Drive control apparatus

Abstract

This drive control apparatus, which has a drive control unit for controlling driving of a drive target, achieves a configuration that makes it possible to detect abnormalities, and hold only information about a prescribed abnormality among the detected abnormalities without storing said information in a storage unit. A drive control device 1 includes: an abnormality-detection signal acquisition unit 25 that acquires abnormality detection signals generated in association with abnormalities in the drive control device 1 and / or a drive target P; an error signal generation unit 31 that discriminates an abnormality detection signal based on a specific condition from among the acquired abnormality detection signals, and generates and outputs an error signal on the basis of the abnormality detection signal based on the specific condition; and an error signal holding unit 40 that holds the error signal.

Description

Drive control device

[0001] The present invention relates to a drive control device that controls the drive of a drive target and can detect abnormalities.

[0002] A drive control device that controls the drive of a drive target and can detect abnormalities is known. As an example of such a drive control device, for example, in Patent Document 1, there is disclosed an electronic control device having a control CPU for performing various controls and a monitoring CPU for monitoring the control CPU, and performing mutual abnormality detection between these CPUs.

[0003] The electronic control device is provided independently of each of the CPUs and includes a hard latch circuit that is constantly powered from a constant voltage power supply and holds a state in which a signal is input. When the monitoring CPU detects that a control abnormality has occurred in the control CPU, the monitoring CPU outputs a latch trigger signal to the hard latch circuit.

[0004] As a result, since the fact that an abnormality has occurred is stored and held (latched) in the hard latch circuit, the monitoring CPU does not need to have a non-volatile memory (EEPROM) or a standby RAM. Therefore, mutual monitoring of the CPUs can be appropriately performed while using a simple configuration.

[0005] Japanese Patent Application Laid-Open No. 2004-34854

[0006] By the way, in the electronic control device disclosed in Patent Document 1 described above, a monitoring CPU for monitoring the control CPU is required separately from the control CPU. Therefore, in order to detect abnormalities of each CPU, cooperation between the CPUs is required, and the entire system of the device becomes complicated. In recent years, with the progress of electric / electronic technology and computer technology, an electronic control device based on the viewpoint of ensuring safety has been increasingly demanded. If all detected abnormalities are stored and held in the hard latch circuit, the configuration becomes large and complicated, and information on serious abnormality occurrences and information on minor abnormality occurrences are mixed and held for the detected abnormalities. Therefore, there is a possibility that the safety of the electronic control device cannot be sufficiently ensured.

[0007] In contrast, there is a need for a configuration in which the CPU or IC that controls the drive of the driven object can detect abnormalities, and which can retain information on only certain abnormalities from among the detected abnormalities without storing it in the memory unit.

[0008] The object of the present invention is to provide a drive control device having a drive control unit that controls the driving of a driven object, which can detect abnormalities and retain information on only predetermined abnormalities from among the detected abnormalities without storing them in memory or the like.

[0009] A drive control device according to one embodiment of the present invention has a drive control unit that controls the drive of a drive target and is restartable. The drive control device has an abnormality detection signal acquisition unit that acquires an abnormality detection signal generated in response to an abnormality of at least one of the drive control device and the drive target, an error signal generation unit that identifies an abnormality detection signal that meets a predetermined condition from the acquired abnormality detection signals and generates and outputs an error signal based on the abnormality detection signal that meets the predetermined condition, and an error signal holding unit that holds the error signal (first configuration).

[0010] In the above configuration, an abnormality detection signal meeting a predetermined condition can be identified from among the abnormality detection signals generated in response to an abnormality in at least one of the drive control device and the driven object, and an error signal can be generated based on the abnormality detection signal meeting the predetermined condition. Therefore, the drive control device can detect abnormalities without mutual monitoring by multiple CPUs.

[0011] Furthermore, the generated error signals are retained by the error signal retention unit. This allows the system to retain only the error signals generated based on the determined anomaly detection signals that meet predetermined conditions, rather than retaining all anomaly detection signals.

[0012] Therefore, in a drive control device having a drive control unit that controls the drive of a driven object, it is possible to realize a configuration that can detect abnormalities and retain information on only predetermined abnormalities from among the detected abnormalities without storing them in memory or the like.

