System for synchronizing operation cycle of duplexed device and method therefor

Abstract

A system for synchronizing an operation cycle of a duplicated device according to an embodiment of the present invention comprises: a signal line connecting a first device and a second device which are duplicated to each other; a state setting unit which sets the first device or second device, which transmits a synchronization signal through the signal line, to a master state, and sets the second device or first device, which receives the synchronization signal, to a slave state; and a synchronization unit for synchronizing the operation cycle of the second device or first device set to the slave state with the operation cycle of the first device or second device set to the master state according to the received synchronization signal.

Description

System and method for synchronizing the operation cycle of a duplicated device

[0001] The present invention relates to a system and method for synchronizing the operation cycle of a dual device.

[0002] The flight control computer (FLCC) mounted on an unmanned aerial vehicle (UAV) is a device that receives various sensor information and control commands and controls the aircraft's actuators.

[0003] These flight control computers are safety-critical components and are designed with a redundant architecture to enhance operational reliability by ensuring fault tolerance. Flight control computers employing this redundant architecture must be designed so that each independent computing / control unit can perform the same task at the same time, and must include a synchronization algorithm to synchronize tasks between flight control computers.

[0004] Synchronization is necessary because components like the hardware oscillator that generates the CPU clock, even within the same product, can exhibit slight speed variations within their specifications. Consequently, without continuous synchronization, the start point of one flight control computer's work cycle can become increasingly earlier. Furthermore, the degree of this variation can fluctuate in real time due to various environmental factors, such as temperature. However, these errors are generally maintained within the accuracy level guaranteed by the component's specifications.

[0005] Synchronization methods can be divided into “two-way synchronization method” and “master / slave method.”

[0006] Bidirectional synchronization is a method in which all devices transmit synchronization signals simultaneously and all devices compensate for differences in the synchronization signals received to synchronize the start point of the work cycle.

[0007] On the other hand, the master / slave method is a method in which the master only transmits a signal and the slave only corrects its own work cycle to this signal.

[0008] Bidirectional synchronization eliminates the need for a master / slave design. Conversely, master / slave design has the disadvantage of requiring a design to determine the master, such as using a method to obtain an ID value that identifies the current device (e.g., a circuit signal, a value stored on disk, such as flash) or through mutual negotiation over a data channel.

[0009] Bidirectional synchronization has its drawbacks because both sides simultaneously correct each other based on the signals transmitted to each other.

[0010] For example, even when synchronization is complete and the operating cycles of both parties are aligned, the time required for the transmission of simultaneously initiated signals can lead the other party to mistakenly believe the other party is slower. Signal transmission can involve both fixed time and transient jitter. While fixed time can be eliminated by incorporating an appropriate fixed value into the calculation, random jitter is difficult to effectively address.

[0011] When signal synchronization is performed at each cycle, this error accumulates, causing all devices performing synchronization to slow down. While each device's cycle can be synchronized, the precision required by the hardware clock component specifications cannot be maintained. The standards for tolerating this error level are unclear, and the magnitude of the slowdown error in bidirectional synchronization varies depending on the specific implementation.

[0012] In another case, if one device is rebooted (e.g., due to a failure recovery) and synchronization restarts with a different cycle than the original, the cycles of other devices that were operating normally may be significantly altered by bidirectional synchronization. In such cases, it is difficult to maintain precise cycle consistency.

[0013] Finally, in order to synchronize both sides, hardware that can send and receive periodic synchronization signals or transmit data required for synchronization is required. However, the type of data required may vary depending on the design of the algorithm, and there are problems that can lead to increased implementation difficulty, reliability issues due to complexity, and increased hardware costs.

[0014] The present invention provides a system and method for synchronizing the operating cycles of a dual device, which can maintain consistency of the operating cycles by setting and resetting the dual device to an initial state, a master state capable of only transmitting synchronization signals, and a slave state capable of only receiving synchronization signals, and then synchronizing the operating cycles of the dual devices with each other, without using hardware other than a synchronization signal line.

