TWI842092B - Dual-core redundant control system for agricultural machinery - Google Patents

Dual-core redundant control system for agricultural machinery Download PDF

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TWI842092B
TWI842092B TW111134843A TW111134843A TWI842092B TW I842092 B TWI842092 B TW I842092B TW 111134843 A TW111134843 A TW 111134843A TW 111134843 A TW111134843 A TW 111134843A TW I842092 B TWI842092 B TW I842092B
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TW202414130A (en
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吳崧毅
鄭世賢
柯文清
李士畦
簡全基
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財團法人工業技術研究院
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Abstract

A dual-core redundant control system for agricultural machinery is disclosed. The dual-core redundant control system includes a main core unit, a first communication unit and a secondary core unit. The main core unit is used to control the operation program of a machine with a first priority. The first communication unit, connected to the main core unit, for transmitting the relevant data of the operation program. The secondary core unit, connected to the first communication unit. The secondary core unit is used to receive a plurality of pieces of data from the main core unit through the first communication unit. When any one or more of the plurality of pieces of data meet an abnormal condition, the secondary core unit is used to control the operation program with a second priority higher than the first priority.

Description

農機雙核心冗餘控制系統Agricultural Machinery Dual-Core Redundant Control System

本揭露是有關於一種冗餘控制系統，特別是關於一種用於農機之雙核心冗餘控制系統。The present disclosure relates to a redundant control system, and more particularly to a dual-core redundant control system for agricultural machinery.

隨著自動化科技與網際網路的發展，傳統農業已朝智慧化農業的方向邁進，利用自動化機器人技術與資訊與通訊技術(Information and Communication Technology，ICT)可大幅提升整地、耕作、施肥、收割等農作業的效率。With the development of automation technology and the Internet, traditional agriculture has been moving towards smart agriculture. The use of automated robotics technology and information and communication technology (ICT) can greatly improve the efficiency of agricultural operations such as land preparation, tillage, fertilization, and harvesting.

舉例來說，自動插秧機可提供駕駛者在行駛路徑上進行升降、前進、後退、轉向與停止的功能，並進行插秧的動作。然而，前述的自動插秧機的控制系統大部分只使用單核心控制，包含控制動力、方向、安全偵測等。這種以單核心控制整體運轉的方式，若單核心失效時會造成機械上的誤動作，並導致安全問題。For example, an automatic rice transplanter can provide the driver with the functions of lifting, moving forward, backward, turning and stopping on the driving path, and perform the action of transplanting rice. However, most of the control systems of the aforementioned automatic rice transplanters only use single-core control, including control of power, direction, safety detection, etc. This method of controlling the overall operation with a single core will cause mechanical malfunctions and lead to safety problems if the single core fails.

因此，如何提供一種『農機雙核心冗餘控制系統』，成為業界待解決之課題。Therefore, how to provide a "dual-core redundant control system for agricultural machinery" has become a problem to be solved in the industry.

本揭露提供一種農機雙核心冗餘控制系統，包含有主核心單元、第一通訊單元與次核心單元。主核心單元，以第一優先權控制一機器之運轉程序。第一通訊單元，與主核心單元連接，用以傳輸運轉程序之相關資料。次核心單元，與該第一通訊單元連接，其中次核心單元透過第一通訊單元接收來自主核心單元之複數筆資料，於該些複數筆資料之任一或以上符合一異常條件時，次核心單元以高於第一優先權之第二優先權控制該機器之運轉程序。The present disclosure provides a dual-core redundant control system for agricultural machinery, comprising a main core unit, a first communication unit and a sub-core unit. The main core unit controls the operation program of a machine with a first priority. The first communication unit is connected to the main core unit to transmit data related to the operation program. The sub-core unit is connected to the first communication unit, wherein the sub-core unit receives a plurality of data from the main core unit through the first communication unit, and when any one or more of the plurality of data meets an abnormal condition, the sub-core unit controls the operation program of the machine with a second priority higher than the first priority.