[0013] In the first configuration described above, the abnormality detection signal under the predetermined conditions includes an abnormality detection signal relating to an abnormality detected within the drive control device and an abnormality detection signal relating to an abnormality that cannot be intuitively identified by the operator operating the drive target when the drive control device is restarted (second configuration).

[0014] The abnormality detection signals described above are signals related to abnormalities that are highly likely to lead to serious problems for the operator if the drive target is driven while an abnormality is occurring. Therefore, by generating error signals based on these abnormality detection signals and storing these error signals in the error signal storage unit, it is possible to store only information related to abnormalities that are highly likely to lead to serious problems for the drive target from among the abnormalities that have occurred. By resetting and restarting the drive control device based on these error signals, the safety of the operator can be ensured.

[0015] In the first configuration described above, the drive control device further includes a retained signal detection unit that detects the error signal held in the error signal retaining unit (third configuration). As a result, the drive control device can detect the error signal held in the error signal retaining unit and confirm the retained error signal. Therefore, the drive control device can be operated in accordance with the error signal.

[0016] In the third configuration described above, if the error signal is detected by the holding signal detection unit after the drive control device has been restarted, the drive control unit stops or limits the driving of the drive target, while if the error signal is not detected by the holding signal detection unit, it drives the drive target (fourth configuration).

[0017] As a result, if an error signal is detected by the holding signal detection unit after the drive control device has restarted, the drive control unit will stop or limit the driving of the driven object. Therefore, as long as the holding signal detection unit is detecting the error signal, the drive control unit can continue to stop the driving of the driven object. Consequently, if an abnormality occurs that causes the error signal holding unit to hold the error signal, the drive control unit can more reliably stop the driving of the driven object.

[0018] On the other hand, if the holding signal detection unit does not detect the error signal, the drive control unit drives the pre-drive target. This allows the drive target to operate normally when there is no abnormality in the drive target.

[0019] In the third configuration described above, there is an error signal output unit that outputs the error signal from the error signal holding unit to another drive control unit (fifth configuration). This allows the drive control unit to output the error signal to another drive control unit when it generates an error signal based on an abnormality detection signal that meets predetermined conditions.

[0020] A drive control device according to one embodiment of the present invention includes: an abnormality detection signal acquisition unit that acquires an abnormality detection signal generated in response to an abnormality in at least one of the drive control device and the drive target; an error control unit that identifies an abnormality detection signal that meets predetermined conditions from the acquired abnormality detection signals and generates and outputs an error signal based on the abnormality detection signal that meets the predetermined conditions; and an error signal holding unit that holds the error signal.

[0021] This makes it possible to realize a drive control device having a drive control unit that controls the drive of a driven object, which can detect abnormalities and retain information on only predetermined abnormalities from among the detected abnormalities without storing it in memory or the like.

[0022] Figure 1 shows a schematic configuration of a drive control device according to an embodiment of the present invention. Figure 2 shows how an error signal is held by an error signal holding unit and how the holding of the error signal is released by a latch reset signal. Figure 3 shows a schematic configuration of a work machine that is driven and controlled by the drive control device.

[0023] Embodiments of the present invention will be described in detail below with reference to the drawings. The same or corresponding parts in the drawings are denoted by the same reference numerals, and their descriptions will not be repeated.

[0024] Figure 1 is a diagram showing a schematic configuration of a drive control device 1 according to an embodiment of the present invention. The drive control device 1 controls the driving of the drive target P and is configured to be restartable. The drive control device 1 is composed of computing devices such as an IC (Integrated Circuit), an ECU (Electronic Control Unit), and a CPU (Central Processing Unit). The drive control device 1 also has memory and other necessary components for calculations.

[0025] The drive control device 1 includes a drive control unit 10, an abnormality detection unit 20, an abnormality detection signal acquisition unit 25, an error control unit 30, an error signal holding unit 40, an error signal output unit 50, and an output monitoring unit 60. The drive control device 1 is configured to be restartable by reset control. That is, when the abnormality detection unit 20 detects an abnormality that is subject to the reset control, the drive control device 1 performs the reset control and restarts.