[0015] Meanwhile, the technical tasks to be achieved in the present invention are not limited to the technical tasks mentioned above, and other technical tasks not mentioned can be clearly understood by a person having ordinary knowledge in the technical field to which the present invention belongs from the description below.

[0016] A system for synchronizing the operation cycle of a duplicated device according to an embodiment of the present invention includes: a signal line connecting a duplicated first device and a duplicated second device to each other; a state setting unit for setting a first device or a second device that transmits a synchronization signal through the signal line to a master state and setting a second device or a first device that receives the synchronization signal to a slave state; and a synchronization unit for synchronizing the operation cycle of the first device or the second device set to a slave state with the operation cycle of the first device or the second device set to a master state according to the received synchronization signal.

[0017] Additionally, the signal line is a pair of lines connecting the first and second devices, and serves as a logical transmission path for transmitting and receiving signals from one device to the other. The synchronization signal is a simple signal that only indicates whether a signal has arrived once per cycle, and does not require the transmission of data such as sequence information.

[0018] In addition, the state setting unit sets the first device and the second device to an initial state in which they only wait for reception without transmitting a synchronization signal for a preset first period of time, and when the first device and the second device transmit a synchronization signal to the second device and the first device, respectively, after the first period of time in the initial state, the first or second device that first transmitted the synchronization signal is set to a master state, and the second device or the first device that receives the synchronization signal transmitted from the first or second device set to the master state is set to a slave state.

[0019] In addition, when the state setting unit transmits a synchronization signal from the first device and the second device to the second device and the first device, respectively, after the first period from the initial state, if the synchronization signals are transmitted simultaneously, the state setting unit sets the first device and the second device to the master state, and simultaneously sets the first device and the second device receiving the synchronization signal to the initial state.

[0020] In addition, when the operation of the second device or the first device set to the slave state is restarted, the state setting unit sets the restarted second device or the first device to the initial state, and then resets the second device or the first device set to the initial state that receives the synchronization signal transmitted from the first device or the second device set to the master state to the slave state.

[0021] In addition, when the operation of the first device or the second device set to the master state is restarted, the state setting unit sets the restarted first device or the second device to the initial state, then resets the first device or the second device set to the slave state to the master state, and resets the first device or the second device set to the initial state that receives the synchronization signal transmitted from the first device or the second device set to the master state to the slave state.

[0022] In addition, when a signal line through which a synchronization signal is transmitted and received from a first device or a second device set to the master state to a second device or a first device set to the slave state is short-circuited, the state setting unit resets the second device or the first device set to the slave state to the master state, and resets the first device or the second device receiving the synchronization signal transmitted from the second device or the first device set to the master state to the slave state.

[0023] In addition, the state setting unit resets the second device or the first device set to the slave state to the master state when a synchronization signal is not received from the second device or the first device set to the slave state for a preset second period.

[0024] In addition, the state setting unit transmits a signal for the purpose of transmitting state information of the second device or the first device set to the slave state to the first device or the second device set to the master state through the signal line at every third predetermined period.

[0025] In addition, the above synchronization unit synchronizes according to the following [Mathematical Formula 1].

[0026] [Mathematical Formula 1]

[0027] adjusted_next_timer_start

[0028] = current_next_timer_start

[0029] + (signal_received - signal_traveling_time - timer_start)

[0030]

[0031] (Here, timer_start is the current operation cycle timer start time for the slave device, signal_received is the time when the slave device receives the synchronization signal from the master device, signal_traveling_time is the measured value of the fixed time required for signal transmission or 0, adjusted_next_timer_start is the next operation cycle start time after the operation cycle of the slave device is synchronized, and current_next_timer_start is the next cycle start time before the operation cycle of the slave device is synchronized.)