本揭露提供一種農機雙核心冗餘控制系統，包含有主核心單元、第一通訊單元與次核心單元。主核心單元，用以控制一機器之運轉程序。第一通訊單元，與主核心單元連接，用以傳輸運轉程序之相關資料。次核心單元，與第一通訊單元連接。其中次核心單元透過第一通訊單元接收來自主核心單元之複數筆資料，並於一異常狀況產生時，次核心單元先停止主核心單元控制機器之運轉程序，再控制機器之運轉程序。The present disclosure provides a dual-core redundant control system for agricultural machinery, including a main core unit, a first communication unit and a sub-core unit. The main core unit is used to control the operation program of a machine. The first communication unit is connected to the main core unit to transmit data related to the operation program. The sub-core unit is connected to the first communication unit. The sub-core unit receives a plurality of data from the main core unit through the first communication unit, and when an abnormal situation occurs, the sub-core unit first stops the main core unit from controlling the operation program of the machine, and then controls the operation program of the machine.

為讓本揭露能更明顯易懂，下文特舉實施例，並配合所附圖式作詳細說明如下。In order to make the present disclosure more clear and easy to understand, the following is a detailed description of the embodiments with the help of the attached drawings.

為了清楚與方便圖式說明，圖式中的各部件在尺寸與比例上可能會被擴大或縮小地呈現。在以下描述及/或申請專利範圍中，當提及元件「連接」或「耦合」至另一元件時，其可直接連接或耦合至該另一元件或可存在介入元件；而當提及元件「直接連接」或「直接耦合」至另一元件時，不存在介入元件，用於描述元件或層之間之關係之其他字詞應以相同方式解釋；「第一」、「第二」等序數，彼此之間並沒有順序上的先後關係，其僅用於標示區分兩個具有相同名字之不同元件。為使便於理解，下述實施例中之相同元件係以相同之符號標示來說明。For the sake of clarity and convenience of illustration, the components in the drawings may be enlarged or reduced in size and proportion. In the following description and/or patent application, when an element is referred to as being "connected" or "coupled" to another element, it may be directly connected or coupled to the other element or there may be an intervening element; and when an element is referred to as being "directly connected" or "directly coupled" to another element, there is no intervening element. Other words used to describe the relationship between elements or layers should be interpreted in the same manner; ordinal numbers such as "first" and "second" do not have a sequential relationship with each other, and are only used to mark and distinguish two different elements with the same name. For ease of understanding, the same elements in the following embodiments are illustrated with the same symbols.

首先，請參照第1圖，係為本揭露一實施例之系統方塊圖。農機雙核心冗餘控制系統150主要包含有：主核心單元10、第一通訊單元20與次核心單元30。此處所稱之農機泛指一般農業機器，但本揭露不以此為限，其他業別之機器亦可適用。First, please refer to FIG. 1, which is a system block diagram of an embodiment of the present disclosure. The agricultural machine dual-core redundant control system 150 mainly includes: a main core unit 10, a first communication unit 20 and a sub-core unit 30. The agricultural machine referred to here generally refers to a general agricultural machine, but the present disclosure is not limited to this, and other types of machines can also be applied.

主核心單元10透過第一開關單元80與啟動單元84連接，而啟動單元84與引擎100連接。主核心單元10還透過第二開關單元82與熄火單元86連接，而熄火單元86與引擎100連接。主核心單元10，以第一優先權控制一機器之運轉程序。例如，所述的運轉程序包含有載具移動、機械手臂運作、油門控制、引擎啟動及熄火等中之一或以上。第一開關單元80與第二開關單元82可以例如是繼電器。The main core unit 10 is connected to the start unit 84 through the first switch unit 80, and the start unit 84 is connected to the engine 100. The main core unit 10 is also connected to the flameout unit 86 through the second switch unit 82, and the flameout unit 86 is connected to the engine 100. The main core unit 10 controls the operation program of a machine with the first priority. For example, the operation program includes one or more of vehicle movement, robot arm operation, throttle control, engine start and flameout, etc. The first switch unit 80 and the second switch unit 82 can be, for example, relays.

第一通訊單元20，與主核心單元10連接。第一通訊單元20，用以傳輸運轉程序之相關資料。例如，所述的相關資料包含有引擎感測、載具移動、機械手臂運作、油門控制、引擎啟動及熄火等數據中之一或以上。第一通訊單元20可以例如是控制器區域網路(CANbus)。The first communication unit 20 is connected to the main core unit 10. The first communication unit 20 is used to transmit data related to the operation process. For example, the related data includes one or more of engine sensing, vehicle movement, robot arm operation, throttle control, engine start and shutdown data. The first communication unit 20 can be, for example, a controller area network (CANbus).