[0026] The drive control unit 10 controls the driving of the drive target P. Specifically, the drive control unit 10 generates and outputs a drive command signal for driving the drive target P. The drive command signal is input to a drive source (not shown) of the drive target P (for example, the control unit of various actuators for driving the drive target P). When the reset control of the drive control device 1 is performed, the drive control unit 10 is also restarted.

[0027] The abnormality detection unit 20 detects abnormalities occurring in at least one of the drive control device 1 and the drive target P, and generates and outputs an abnormality detection signal when it detects such an abnormality. The abnormality detection unit 20 generates and outputs different abnormality detection signals depending on the detected abnormality. These abnormality detection signals include, for example, abnormality detection signals related to various abnormalities detected in the drive control device 1, abnormality detection signals related to various abnormalities occurring in the drive target P, and abnormality detection signals related to various abnormalities that occurred when the drive control device 1 was restarted.

[0028] The abnormality detection signal acquisition unit 25 acquires the abnormality detection signal generated by the abnormality detection unit 20. The abnormality detection signal acquired by the abnormality detection signal acquisition unit 25 is input to the error control unit 30. Note that the abnormality detection signal acquisition unit 25 may acquire the abnormality detection signal from another device instead of from the abnormality detection unit 20.

[0029] The error control unit 30 identifies an abnormality detection signal that meets a predetermined condition from among the abnormality detection signals, generates an error signal based on the abnormality detection signal that meets the predetermined condition, and outputs it to the error signal holding unit 40. The error control unit 30 also generates a latch reset signal and outputs it to the error signal holding unit 40. Furthermore, the error control unit 30 determines whether the error signal is held in the error signal holding unit 40.

[0030] Specifically, the error control unit 30 includes an error signal generation unit 31, a reset control unit 32, a storage unit 33, a hold signal detection unit 34, and a latch reset control unit 35.

[0031] The error signal generation unit 31 identifies an abnormality detection signal that meets a predetermined condition from among the abnormality detection signals generated by the abnormality detection unit 20, and generates an error signal based on the abnormality detection signal that meets the predetermined condition. The error signal is output to the error signal holding unit 40, as well as to the reset control unit 32 and the storage unit 33.

[0032] The aforementioned abnormality detection signal includes an abnormality detection signal relating to an abnormality detected within the drive control device 1, and an abnormality detection signal relating to an abnormality that cannot be intuitively identified by an operator operating the drive target P after the drive control device 1 has been restarted.

[0033] Specifically, the abnormality detection signal under the predetermined conditions includes signals related to abnormalities that the operator may not be able to visually recognize (see) as occurring, such as signals that detect abnormalities in the CPU, memory, power supply, etc., which constitute the drive control device 1. Furthermore, the abnormality detection signal under the predetermined conditions includes signals related to abnormalities that occur when, for example, an abnormality occurs in the CPU, memory, etc., and the operator attempts to operate the control unit of the drive target P after the drive control device 1 has restarted, even if the control unit itself is normal, an abnormality such as the following may have occurred: That is, signals related to abnormalities that the operator may not be able to tactilely recognize, such as when the control unit cannot be operated with the same feeling as when it is operated under normal conditions (the feeling of operation before the restart due to the abnormality), or signals related to abnormalities that the operator may not be able to respond to immediately, even if they can sense them, such as when the drive target P moves on its own before the operator attempts to operate the control unit after the drive control device 1 has restarted.

[0034] Furthermore, if any of the above-mentioned abnormalities occur, the drive control device 1 may operate in an unexpected manner, so it is preferable to take measures to ensure the operator's safety.

[0035] More specifically, the CPU abnormalities include lockstep abnormalities, self-diagnosis abnormalities, and WDT (watchdog timer) abnormalities. A lockstep abnormality occurs, for example, when multiple CPU cores are operated synchronously, if the processing results are not the same. A self-diagnosis abnormality occurs when the CPU has a self-diagnosis function and performs a CPU diagnosis at system startup or periodically, and the diagnosis result is abnormal. A WDT abnormality occurs when the CPU, specific devices inside the drive control device 1, and software are periodically checked and monitored to see if they are operating normally, and the result is abnormal.

