closest to time N x t + g, which is shifted from time N x t by an arbitrary time g, is selected. The first data management unit 113 acquires the processed data to be selected at time (N + 1) x t. The hatched square accompanying the processed data in [3] indicates the difference, i.e., jitter, between the time of the time information assigned to the processed data to be selected and the time when the first data management unit 113 acquires the processed data to be selected under the selection condition in [3]. While jitter in [3] may be negative, the absolute value of jitter can be reduced to less than half of that in [2].

[0068] <Summary of Third Embodiment> According to the information transfer device 100 of the third embodiment described above, when selection target data is requested from the control data generation unit 115, the first data management unit 113 selects and acquires the selection target data from the real-time data storage unit 141 based on the selection conditions. With this configuration, the control data generation unit 115 can use the selection target data selected based on the desired selection conditions.

[0069] <Fourth Embodiment> The system configuration of the information transfer device 100 according to the fourth embodiment is the same as the system configuration of the information transfer device 100 according to the first embodiment shown in Fig. 1, and the functional configuration of the information transfer device 100 according to the fourth embodiment is the same as the functional configuration of the information transfer device 100 according to the first embodiment shown in Fig. 2. Hereinafter, among the components according to the fourth embodiment, components that are the same as or similar to the components described above will be assigned the same or similar reference numerals, and different components will be mainly described.

[0070] In this embodiment 4, the first data management unit 113 stores at least one of the command 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.

[0071] FIG. 13 shows a sequence in which the control data generating unit 115 stores command values ​​in the non-real-time data storage unit 142 in the information transfer device 100 according to the fourth embodiment.

[0072] In step S81, control data generation unit 115 sends a command value to first data management unit 113. In steps S82 to S84, first data management unit 113 sends the command value to second data management unit 123 via first inter-OS communication unit 112 and second inter-OS communication unit 122. In step S85, second data management unit 123 stores the command value in non-real-time data storage unit 142.

[0073] <Summary of Fourth Embodiment> According to the information transfer device 100 of the fourth embodiment described above, the first data management unit 113 stores at least one of a command value and a feedback value in the non-real-time data storage unit 142 via the second data management unit 123. With this configuration, the non-real-time data processing unit 120 can take charge of 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.

[0074] <Modifications> The configurations of the first to fourth embodiments may be combined as appropriate. Furthermore, the information transfer method performed by the information transfer device 100 may include (i) a step in which the non-real-time data processing unit 120 transfers at least one of a command value and a feedback value to the real-time data processing unit 110, and (ii) a step in which the real-time data processing unit 110 transfers input information to the non-real-time data processing unit 120. Furthermore, in the above description, the processing on the input information and the processing on the processed data may be interchanged, or these processes may be combined.

[0075] It should be noted that the embodiments and modifications may be freely combined, and the embodiments and modifications may be modified or omitted as appropriate.

[0076] The above description is illustrative in all respects and is not restrictive. It is understood that countless variations not illustrated can be envisioned.

[0077] 100 Information transfer device, 110 Real-time data processing unit, 111 Real-time OS, 112 First inter-OS communication unit, 113 First data management unit, 114 First data collection unit, 115 Control data generation unit, 116 Device control unit, 117 First time providing unit, 120 Non-real-time data processing unit, 121 Non-real-time OS, 122 Second inter-OS communication unit, 123 Second data management unit, 124 Second data collection unit, 125 Data processing unit, 126 Second time providing 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. A system comprising: a real-time data processing unit which performs processing on a real-time OS; a real-time data storage unit handled by the real-time data processing unit; a non-real-time data processing unit which performs processing on a non-real-time OS; and a non-real-time data storage unit handled by the non-real-time data processing unit, wherein the real-time data processing unit comprises: a device control unit which controls an externally connected control device; a control data generation unit which generates command values ​​for controlling the control device and sends the command values ​​to the device control unit; a first data collection unit which receives feedback values ​​from the control device; a first inter-OS communication unit which communicates with the non-real-time data processing unit; and a first data management unit which manages the command values, the feedback values, 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, wherein the non-real-time data processing unit comprises: a second data collection unit which receives input information from an externally connected input device; and a second inter-OS communication unit which communicates with the real-time data processing unit. an information transfer device comprising: 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 between the second data collection unit, the second inter-OS communication unit, and the non-real-time data storage unit.

2. An information transfer device as described in 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, and the control data generation unit acquires the processed data from the real-time data storage unit via the first data management unit.

3. An information transfer device as described in claim 1, wherein the non-real-time data processing unit further includes a data processing unit which 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, and when the processed data is not stored in the real-time data storage unit, the first data management unit, which is requested by the control data generation unit for the processed data, obtains the processed data from the non-real-time data storage unit via the second data management unit.

4. An information transfer device as described in claim 1, further comprising: a time providing unit that provides time information to be assigned to selection target data stored in the real-time data storage unit; and a selection condition storage unit that stores conditions related to the time information as selection conditions for selecting and acquiring the selection target data to which the time information has been assigned from the real-time data storage unit, wherein when the selection target data is requested by the control data generation unit, the first data management unit selects and acquires the selection target data from the real-time data storage unit based on the selection conditions.

5. An information transfer device as described in any one of claims 1 to 4, wherein the first data management unit stores at least one of the command 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 transfer method performed by an information transfer device, the information transfer device comprising: a real-time data processing unit that performs processing on a real-time OS; a real-time data storage unit handled by the real-time data processing unit; a non-real-time data processing unit that performs processing on a non-real-time OS; and a non-real-time data storage unit handled by the non-real-time data processing unit, the real-time data processing unit comprising: a device control unit that controls an externally connected control device; a control data generation unit that generates command values ​​for controlling the control device and sends the command values ​​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 that manages the command values, the feedback values, and data received from the non-real-time data processing unit by the first inter-OS communication 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 comprising: a second data collection unit that receives input information from an externally connected input device; and 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 between the second data collection unit, the second inter-OS communication unit, and the non-real-time data storage unit, wherein the non-real-time data processing unit transfers at least one of the command value and the feedback value to the real-time data processing unit, and the real-time data processing unit transfers the input information to the non-real-time data processing unit.

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