[0032]

[0033] A method for synchronizing the operation cycle of a dual device according to the present invention comprises: an initial state setting step of setting a first device and a second device connected to each other via a signal line to an initial state in which they only wait for reception without transmitting a synchronization signal for a preset first period of time; a master and slave setting step of transmitting a synchronization signal from the first device and the second device to the second device and the first device, respectively, after the first period of time in the initial state, wherein the first or second device that transmitted the synchronization signal first is set to a master state, and the second device or the first device that receives the synchronization signal transmitted from the first or second device set to the master state is set to a slave state; and a synchronization step of synchronizing the operation cycle of the second or the first device set to the slave state with the operation cycle of the first or the second device set to the master state according to the received synchronization signal.

[0034] In addition, when the operation of the second device or the first device set to the slave state is restarted, the second device or the first device is set to the initial state, and then a reset step is further included to reset the second device or the first device to the slave state upon receiving a synchronization signal transmitted from the first device or the second device.

[0035] In addition, the above reset step resets the second device or the first device set to the slave state to the master state when a synchronization signal is not received from the second device or the first device set to the slave state for a preset second period.

[0036] In addition, the present invention further includes a status confirmation step of transmitting a signal for the purpose of transmitting status information of the second device or the first device set to the slave status to the first device or the second device set to the master status through the signal line at preset third periodic intervals to confirm the master status and the slave status.

[0037] According to an embodiment of the present invention, by setting and resetting the duplicated devices to an initial state, a master state capable of only transmitting synchronization signals, and a slave state capable of only receiving synchronization signals, and then resetting them according to conditions, without using hardware other than a synchronization signal line, the operating cycles of the duplicated devices can be synchronized with each other, thereby maintaining the consistency of the operating cycles. In addition, hardware costs can be minimized by requiring only a simple periodic signal that does not contain data. In addition, the software of the duplicated devices can be operated based on the same code, thereby reducing development and maintenance efforts.

[0038] Meanwhile, the effects that can be obtained from the present invention are not limited to the effects mentioned above, and other effects that are not mentioned can be clearly understood by a person having ordinary skill in the technical field to which the present invention belongs from the description below.

[0039] FIG. 1 is a schematic diagram showing an operation cycle synchronization system of a dual device according to one embodiment of the present invention.

[0040] FIG. 2 is a diagram showing the initial, master, and slave states of a dual device operation cycle synchronization system according to one embodiment of the present invention.

[0041] Hereinafter, embodiments of the present invention will be described in more detail with reference to the attached drawings. The embodiments of the present invention may be modified in various ways, and the scope of the present invention should not be construed as being limited to the embodiments described below. These embodiments are provided to more fully explain the present invention to those of ordinary skill in the art. Accordingly, the shapes of elements in the drawings have been exaggerated for clarity.

[0042] In order to clearly solve the problem to be solved by the present invention, the composition of the invention is described in detail with reference to the attached drawings based on a preferred embodiment of the present invention, and when assigning reference numbers to components in the drawings, the same reference numbers are assigned to the same components even if they are in different drawings, and it is made clear in advance that components in other drawings may be cited when necessary when describing the drawings.

[0043]

[0044] Referring to FIG. 1, the operation cycle synchronization system of a dual device according to one embodiment of the present invention may include a signal line (30), a state setting unit (40), and a synchronization unit (50).

[0045] First, the signal line (30) can connect the duplicated first device (10) and second device (20) to each other.

[0046] At this time, the signal line (30) is a pair of lines connecting the first device (10) and the second device (20) to each other, and is a logical transmission path for transmitting and receiving signals from one device to the other.

[0047] That is, the signal line (30) can be composed of a first signal line (31) and a second signal line (32).

[0048] For example, the first signal line (31) may only be capable of transmitting and receiving signals from the first device (10) to the second device (20), and the second signal line (32) may only be capable of transmitting and receiving signals from the second device (20) to the first device (10), but this is not limited thereto. If necessary, the first signal line (31) and the second signal line (32) may be capable of transmitting and receiving signals in both directions, or may serve as a single signal line that transmits and receives signals in both directions, simultaneously serving as the first signal line (31) and the second signal line (32).