[0036] The aforementioned memory abnormalities include abnormalities in self-diagnosis, abnormality detection by checksum or CRC (Cyclic Redundancy Check), abnormality detection by MPU (Memory Protection Unit) or MMU (Memory Management Unit), and abnormalities when using ECC memory or EDC memory (memory with a function to detect or correct data corruption). The aforementioned self-diagnosis abnormality occurs when a memory diagnosis is performed at system startup or periodically, and the diagnosis result is abnormal. The aforementioned abnormality detection by checksum or CRC occurs when it is checked whether the data handled by the memory is correct, and the result is abnormal. The aforementioned MMU abnormality occurs when the state of the MMU is abnormal. The aforementioned abnormality when using ECC memory or EDC memory occurs when the error correction function cannot prevent data corruption and abnormal termination during long-term continuous operation.

[0037] The aforementioned power supply abnormality occurs when the drive control device 1 is unable to detect a predetermined voltage or current.

[0038] Furthermore, it is preferable that the abnormality detection signal under the predetermined conditions does not include abnormalities that the operator can intuitively recognize as abnormal, such as when the control unit moves without the operator's input after the drive control device 1 has been restarted, and that allow for safety-conscious responses (for example, preventing unintended operations by the operator, or evacuating from the driver's seat). This allows for safer responses not only for the operator but also for those around the drive target P (for example, people walking around the drive target P, or objects installed around the drive target P) in the event of an abnormality.

[0039] The reset control unit 32 resets and restarts the drive control device 1 based on the abnormality detection signal or the error signal.

[0040] The storage unit 33 stores error signals generated and output by the error signal generation unit 31, as well as the abnormality detection signals acquired by the abnormality detection signal acquisition unit 25. The storage unit 33 is composed of a storage device such as a memory (non-volatile memory) or a storage device that utilizes non-volatile memory such as an SSD (Solid State Drive).

[0041] The hold signal detection unit 34 detects the signal held by the error signal holding unit 40. After resetting and restarting the drive control device 1, if the hold signal detection unit 34 detects that the error signal is held by the error signal holding unit 40, the error control unit 30 outputs a detection signal to the drive control unit 10. This signal is intended to prompt the driver to take appropriate action to ensure safety, as it indicates that an abnormality detection signal meeting predetermined conditions has occurred before the drive control device 1 was restarted. When the drive control unit 10 receives the detection signal, it stops or limits the driving of the drive target P as necessary, taking into consideration the safety of the operator. On the other hand, if the drive control unit 10 does not receive the detection signal, i.e., if the hold signal detection unit 34 cannot detect that the error signal is held in the error signal holding unit 40, it drives the drive target P.

[0042] The latch reset control unit 35 generates and outputs a latch reset signal to release the error signal from being held by the error signal holding unit 40, which will be described later. As will be described in detail later, if the error control unit 30 determines that there is no difference between the signal detected by the output monitoring unit 60 and the signal detected by the holding signal detection unit 34, the latch reset control unit 35 generates the latch reset signal and outputs it to the error signal holding unit 40.

[0043] The error signal holding unit 40 is configured to hold the error signal when it is input from the error signal generation unit 31. Specifically, the error signal holding unit 40 is a so-called latch circuit that holds the error signal. The error signal holding unit 40 is configured, for example, by an SR latch circuit. As the error signal holding unit 40 is a latch circuit, it has the same configuration as a conventional latch circuit, so a detailed explanation is omitted. In this way, by configuring the error signal holding unit 40 as a latch circuit, the error signal can be held even when the power is turned off (when the drive control device 1 is reset and restarted). Furthermore, when the error signal holding unit 40 receives a latch reset signal from the latch reset control unit 35, it releases the holding of the error signal.

[0044] Figure 2 shows how the error signal is held by the error signal holding unit 40 and the holding of the error signal is released by the latch reset signal. When the error signal is input to the error signal holding unit 40 (the error signal becomes High), it is held as shown in Figure 2 (the error signal holding unit 40 holds the signal at High). When the latch reset signal is input from the latch reset control unit 35 (the latch reset signal becomes High), the holding of the error signal is released as shown in Figure 2 (the signal of the error signal holding unit 40 becomes Low).