次核心單元30，與第一通訊單元20連接。次核心單元30透過第一通訊單元20接收來自主核心單元10之複數筆資料。於一異常狀況產生時，次核心單元30以高於第一優先權之第二優先權控制該機器之運轉程序。上述的異常狀況可依實際需求定義；例如，異常狀況可以是當該些複數筆資料之任一或以上符合一異常條件時。在一實施例中，所述的異常條件包含有傳輸內容異常、資料格式異常、尚未處理程序異常等中的任一個或多個的組合。當該些複數筆資料符合傳輸內容異常、資料格式異常、尚未處理程序異常中的任一個或多個的組合即判斷該些複數筆資料符合此異常條件。換言之，次核心單元30透過第一通訊單元20讀取來自主核心單元10之複數筆資料，以判斷主核心單元10的狀態。在一些實施例中，於次核心單元30以第二優先權控制該機器之運轉程序前，先停止主核心單元10控制該機器之運轉程序。The sub-core unit 30 is connected to the first communication unit 20. The sub-core unit 30 receives a plurality of data from the main core unit 10 through the first communication unit 20. When an abnormal condition occurs, the sub-core unit 30 controls the operation program of the machine with a second priority higher than the first priority. The above-mentioned abnormal condition can be defined according to actual needs; for example, the abnormal condition can be when any one or more of the plurality of data meets an abnormal condition. In one embodiment, the abnormal condition includes any one or more combinations of abnormal transmission content, abnormal data format, and unprocessed program abnormality. When the plurality of data meets any one or more of the following conditions: abnormal transmission content, abnormal data format, abnormal unprocessed program, the plurality of data are judged to meet the abnormal condition. In other words, the sub-core unit 30 reads the plurality of data from the main core unit 10 through the first communication unit 20 to judge the state of the main core unit 10. In some embodiments, before the sub-core unit 30 controls the operation process of the machine with the second priority, the main core unit 10 is stopped from controlling the operation process of the machine.

第一感測模組40分別與第二通訊單元60、引擎100連接。第一感測模組40包含有：傾角感測單元42、溫度感測單元44、頻率感測單元46與加速度感測單元48。第一感測模組40，用以取得例如傾角感測數據、溫度感測數據、頻率感測數據與加速度感測數據中之一或以上。The first sensing module 40 is connected to the second communication unit 60 and the engine 100 respectively. The first sensing module 40 includes: a tilt sensing unit 42, a temperature sensing unit 44, a frequency sensing unit 46 and an acceleration sensing unit 48. The first sensing module 40 is used to obtain one or more of tilt sensing data, temperature sensing data, frequency sensing data and acceleration sensing data.

更具體的說，傾角感測單元42，用以取得引擎100的傾角感測數據，並透過第二通訊單元60回傳傾角感測數據給主核心單元10。溫度感測單元44，用以取得引擎100的溫度感測數據(例如，汽缸頭溫度、機油溫度等)，並透過第二通訊單元60回傳溫度感測數據給主核心單元10。頻率感測單元46，用以取得引擎100的頻率感測數據(例如，點火頻率)，並透過第二通訊單元60回傳頻率感測數據給主核心單元10。加速度感測單元48，用以取得引擎100的加速度感測數據，並透過第二通訊單元60回傳加速度感測數據給主核心單元10。加速度感測單元48可例如是加速度計、陀螺儀。More specifically, the tilt sensing unit 42 is used to obtain tilt sensing data of the engine 100, and transmit the tilt sensing data back to the main core unit 10 through the second communication unit 60. The temperature sensing unit 44 is used to obtain temperature sensing data (e.g., cylinder head temperature, oil temperature, etc.) of the engine 100, and transmit the temperature sensing data back to the main core unit 10 through the second communication unit 60. The frequency sensing unit 46 is used to obtain frequency sensing data (e.g., ignition frequency) of the engine 100, and transmit the frequency sensing data back to the main core unit 10 through the second communication unit 60. The acceleration sensing unit 48 is used to obtain acceleration sensing data of the engine 100, and transmit the acceleration sensing data back to the main core unit 10 through the second communication unit 60. The acceleration sensing unit 48 may be, for example, an accelerometer or a gyroscope.