[0049] In addition, the signal line (30) transmits and receives a synchronization signal, but can transmit and receive the synchronization signal in the form of a pulse. It is a type that can only confirm the arrival of a synchronization signal, and does not require data such as sequence information to be transmitted together with this signal.

[0050] In addition, the signal line (30) can implement the transmission and reception function of one signal line using one GPIO bit, but is not limited thereto.

[0051] The state setting unit (40) can set the first device (10) or the second device (20) that transmits the synchronization signal through the signal line (30) to the master state, and set the second device (20) or the first device (10) that receives the synchronization signal to the slave state.

[0052] Here, the status setting unit (40) can extract the reception interval time of the received synchronization signal and the synchronization signal received immediately before, and determine whether the received synchronization signal is received periodically according to the extracted reception interval time, thereby determining whether the received synchronization signal is normal. That is, if the synchronization signal is received at the extracted reception interval time, it is determined as a normal signal, and if the synchronization signal is received discontinuously or differently from the reception interval time, it is determined as an abnormal signal. At this time, the synchronization unit (50) to be described later can stabilize the operation cycle of the duplicated first device (10) and second device (20) by synchronizing only with the synchronization signals determined to be normal signals. In addition, since the signal for the purpose of transmitting status information is transmitted in a discontinuous cycle, it does not affect the synchronization status.

[0053] Meanwhile, the state setting unit (40), referring to FIG. 2, can set the first device (10) and the second device (20) to the initial state, master state, and slave state.

[0054] The initial state is a state in which only reception is waited for without transmitting a synchronization signal during the first period. For example, if the first device (10) or the second device (20) is restarted, or if the first device (10) or the second device (20) simultaneously transmit a synchronization signal, the initial state is set and the synchronization signal can be waited for reception.

[0055] Here, waiting only for the reception of a synchronization signal during the first period in the initial state means that, for example, if the first device (10) is set to the master state in the initial state, the second device (20) that operates later is also set to the master state in the initial state. That is, since both devices become the master state, the first device (10) that was set to the master state first can be reset to the slave state by receiving a synchronization signal from the second device (20). As a result, the consistency of the maintained operation cycle may be broken, so the second device (20) that operates later needs to wait to receive a synchronization signal from the first device (10).

[0056] In addition, the first schedule cycle may be a cycle including one or more operating cycles of the first device (10) or the second device (20), but is not limited thereto. For example, the first schedule cycle may be two or more operating cycles of the first device (10) or the second device (20), but is not limited thereto.

[0057] The master state is established by transmitting a synchronization signal. This master state is maintained. For example, the master state can be reset to its initial state by periodically receiving a synchronization signal.

[0058] The slave state is set when a synchronization signal is received and does not transmit a synchronization signal. That is, when one of the duplicated devices is set to the master state, the other device is automatically set to the slave state, and the other device set to the slave state periodically receives a synchronization signal from one of the devices set to the master state. In addition, if a synchronization signal is not periodically received in the slave state, it can be reset to the initial state. In addition, the operation cycle of the device in the slave state can be synchronized with the operation cycle of the device in the master state according to the synchronization signal received periodically. In other words, the operation cycles of each device in the master state and the slave state are maintained identically.

[0059] The synchronization unit (50) can synchronize the operation cycle of the second device (20) or the first device (10) set to the slave state with the operation cycle of the first device (10) or the second device (20) set to the master state according to the received synchronization signal.

[0060] For example, the synchronization unit (50) can synchronize the CPU clocks of the first device (10) and the second device (20), but is not limited thereto.

[0061] The synchronization unit (50) can synchronize the operation cycles of the first device (10) and the second device (20) by the following [Mathematical Formula 1].