[0045] The error signal output unit 50 outputs the error signal held by the error signal holding unit 40 to the outside of the drive control device 1. The error signal output unit 50 may have any configuration such as an output terminal, a photocoupler, a communication device, etc., as long as it can output the error signal to the outside of the drive control device 1. Further, the error signal output unit 50 may output a signal corresponding to the error signal instead of the held error signal.

[0046] The output monitoring unit 60 monitors the signal output from the error signal holding unit 40 to the error signal output unit 50. Specifically, the output monitoring unit 60 detects the state of the signal between the error signal holding unit 40 and the error signal output unit 50 and outputs it to the error control unit 30. The error control unit 30 determines whether there is an abnormality between the error signal holding unit 40 and the error signal output unit 50 by checking whether the signal detected by the output monitoring unit 60 is different from the signal detected by the hold signal detection unit 34. Specifically, when the error control unit 30 determines that the signal detected by the output monitoring unit 60 is different from the signal detected by the hold signal detection unit 34, there may be an abnormality between the error signal holding unit 40 and the error signal output unit 50. In this case, there is a possibility that the operator operates while it is not transmitted to an external device that an abnormality detection signal under a predetermined condition has occurred in the drive control device 1, and the drive target P performs an unexpected operation.

[0047] Therefore, without intentionally releasing the holding of the error signal in the error signal holding unit 40, the error control unit 30 outputs a detection signal to the drive control unit 10 to stop or limit the operation of the drive target P when it is necessary to ensure safety. In particular, this is effective when the configuration of an external device with respect to the drive control device 1 does not perform corresponding operations to ensure safety. On the other hand, when the error control unit 30 determines that there is no difference between the signal detected by the output monitoring unit 60 and the signal detected by the hold signal detection unit 34, the error control unit 30 causes the latch reset control unit 35 to generate a latch reset signal and output it to the error signal holding unit 40 so as to release the holding of the error signal in the error signal holding unit 40. Thereby, the holding of the error signal in the error signal holding unit 40 is released.

[0048] The drive control device 1 according to the present embodiment includes a drive control unit 10 that controls the drive of the drive target P. The drive control device 1 includes an abnormality detection signal acquisition unit 25 that acquires an abnormality detection signal generated in response to an abnormality in at least one of the drive control device 1 and the drive target P, and discriminates an abnormality detection signal satisfying a predetermined condition from the acquired abnormality detection signals, and an error signal generation unit 31 that generates and outputs an error signal based on the abnormality detection signal satisfying the predetermined condition, and an error signal holding unit 40 that holds the error signal.

[0049] In the above configuration, an abnormality detection signal satisfying a predetermined condition can be discriminated from the abnormality detection signals generated in response to an abnormality in at least one of the drive control device 1 and the drive target P, and an error signal can be generated based on the abnormality detection signal satisfying the predetermined condition. Therefore, an abnormality can be detected by the drive control device 1 without mutual monitoring by a plurality of CPUs.

[0050] Moreover, the generated error signal is held by the error signal holding unit 40. Thereby, only the error signal generated based on the discriminated abnormality detection signal satisfying the predetermined condition can be held without holding all the abnormality detection signals.

[0051] Therefore, in the drive control device 1 having the drive control unit 10 that controls the drive of the drive target P, a configuration can be realized that can detect an abnormality and hold only the information of a predetermined abnormality among the detected abnormalities without storing it in a storage device or the like.

[0052] Furthermore, in this embodiment, the abnormality detection signal under the predetermined conditions includes an abnormality detection signal relating to an abnormality detected within the drive control device 1, and an abnormality detection signal relating to an abnormality that cannot be intuitively confirmed by an operator operating the drive target after the drive control device 1 has been restarted.