第二通訊單元60與主核心單元10連接。第二通訊單元60可以例如是積體電路匯流排(Inter-Integrated Circuit，I2C)。The second communication unit 60 is connected to the main core unit 10. The second communication unit 60 may be, for example, an Inter-Integrated Circuit (I2C) bus.

第二感測模組50與類比數位轉換器72連接，而類比數位轉換器72與主核心單元10連接。第二感測模組50包含有：距離感測單元52與碰撞感測單元54。第二感測模組50用以取得距離感測數據、碰撞感測數據。更具體的說，距離感測單元52，用以取得一機器與其他物體(例如，牆面或車輛等)間的距離感測數據，並透過類比數位轉換器72回傳距離感測數據給主核心單元10。距離感測單元52可例如是超音波感測器、雷達感測器。碰撞感測單元54，用以取得引擎與/或該機器與其他物體撞擊產生的碰撞感測數據，並透過類比數位轉換器72回傳碰撞感測數據給主核心單元10。The second sensing module 50 is connected to the analog-to-digital converter 72, and the analog-to-digital converter 72 is connected to the main core unit 10. The second sensing module 50 includes: a distance sensing unit 52 and a collision sensing unit 54. The second sensing module 50 is used to obtain distance sensing data and collision sensing data. More specifically, the distance sensing unit 52 is used to obtain distance sensing data between a machine and other objects (for example, a wall or a vehicle, etc.), and transmit the distance sensing data back to the main core unit 10 through the analog-to-digital converter 72. The distance sensing unit 52 can be, for example, an ultrasonic sensor or a radar sensor. The collision sensing unit 54 is used to obtain collision sensing data generated by the engine and/or the machine colliding with other objects, and return the collision sensing data to the main core unit 10 through the analog-to-digital converter 72.

另外，馬達控制模組88、電池管理系統90透過第一通訊單元20分別與主核心單元、次核心單元30連接。電池管理系統90，可用以控制電池的充電及放電，以避免電池過度充電、過度放電與過度升溫等。油門控制馬達92分別與數位類比轉換器70、引擎100連接，而數位類比轉換器70與主核心單元10連接。油門控制馬達92，可用以改變引擎100的輸出轉速與功率。In addition, the motor control module 88 and the battery management system 90 are connected to the main core unit and the sub-core unit 30 respectively through the first communication unit 20. The battery management system 90 can be used to control the charging and discharging of the battery to avoid overcharging, overdischarging and overheating of the battery. The throttle control motor 92 is connected to the digital analog converter 70 and the engine 100 respectively, and the digital analog converter 70 is connected to the main core unit 10. The throttle control motor 92 can be used to change the output speed and power of the engine 100.

無線訊號接收器94用以接收無線訊號發射器96的無線控制訊號。所述的無線控制訊號可以例如是基於紅外線、無線網路(Wi-Fi)、第4代行動通訊網路(4th generation mobile networks，4G)與/或第5代行動通訊網路(5th generation mobile networks，5G)的訊號。無線訊號發射器96可以例如是遙控器。藉此，使用者可近端或遠端控制一機器之運轉程序。The wireless signal receiver 94 is used to receive the wireless control signal of the wireless signal transmitter 96. The wireless control signal may be, for example, a signal based on infrared, wireless network (Wi-Fi), 4th generation mobile networks (4G) and/or 5th generation mobile networks (5G). The wireless signal transmitter 96 may be, for example, a remote control. Thus, the user can control the operation process of a machine locally or remotely.

現有的農機控制系統大部分只使用單核心控制，包含控制動力、方向、安全偵測等。然而，這種以單核心控制整體運轉的方式容易在單核心失效時會造成機械上的誤動作，並導致安全問題。Most existing agricultural machinery control systems use only a single core control, including control of power, direction, safety detection, etc. However, this method of using a single core to control the overall operation is prone to cause mechanical malfunctions and lead to safety issues when a single core fails.

