Dual-Control Self-Moving Device for Real-Time Safety Checking
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Solution Overview
Problem
Existing self-moving devices, such as automatic lawn mowers, face challenges in ensuring safety and reliability due to software and hardware defects, particularly when operating without user supervision, as they require complex safety checks that can slow down processing and affect real-time responsiveness.
Innovation Solution
A self-moving device with two control modules, where one module performs safety assurance operations and self-checks on hardware and software, allowing only periodic self-checking of the safety module to ensure control software safety, thereby simplifying the checking process and improving sensitivity and operating speed.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If comprehensive safety checks and self-checking are performed on all control modules, then safety and reliability are improved, but processing time increases and real-time responsiveness deteriorates
Solution Approach 1:
The control system is divided into two independent control modules, where only the first control module performs comprehensive safety checks and self-checking, while the second control module handles execution without redundant checking. This segmentation allows safety verification to be performed only where critical decisions are made, reducing overall processing time while maintaining reliability.
Solution Approach 2:
The first control module performs safety checks and self-checking in advance before executing safety-critical operations. By conducting these checks preliminarily, the system ensures safety requirements are met before action is taken, avoiding the need for repeated checking during execution and reducing real-time processing delays.
2Device complexity
If simple processors and small memory capacity are used, then device complexity and cost are reduced, but safety assurance capability and real-time response performance deteriorate
Solution Approach 1:
The control system is divided into two independent control modules with distinct functional responsibilities. The first control module is dedicated to safety-critical functions including boundary determination, obstacle detection, and safety decision-making, while the second control module handles non-critical execution tasks. This segmentation allows the safety-critical module to use a more capable processor and larger memory to ensure safety, while the overall system complexity is managed by keeping the second module simple.
Solution Approach 2:
Different parts of the control system are assigned different processing capabilities according to their functional requirements. The first control module, which handles safety-critical operations, is equipped with higher-performance processing resources including a more advanced processor and sufficient memory capacity to run comprehensive safety checks. The second control module uses simpler, lower-cost components since it only handles execution without requiring complex safety verification.
3Speed
If real-time operating system with direct hardware access is used, then control speed and responsiveness are improved, but system safety and software reliability deteriorate
Solution Approach 1:
The control system is segmented into two modules: the first control module uses a real-time operating system with direct hardware access to achieve fast control responses, while the second control module uses a more reliable but slower operating system for execution. By separating these functions, the system gains both real-time responsiveness where needed and software reliability where critical safety decisions are made.
Solution Approach 2:
The first control module performs preliminary safety analysis and decision-making using a real-time operating system for fast response, then passes verified safety-critical commands to the second control module which executes them using a more reliable operating system. This preliminary action approach allows the system to benefit from both fast real-time control and high software reliability.
Data Source
AI summary
The present invention provides a self-moving device and a working method for same. The self-moving device may include: a first control module and a second control module. The first control module and the second control module are configured to communicate with each other and work collaboratively to control a moving mechanism and a working module. The second control module is configured to: control the self-moving device to perform a safety assurance operation; and perform self-checking on hardware and a control program related to control of performing of the safety assurance operation. In the first control module and the second control module, only the second control module is configured to perform the self-checking according to a predetermined plan during working of the self-moving device. Implementations of this application provide a self-moving device with high safety performance.