[0053] The abnormality detection signals described above are signals related to abnormalities that are highly likely to lead to serious problems for the operator if the drive target P is driven while an abnormality is occurring. Therefore, by generating error signals based on these abnormality detection signals and storing the error signals in the error signal holding unit 40, it is possible to store only information related to abnormalities that are highly likely to lead to serious problems for the drive target P from among the abnormalities that have occurred. By resetting and restarting the drive control device 1 based on these error signals, the safety of the operator can be ensured.

[0054] Furthermore, in this embodiment, the drive control device 1 further includes a held signal detection unit 34 that detects the error signal held in the error signal holding unit 40. As a result, the drive control device 1 can detect the error signal held in the error signal holding unit 40 and confirm the held error signal. Therefore, the drive control device 1 can be operated in accordance with the error signal.

[0055] The hold signal detection unit 34 detects the signal held by the error signal holding unit 40. When the drive control device 1 is reset and restarted, if the hold signal detection unit 34 detects that the error signal is held by the error signal holding unit 40, the error control unit 30 outputs a detection signal to the drive control unit 10. When the drive control unit 10 receives the detection signal, it stops or limits the driving of the drive target P as necessary, taking into consideration the safety of the operator. On the other hand, if the drive control unit 10 does not receive the detection signal, that is, if the hold signal detection unit 34 cannot detect that the error signal is held in the error signal holding unit 40, it drives the drive target P.

[0056] Furthermore, in this embodiment, if the error signal is detected by the holding signal detection unit 34 after the drive control device 1 has restarted, the drive control unit 10 stops or limits the driving of the drive target P, while if the error signal is not detected by the holding signal detection unit 34, it drives the drive target P.

[0057] As a result, if an error signal is detected by the holding signal detection unit 34 after the drive control device 1 has restarted, the drive control unit 10 will stop or limit the driving of the drive target P. Therefore, as long as the holding signal detection unit 34 is detecting the error signal, the drive control unit 10 can continue to stop or limit the driving of the drive target P. Consequently, if an abnormality occurs that causes the error signal holding unit 40 to hold the error signal, the drive control unit 10 can more reliably stop or limit the driving of the drive target P.

[0058] On the other hand, if the holding signal detection unit 34 does not detect the error signal, the drive target P is driven. This allows the drive target P to operate normally when there is no abnormality in the drive target P.

[0059] Furthermore, in this embodiment, there is an error signal output unit 50 that outputs the error signal from the error signal holding unit 40 to another drive control device. This allows the drive control device 1 to output the error signal to another drive control device when it generates an error signal based on an abnormality detection signal that meets predetermined conditions. Therefore, when the drive control device 1 is reset and restarted, the other drive control device can control the drive control device 1 and the drive target P to prevent the drive target P from performing unexpected actions or actions that cannot guarantee safety.

[0060] (Work Machine) Figure 3 is a schematic diagram of a work machine 100 that is driven and controlled by the drive control device 1 having the above-described configuration. This work machine 100 is a machine that is self-propelled and capable of performing tasks such as transportation and excavation. The work machine 100 is the drive target P of the drive control device 1. Note that the work machine 100 may be a machine that is not self-propelled.

[0061] The work machine 100 has a main body 101, a traveling section 102, and a working section 103. The traveling section 102 is provided at the lower part of the main body 101 and supports the working section 103. The main body 101 may have a rotating section that rotates around an axis extending in the vertical direction, although this is not shown in particular. The main body 101 is equipped with an operating section provided in a driver's seat where an operator can sit, a drive source for the traveling section 102 and the working section 103, the aforementioned drive control device 1, and the like, although this is not shown in particular.

[0062] The travel unit 102 is configured to allow the work machine 100 to move, such as by wheels or crawlers. The work unit 103 has a configuration that allows it to perform work, such as an arm unit, a fork unit, or a crane unit.

[0063] Multiple drive control devices 1 are provided on the work machine 100. The multiple drive control devices 1 drive and control each operation of the work machine 100. Specifically, the multiple drive control devices 1 control the drive of, for example, the traveling unit 102 and the working unit 103. The multiple drive control devices 1 may be provided on the main body 101, or on the traveling unit 102 and the working unit 103, etc.