相反的，根據本揭露實施例，農機雙核心冗餘控制系統150包含主核心單元10及次核心單元30。其中，次核心單元30可持續監控主核心單元10的運行狀態，並於主核心單元10發生異常時，次核心單元立30即停止機器的運轉程序，避免發生危險，並由次核心單元30重新接管機器的運轉程序。因此，機器的安全性可以有效地提升。On the contrary, according to the disclosed embodiment, the agricultural machine dual-core redundant control system 150 includes a main core unit 10 and a sub-core unit 30. The sub-core unit 30 can continuously monitor the operation status of the main core unit 10, and when an abnormality occurs in the main core unit 10, the sub-core unit 30 immediately stops the operation program of the machine to avoid danger, and the sub-core unit 30 takes over the operation program of the machine again. Therefore, the safety of the machine can be effectively improved.

另外，如前述，根據本揭露實施例，農機雙核心冗餘控制系統150包含主核心單元10及次核心單元30。當主核心單元10發生異常時，次核心單元30可持續監控主核心單元10的運行狀態，並由次核心單元30重新接管機器的運轉程序，故可為機器提供額外的保護機制。因此，該機器的可靠性可以有效地提升。In addition, as mentioned above, according to the disclosed embodiment, the agricultural machine dual-core redundant control system 150 includes a main core unit 10 and a sub-core unit 30. When the main core unit 10 is abnormal, the sub-core unit 30 can continuously monitor the operation status of the main core unit 10, and the sub-core unit 30 can take over the operation program of the machine again, so that an additional protection mechanism can be provided for the machine. Therefore, the reliability of the machine can be effectively improved.

此外，根據本揭露實施例，農機雙核心冗餘控制系統150採用雙核心控制，故可提升機器安全性及可靠性。因此，機器的市場接受度可大幅提升，以增加其市場競爭力。In addition, according to the disclosed embodiment, the agricultural machine dual-core redundant control system 150 adopts dual-core control, so the machine safety and reliability can be improved. Therefore, the market acceptance of the machine can be greatly improved to increase its market competitiveness.

請參照第2圖，係為本揭露一實施例之主核心單元控制流程圖。如第2圖所示，本實施例的主核心單元10的控制流程包含下列步驟：Please refer to FIG. 2, which is a control flow chart of the main core unit of an embodiment of the present disclosure. As shown in FIG. 2, the control flow of the main core unit 10 of the present embodiment includes the following steps:

步驟S200，使用無線訊號發射器96傳送無線控制訊號至無線訊號接收器94，主核心單元10根據無線控制訊號所對應的控制指令，致能第一開關單元80、啟動單元84與引擎100，以啟動機器。In step S200, the wireless signal transmitter 96 is used to transmit a wireless control signal to the wireless signal receiver 94. The main core unit 10 enables the first switch unit 80, the start unit 84 and the engine 100 according to the control instruction corresponding to the wireless control signal to start the machine.

步驟S210，主核心單元10以第一優先權控制機器的運轉程序(例如，載具移動、機械手臂運作、油門控制、引擎啟動及熄火等)。In step S210, the main core unit 10 controls the operation procedures of the machine with the first priority (for example, vehicle movement, robot arm operation, throttle control, engine start and stop, etc.).

步驟S220，主核心單元10檢查感測模組(第一感測模組40與第二感測模組50)是否異常? 若主核心單元10檢查感測模組的傳輸內容錯誤、資料格式錯誤時、感測數據超出設定值(例如，傾角過大、溫度過高…等)，則判定為異常狀態，進入步驟S230。若主核心單元10檢查感測模組為正常時，則繼續以第一優先權控制機器的運轉程序。In step S220, the main core unit 10 checks whether the sensing module (the first sensing module 40 and the second sensing module 50) is abnormal. If the main core unit 10 checks the sensing module and finds that the transmission content is wrong, the data format is wrong, or the sensing data exceeds the set value (for example, the tilt angle is too large, the temperature is too high, etc.), it is determined to be an abnormal state and enters step S230. If the main core unit 10 checks that the sensing module is normal, it continues to control the operation program of the machine with the first priority.

步驟S230，主核心單元10致能第二開關單元82，以停止機器的運轉程序。In step S230, the main core unit 10 enables the second switch unit 82 to stop the operation process of the machine.