[0062] [Mathematical Formula 1]

[0063] adjusted_next_timer_start = current_next_timer_start + (signal_received - signal_traveling_time - timer_start)

[0064]

[0065] Here, timer_start is the current operation cycle timer start time for the slave device, signal_received is the time the synchronization signal is received from the master device by the slave device, signal_traveling_time is the measured fixed time for signal transmission or 0, adjusted_next_timer_start is the next operation cycle start time after the operation cycle of the slave device is synchronized, and current_next_timer_start is the next cycle start time before the operation cycle of the slave device is synchronized. Here, timer_start and signal_received may be times based on the internal clock of the slave device. If the time for signal transmission can be measured, it can be divided into fixed time and jitter that temporarily occurs with a random size for each signal transmission, and the fixed time can be reflected in signal_traveling_time to increase the accuracy of synchronization.

[0066] According to [Mathematical Formula 1], if a device in slave mode receives a synchronization signal later than expected (indicating a delay), the synchronization unit (50) will start the next operation cycle earlier to catch up with the operation cycle of the device in master mode. Conversely, if the synchronization signal is received earlier than expected, the start of the next operation cycle of the device in slave mode will be delayed.

[0067] For example, it can be assumed that when the first device (10) is in the master state and the second device (20) is set to the slave state, the timer_start of the second device (20) is 08:00:00 and the current_next_timer_start is 08:10:00.

[0068] At this time, the second device (20) receives a synchronization signal from the first device (10) at 08:00:10. That is, signal_received is 08:00:10.

[0069] Here, signal_received - timer_start is 08:00:10 - 08:00:00, and the operation cycle between the first device (10) and the second device (20) has a deviation of 10 seconds.

[0070] And, the second device (20) can reflect the deviation to adjusted_next_timer_start. That is, the deviation can be synchronized.

[0071] Accordingly, the adjusted_next_timer_start of the adjusted second device (20) is 08:10:00 + 10 seconds, so it becomes 08:10:10. That is, the second device (20) starts operation at the synchronized next operation cycle of 08:10:10, and is synchronized with the operation cycle of the first device (10).

[0072] Hereinafter, an embodiment in which the above-described state setting unit (40) sets and resets the first device (10) and the second device (20) to the initial state, master state, and slave state will be specifically described.

[0073] First, the state setting unit (40) can set the first device (10) and the second device (20) to an initial state in which they only wait for reception without transmitting a synchronization signal for a preset first period of time.

[0074] And, the state setting unit (40) can set the first device (10) or second device (20) that first transmitted the synchronization signal to the second device (20) and the first device (10) after the first period from the initial state, when transmitting a synchronization signal to the first device (10) and the second device (20), respectively, to the master state, and set the second device (20) or first device (10) that received the synchronization signal transmitted from the first device (10) or second device (20) set to the master state to the slave state.

[0075] In addition, the status setting unit (40) can set the first device (10) or the second device (20) to the master state and the second device (20) or the first device (10) to the slave state when the first device (10) or the second device (20) is operating or is operating before the second device (20) or the first device (10).

[0076] And, when the state setting unit (40) transmits synchronization signals from the first device (10) and the second device (20) to the second device (20) and the first device (10) respectively after the first period from the initial state, if the synchronization signals are transmitted simultaneously, the first device (10) and the second device (20) can be set to the master state, and the first device (10) and the second device (20) receiving the synchronization signal can be set to the initial state at the same time.

[0077] Here, the first device (10) and the second device (20) can be said to be in a state where their operation cycles are synchronized by infinitely repeating the master state and the initial state. And, as time passes and a difference in clocks occurs, they can be set to be distinguished as master state and slave state.

[0078] For example, when the operating cycle of the first device (10) becomes faster, a synchronization signal is transmitted from the first device (10) to the second device (20), and the second device (20) receives the synchronization signal. At this time, the first device (10) is set to the master state, and the second device (20) is set to the slave state.

[0079] In addition, when the operation of the second device (20) or the first device (10) set to the slave state is restarted by power re-supply, rebooting, etc., the state setting unit (40) can reset the second device (20) or the first device (10) set to the initial state by receiving a synchronization signal transmitted from the first device (10) or the second device (20) set to the master state to the slave state after setting the restarted second device (20) or the first device (10) to the initial state.