[0064] Even when the driven object P is the work machine 100 as described above, the abnormality detection signal (abnormality detection signal under predetermined conditions) generated by the error signal generation unit 31 includes an abnormality detection signal related to an abnormality detected within the drive control device 1, and an abnormality detection signal related to an abnormality that the operator operating the work machine 100 after the drive control device 1 is restarted cannot perceive intuitively. This allows the drive control device 1 to retain information (error signals) about serious abnormalities that the operator cannot perceive intuitively.

[0065] (Other Embodiments) Although embodiments of the present invention have been described above, the embodiments described above are merely examples for carrying out the present invention. Therefore, the invention is not limited to the embodiments described above, and it is possible to carry out the invention by appropriately modifying the embodiments described above without departing from the spirit of the invention.

[0066] In the above embodiment, the drive control device 1 has an error signal output unit 50 that outputs an error signal from the error signal holding unit 40 to another drive control device. However, the drive control device does not have to have an error signal output unit. That is, the drive control device does not have to output an error signal to another drive control device.

[0067] In the above embodiment, the drive control device 1 has a holding signal detection unit 34 that detects an error signal held by the error signal holding unit 40. However, the drive control device does not have to have a holding signal detection unit.

[0068] In the above embodiment, the abnormality detection signal under predetermined conditions includes an abnormality detection signal relating to an abnormality detected within the drive control device 1, and an abnormality detection signal relating to an abnormality that cannot be intuitively confirmed by an operator operating the drive target P after the drive control device 1 has been restarted. However, the abnormality detection signal under predetermined conditions may include only one of the above-mentioned abnormality detection signals, or may not include any of the above-mentioned abnormality detection signals. Furthermore, the abnormality detection signal under predetermined conditions may include other types of abnormality detection signals.

[0069] In the above embodiment, if the drive control unit 1 restarts and an error signal is detected by the holding signal detection unit 34, the drive control unit 10 stops or limits the driving of the drive target P, while if the holding signal detection unit 34 does not detect the error signal, it drives the drive target P. However, after the drive control unit restarts, the drive control unit may stop or limit the driving of the drive target, or it may drive the drive target, regardless of whether or not an error signal is detected by the holding signal detection unit.

[0070] In the above embodiment, a work machine 100 was described as an example of a vehicle in which the drive control device 1 is provided. However, the drive control device 1 may also be provided in a vehicle such as a two-wheeled vehicle, a three-wheeled vehicle, or a four-wheeled vehicle.

[0071] The present invention is applicable to a restartable drive control device that has a drive control unit for controlling the drive of a driven object.

[0072] 1 Drive control device 10 Drive control unit 20 Anomaly detection unit 25 Anomaly detection signal acquisition unit 30 Error control unit 31 Error signal generation unit 32 Reset control unit 33 Storage unit 34 Hold signal detection unit 40 Error signal holding unit 50 Error signal output unit 60 Output monitoring unit 100 Working machine 101 Main unit 102 Traveling unit 103 Working unit P Drive target

Claims

1. A restartable drive control device having a drive control unit for controlling the drive of a driven object, comprising: an abnormality detection signal acquisition unit that acquires an abnormality detection signal generated in response to an abnormality in at least one of the drive control device and the driven object; an error signal generation unit that identifies an abnormality detection signal that meets predetermined conditions from the acquired abnormality detection signals and generates and outputs an error signal based on the abnormality detection signal that meets the predetermined conditions; and an error signal holding unit that holds the error signal.

2. A drive control device according to claim 1, wherein the abnormality detection signal under predetermined conditions includes an abnormality detection signal relating to an abnormality detected within the drive control device, and an abnormality detection signal relating to an abnormality that an operator operating the drive target after the drive control device has been restarted cannot perceptually confirm.

3. A drive control device according to claim 1, further comprising a holding signal detection unit for detecting an error signal held by the error signal holding unit.

4. A drive control device according to claim 3, wherein the drive control unit stops or limits the driving of the drive target if the error signal is detected by the holding signal detection unit after the drive control device has been restarted, and drives the drive target if the error signal is not detected by the holding signal detection unit.

5. A drive control device according to claim 3, further comprising an error signal output unit that outputs the error signal from the error signal holding unit to another drive control device.

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