步驟S240，主核心單元10確認異常是否排除? 若確認異常已排除時，則回到步驟S210，主核心單元10以第一優先權控制機器的運轉程序。若確異常仍未排除時，則回到步驟S230，主核心單元10致能第二開關單元82，以停止該機器的運轉程序。In step S240, the main core unit 10 confirms whether the abnormality has been eliminated. If it is confirmed that the abnormality has been eliminated, the process returns to step S210, and the main core unit 10 controls the operation program of the machine with the first priority. If the abnormality has not been eliminated, the process returns to step S230, and the main core unit 10 enables the second switch unit 82 to stop the operation program of the machine.

請參照第3圖，係為本揭露一實施例之次核心單元控制流程圖。如第3圖所示，本實施例的次核心單元30的控制流程包含下列步驟：Please refer to FIG. 3, which is a sub-core unit control flow chart of an embodiment of the present disclosure. As shown in FIG. 3, the control flow of the sub-core unit 30 of the present embodiment includes the following steps:

步驟S300，使用無線訊號發射器96傳送無線控制訊號至無線訊號接收器94，主核心單元10根據無線控制訊號所對應的控制指令，致能第一開關單元80、啟動單元84與引擎100，以啟動機器。In step S300, the wireless signal transmitter 96 is used to transmit a wireless control signal to the wireless signal receiver 94. The main core unit 10 enables the first switch unit 80, the start unit 84 and the engine 100 according to the control instruction corresponding to the wireless control signal to start the machine.

步驟S310，主核心單元10以第一優先權控制機器的運轉程序(例如，載具移動、機械手臂運作、油門控制、引擎啟動及熄火等)。In step S310, the main core unit 10 controls the operation procedures of the machine with the first priority (for example, vehicle movement, robot arm operation, throttle control, engine start and stop, etc.).

步驟S320，次核心單元30透過第一通訊單元20接收來自主核心單元10的複數筆資料(例如，載具移動、機械手臂運作、油門控制、引擎啟動、熄火、傾角感測數據、溫度感測數據、頻率感測數據與加速度感測數據等)，以確認是否符合異常條件?  換言之，次核心單元30透過第一通訊單元20讀取來自主核心單元10的複數筆資料，以判斷主核心單元10的狀態。In step S320, the sub-core unit 30 receives multiple data (for example, vehicle movement, robot arm operation, throttle control, engine start, shutdown, tilt sensing data, temperature sensing data, frequency sensing data and acceleration sensing data, etc.) from the main core unit 10 through the first communication unit 20 to confirm whether the abnormal conditions are met? In other words, the sub-core unit 30 reads multiple data from the main core unit 10 through the first communication unit 20 to determine the status of the main core unit 10.

步驟S330，若確認所述的複數筆資料符合異常條件時，則判定主核心單元10為異常狀態，並進入步驟S330。若確認所述的複數筆資料未符合異常條件時，回到步驟S310，主核心單元10以第一優先權控制機器的運轉程序。In step S330, if it is confirmed that the plurality of data meets the abnormal condition, the main core unit 10 is determined to be in an abnormal state and enters step S330. If it is confirmed that the plurality of data does not meet the abnormal condition, it returns to step S310 and the main core unit 10 controls the operation program of the machine with the first priority.

步驟S330，次核心單元30致能第二開關單元82，以停止機器的運轉程序。接著，步驟S340，次核心單元30以高於第一優先權之第二優先權控制機器之運轉程序。In step S330, the sub-core unit 30 enables the second switch unit 82 to stop the operation of the machine. Then, in step S340, the sub-core unit 30 controls the operation of the machine with a second priority higher than the first priority.

步驟S350，次核心單元30檢查感測模組(第一感測模組40與第二感測模組50)是否異常? 若次核心單元30檢查感測模組的傳輸內容錯誤、資料格式錯誤時、感測數據超出設定值(例如，傾角過大、溫度過高…等)，則判定為異常狀態，進入步驟S330。若次核心單元30檢查感測模組為正常時，則繼續以第二優先權控制機器的運轉程序。In step S350, the sub-core unit 30 checks whether the sensing module (the first sensing module 40 and the second sensing module 50) is abnormal. If the sub-core unit 30 checks the sensing module and finds that the transmission content is wrong, the data format is wrong, or the sensing data exceeds the set value (for example, the tilt angle is too large, the temperature is too high, etc.), it is determined to be an abnormal state and enters step S330. If the sub-core unit 30 checks that the sensing module is normal, it continues to control the operation program of the machine with the second priority.