[0080] Conversely, when the operation of the first device (10) or the second device (20) set to the master state is restarted, the state setting unit (40) sets the restarted first device (10) or the second device (20) to the initial state, and then resets the second device (20) or the first device (10) set to the slave state to the master state, and resets the first device (10) or the second device (20) set to the initial state that receives the synchronization signal transmitted from the first device (10) or the second device (20) set to the master state to the slave state.

[0081] In this way, depending on the situation, the first device (10) in the master state can be set to the slave state, and the second device in the slave state can be set to the master state, so that the operating cycle between the first device (10) and the second device (20) can be maintained consistently.

[0082] In addition, if only one of the signal lines (30) through which a synchronization signal is transmitted and received from the first device (10) or the second device (20) set to the master state to the second device (20) or the first device (10) set to the slave state is short-circuited, the state setting unit (40) can reset the second device (20) or the first device (10) set to the slave state to the master state, and reset the first device (10) or the second device (20) receiving the synchronization signal transmitted from the first device (10) or the second device (20) set to the master state to the slave state.

[0083] Here, if one of the two signal lines (30) is short-circuited, the device that cannot transmit the synchronization signal is fixed in a slave state, and synchronization can be achieved.

[0084] In addition, the state setting unit (40) can reset the second device (20) or the first device (10) set to the slave state described above to the master state when a synchronization signal is not received from the second device (20) or the first device (10) set to the slave state for a preset second period.

[0085] For example, if the first signal line (31) through which a synchronization signal is transmitted and received from a first device (10) set to a master state to a second device (20) set to a slave state is short-circuited, the second device (20) set to a slave state will only wait to receive a synchronization signal for a second predetermined period. At this time, if the second predetermined period is exceeded, the state setting unit (40) can reset the second device (20) in the slave state to the master state first through the initial state. Then, the first device (10) in the master state can start to receive the synchronization signal of the second device (20) through the second signal line (32) and be set to the initial state, and continue to receive the synchronization signal of the second device (20) through the second signal line (32) from the second device (20) reset to the master state. At this time, the first device (10), which is in the initial state, is reset to the slave state upon receiving a synchronization signal from the second device (20).

[0086] In addition, the status setting unit (40) can transmit a signal for the purpose of checking the status information of the second device (20) or the first device (10) set to the slave status to the first device (10) or the second device (20) set to the master status through the signal line (30) at every third predetermined period.

[0087] Here, the third schedule cycle may be two or more operating cycles of the first device (10) or the second device (20), but is not limited thereto.

[0088] And, since it may be difficult for the state setting unit (40) to determine whether there is a master state and a slave state in which the state is reset, for example, a signal for the purpose of transmitting the state information of the second device (20) to the first device (10) every two operation cycles of the second device (20) in the slave state may be transmitted.

[0089] Accordingly, by receiving a signal for the purpose of transmitting status information, the device in the master state can not only confirm whether the device in the slave state is operating normally, but also, since it receives a signal for the purpose of transmitting status information twice during the operation cycle of the second device (20), it is not recognized as a synchronization signal because it is a non-continuous periodic signal, and thus does not return to the initial state, and can also know the deviation in the operation cycle from the second device (20).

[0090]

[0091] Hereinafter, a method for synchronizing the operating cycle of a dual device according to the present invention will be described. Here, the method for synchronizing the operating cycle of a dual device may refer to the above-described dual device operating cycle synchronization system.

[0092] The method for synchronizing the operation cycle of a dual device according to the present invention may include an initial state setting step, a master and slave setting step, and a synchronization step.

[0093] First, the initial state setting step can set the first device (10) and the second device (20), which are connected to each other by a signal line (30), to an initial state in which they only wait for reception without transmitting a synchronization signal for a preset first period of time.