本揭露之農機雙核心冗餘控制系統，可近端或遠端操控一機器的運轉程序，符合智慧化農業的發展趨勢。The agricultural machine dual-core redundant control system disclosed herein can control the operation program of a machine locally or remotely, which is in line with the development trend of intelligent agriculture.

綜上所述，根據本揭露實施例，農機雙核心冗餘控制系統150包含主核心單元10及次核心單元30。其中，次核心單元30可持續監控主核心單元10的運行狀態，並於主核心單元10發生異常時，次核心單元立30即停止機器的運轉程序，避免發生危險，並由次核心單元30重新接管機器的運轉程序。因此，機器的安全性可以有效地提升。In summary, according to the disclosed embodiment, the agricultural machine dual-core redundant control system 150 includes a main core unit 10 and a sub-core unit 30. The sub-core unit 30 can continuously monitor the operating status of the main core unit 10, and when an abnormality occurs in the main core unit 10, the sub-core unit 30 immediately stops the machine's operating program to avoid danger, and the sub-core unit 30 takes over the machine's operating program again. Therefore, the safety of the machine can be effectively improved.

另外，如前述，根據本揭露實施例，農機雙核心冗餘控制系統150包含主核心單元10及次核心單元30。當主核心單元10發生異常時，次核心單元30可持續監控主核心單元10的運行狀態，並由次核心單元30重新接管機器的運轉程序，故可為機器提供額外的保護機制。因此，機器的可靠性可以有效地提升。In addition, as mentioned above, according to the disclosed embodiment, the agricultural machine dual-core redundant control system 150 includes a main core unit 10 and a sub-core unit 30. When the main core unit 10 is abnormal, the sub-core unit 30 can continuously monitor the operation status of the main core unit 10, and the sub-core unit 30 can take over the operation program of the machine again, so that an additional protection mechanism can be provided for the machine. Therefore, the reliability of the machine can be effectively improved.

此外，根據本揭露實施例，農機雙核心冗餘控制系統150採用雙核心控制，故可提升機器安全性及可靠性。因此，機器的市場接受度可大幅提升，以增加其市場競爭力。In addition, according to the disclosed embodiment, the agricultural machine dual-core redundant control system 150 adopts dual-core control, so the machine safety and reliability can be improved. Therefore, the market acceptance of the machine can be greatly improved to increase its market competitiveness.

雖然本揭露已以實施例揭露如上，然其並非用以限定本揭露，任何所屬技術領域中具有通常知識者，在不脫離本揭露之精神和範圍內，當可作些許之更動與潤飾，故本揭露之保護範圍當視後附之申請專利範圍所界定者為準。Although the present disclosure has been disclosed as above by way of embodiments, it is not intended to limit the present disclosure. Any person with ordinary knowledge in the relevant technical field may make some changes and modifications without departing from the spirit and scope of the present disclosure. Therefore, the protection scope of the present disclosure shall be subject to the definition of the attached patent application scope.

10:主核心單元 20:第一通訊單元 30:次核心單元 40:第一感測模組 42:傾角感測單元 44:溫度感測單元 46:頻率感測單元 48:加速度感測單元 50:第二感測模組 52:距離感測單元 54:碰撞感測單元 60:第二通訊單元 70:數位類比轉換器 72:類比數位轉換器 80:第一開關單元 82:第二開關單元 84:啟動單元 86:熄火單元 88:馬達控制模組 90:電池管理系統 92:油門控制馬達 94:無線訊號接收器 96:無線訊號發射器 100:引擎 150:農機雙核心冗餘控制系統 S200~S350:步驟 10: Main core unit 20: First communication unit 30: Second core unit 40: First sensing module 42: Tilt sensing unit 44: Temperature sensing unit 46: Frequency sensing unit 48: Acceleration sensing unit 50: Second sensing module 52: Distance sensing unit 54: Collision sensing unit 60: Second communication unit 70: Digital to analog converter 72: Analog to digital converter 80: First switch unit 82: Second switch unit 84: Start unit 86: Shutdown unit 88: Motor control module 90: Battery management system 92: Throttle control motor 94: Wireless signal receiver 96: Wireless signal transmitter 100: Engine 150: Dual-core redundant control system for agricultural machinery S200~S350: Steps