[0094] The master and slave setting step is such that, after the first period from the initial state, the first device (10) and the second device (20) transmit synchronization signals to the second device (20) and the first device (10), respectively, but the first device (10) or the second device (20) that transmitted the synchronization signal first can be set to the master state, and the second device (20) or the first device (10) that receives the synchronization signal transmitted from the first device (10) or the second device (20) set to the master state can be set to the slave state.

[0095] The synchronization step can synchronize the operation cycle of the second device (20) or the first device (10) set to the slave state with the operation cycle of the first device (10) or the second device (20) set to the master state according to the received synchronization signal.

[0096] In addition, the method for synchronizing the operation cycle of a dual device according to the present invention may further include a reset step and a status check step.

[0097] The reset step is to reset the second device (20) or the first device (10) set to the slave state when the operation of the second device (20) or the first device (10) set to the slave state is restarted, and then reset the second device (20) or the first device (10) set to the slave state by receiving a synchronization signal transmitted from the first device (10) or the second device (20) set to the master state.

[0098] In addition, the reset step can reset the restarted first device (10) or second device (20) to the initial state when the operation of the first device (10) or second device (20) set to the master state is restarted, and then reset the second device (20) or first device (10) set to the slave state to the master state, and reset the first device (10) or second device (20) set to the initial state that receives the synchronization signal transmitted from the first device (10) or second device (20) set to the master state to the slave state.

[0099] And, the reset step can be reset when the second device (20) or the first device (10) set to the slave state is reset to the master state, and the synchronization signal is not received by the second device (20) or the first device (10) set to the slave state for a preset second period.

[0100] The status confirmation step transmits a signal for the purpose of transmitting status information of the second device (20) or the first device (10) set to the slave status to the first device (10) or the second device (20) set to the master status through the signal line (30) every third predetermined period, thereby notifying the presence or absence of a slave and allowing the current time deviation to be calculated, thereby confirming the status.

[0101]

[0102] The detailed description above is illustrative of the present invention. Furthermore, the foregoing description illustrates preferred embodiments of the present invention, and the present invention can be used in various other combinations, modifications, and environments. In other words, changes or modifications may be made within the scope of the inventive concepts disclosed herein, the scope equivalent to the written disclosure, and / or the scope of technology or knowledge in the art. The written embodiments illustrate the best possible state for implementing the technical idea of ​​the present invention, and various modifications required for specific applications and uses of the present invention are also possible. Therefore, the detailed description of the invention above is not intended to limit the present invention to the disclosed embodiments. Furthermore, the appended claims should be construed to include other embodiments.

[0103] The present invention has wide industrial applicability, including, but not limited to, achieving operational periodization in various redundant device systems, including unmanned aerial vehicle operating environments.

Claims

1. A signal line connecting the first and second devices; A state setting unit that sets the first device or the second device transmitting the synchronization signal through the signal line to the master state and sets the first device or the second device receiving the synchronization signal to the slave state; and A system for synchronizing the operation cycle of a duplicated device, including a synchronization unit that synchronizes the operation cycle of a first device or a second device set to a slave state with the operation cycle of a first device or a second device set to a master state according to a received synchronization signal.

2. In paragraph 1, The above signal line is a pair of lines connecting the first device and the second device, and is a dual device operation cycle synchronization system having a logical transmission path for transmitting and receiving signals from one device to the other.

3. In paragraph 1, The above status setting section is, The first device and the second device are set to an initial state where they only wait for reception without transmitting a synchronization signal for a preset first period of time, A dual device operation cycle synchronization system in which, after the first period from the initial state, when the first device and the second device transmit synchronization signals to the second device and the first device, respectively, the first or second device that transmitted the synchronization signal first is set to the master state, and the second device or the first device that receives the synchronization signal transmitted from the first or second device set to the master state is set to the slave state.

4. In paragraph 3, The above status setting section is, A dual device operation cycle synchronization system in which, after the first period from the initial state, when the first device and the second device transmit synchronization signals to the second device and the first device respectively, if the synchronization signals are transmitted simultaneously, the first device and the second device are set to the master state, and the first device and the second device receiving the synchronization signal are simultaneously set to the initial state.

5. In paragraph 3, The above status setting section is, A dual device operation cycle synchronization system that sets the restarted second device or first device to the initial state when the operation of the first device or second device set to the slave state is restarted, and then resets the second device or first device set to the initial state, which receives a synchronization signal transmitted from the first device or second device set to the master state, to the slave state.

6. In paragraph 3, The above status setting section is, A dual device operation cycle synchronization system that sets the restarted first device or second device to the initial state when the operation of the first device or second device set to the master state is restarted, then resets the first device or second device set to the slave state to the master state, and resets the first device or second device set to the initial state that receives the synchronization signal transmitted from the first device or second device set to the master state to the slave state.

7. In paragraph 3, The above status setting section is, A dual device operation cycle synchronization system that, when a signal line through which a synchronization signal is transmitted and received from a first device or a second device set to the master state to a second device or a first device set to the slave state is short-circuited, resets the second device or the first device set to the slave state to the master state, and resets the first device or the second device receiving the synchronization signal transmitted from the second device or the first device set to the master state to the slave state.

8. In paragraph 6 or 7, The above status setting section is, A dual device operation cycle synchronization system that resets a second device or a first device set to the slave state to the master state when a synchronization signal is not received from the second device or the first device set to the slave state for a preset second period of time.

9. In paragraph 3, The above status setting section is, A dual device operation cycle synchronization system that transmits a signal for the purpose of transmitting status information of a first or second device set to the slave state to a first or second device set to the master state through the signal line at preset third periodic intervals.

10. In paragraph 1, The above synchronization unit is a synchronization system for the operation cycle of a duplicated device that synchronizes by the following [Mathematical Formula 1]. [Mathematical formula 1] adjusted_next_timer_start = current_next_timer_start + (signal_received - signal_traveling_time - timer_start) (Here, timer_start is the current operation cycle timer start time for the device in slave state, signal_received is the time when the device in slave state receives a synchronization signal from the device in master state, signal_traveling_time is the measured value of the fixed time required for signal transmission or 0, adjusted_next_timer_start is the next operation cycle start time after the operation cycle of the device in slave state is synchronized, current_next_timer_start is the next cycle start time before the operation cycle of the device in slave state is synchronized.) 11. An initial state setting step for setting the first device and the second device, which are connected to each other via a signal line, to an initial state in which they only wait for reception without transmitting a synchronization signal for a preset first period of time; A master and slave setting step in which, after the first period of time in the initial state, the first device and the second device transmit a synchronization signal to the second device and the first device, respectively, while setting the first or second device that transmitted the synchronization signal first to a master state, and setting the second device or the first device that received the synchronization signal transmitted from the first or second device set to the master state to a slave state; and A method for synchronizing the operation cycle of a duplicated device, comprising: a synchronization step of synchronizing the operation cycle of the first or second device set to the slave state with the operation cycle of the first or second device set to the master state according to a received synchronization signal.

12. In paragraph 11, A method for synchronizing the operation cycle of a dual device, further comprising a re-setting step of re-setting the second device or the first device to the slave state upon receiving a synchronization signal transmitted from the first device or the second device after setting the second device or the first device to the initial state when the operation of the second device or the first device set to the slave state is restarted.

13. In paragraph 12, The above reset step is, A method for synchronizing the operation cycle of a duplicated device, wherein when the second device or the first device set to the slave state is reset to the master state, if a synchronization signal is not received from the second device or the first device set to the slave state for a preset second period of time.

14. In paragraph 11, A method for synchronizing the operation cycle of a dual device, further comprising a status confirmation step of transmitting a signal for the purpose of transmitting status information of the first or second device set to the slave state to the first or second device in the master state through the signal line at preset third intervals to confirm the master state and the slave state.

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