第1圖係為本揭露一實施例之系統方塊圖。 第2圖係為本揭露一實施例之主核心單元控制流程圖。 第3圖係為本揭露一實施例之次核心單元控制流程圖。 Figure 1 is a system block diagram of an embodiment of the present disclosure. Figure 2 is a control flow chart of the main core unit of an embodiment of the present disclosure. Figure 3 is a control flow chart of the sub-core unit of an embodiment of the present disclosure.

10:主核心單元 20:第一通訊單元 30:次核心單元 40:第一感測模組 42:傾角感測單元 44:溫度感測單元 46:頻率感測單元 48:加速度感測單元 50:第二感測模組 52:距離感測單元 54:碰撞感測單元 60:第二通訊單元 70:數位類比轉換器 72:類比數位轉換器 80:第一開關單元 82:第二開關單元 84:啟動單元 86:熄火單元 88:馬達控制模組 90:電池管理系統 92:油門控制馬達 94:無線訊號接收器 96:無線訊號發射器 100:引擎 150:農機雙核心冗餘控制系統 10: Main core unit 20: First communication unit 30: Second core unit 40: First sensing module 42: Tilt sensing unit 44: Temperature sensing unit 46: Frequency sensing unit 48: Acceleration sensing unit 50: Second sensing module 52: Distance sensing unit 54: Collision sensing unit 60: Second communication unit 70: Digital to analog converter 72: Analog to digital converter 80: First switch unit 82: Second switch unit 84: Start unit 86: Shutdown unit 88: Motor control module 90: Battery management system 92: Throttle control motor 94: Wireless signal receiver 96: Wireless signal transmitter 100:Engine 150:Agricultural machinery dual-core redundant control system

Claims (17)

一種農機雙核心冗餘控制系統，包含：一主核心單元，以一第一優先權控制一機器之運轉程序；一第一通訊單元，與該主核心單元連接，用以傳輸該運轉程序之相關資料；及一次核心單元，與該第一通訊單元連接；其中該主核心單元透過一第二通訊單元與一第一感測模組連接，該第一感測模組用以取得傾角感測數據、溫度感測數據、頻率感測數據與加速度感測數據，該主核心單元透過一類比數位轉換器與一第二感測模組連接，該第二感測模組用以取得距離感測數據、碰撞感測數據，該次核心單元透過該第一通訊單元接收來自該主核心單元之複數筆資料，該些複數筆資料包含有傾角感測數據、溫度感測數據、頻率感測數據、加速度感測數據、距離感測數據及碰撞感測數據中之一或以上，該次核心單元於該些複數筆資料之任一或以上符合一異常條件時，以高於該第一優先權之一第二優先權控制該機器之該運轉程序。 A dual-core redundant control system for an agricultural machine includes: a main core unit, which controls an operation program of a machine with a first priority; a first communication unit, which is connected to the main core unit and is used to transmit relevant data of the operation program; and a primary core unit, which is connected to the first communication unit; wherein the main core unit is connected to a first sensing module through a second communication unit, and the first sensing module is used to obtain tilt sensing data, temperature sensing data, frequency sensing data and acceleration sensing data, and the main core unit is connected to a second sensing module through an analog-to-digital converter. The second sensing module is connected to the main core unit, and the second sensing module is used to obtain distance sensing data and collision sensing data. The secondary core unit receives multiple data from the main core unit through the first communication unit. The multiple data include one or more of tilt sensing data, temperature sensing data, frequency sensing data, acceleration sensing data, distance sensing data and collision sensing data. When any one or more of the multiple data meets an abnormal condition, the secondary core unit controls the operation process of the machine with a second priority higher than the first priority. 如請求項1所述之農機雙核心冗餘控制系統，其中還包有：一無線訊號接收器，與該主核心單元連接，用以接收一無線控制訊號；及一無線訊號發射器，用以發射該無線控制訊號，以控制該機器之該運轉程序。 The agricultural machine dual-core redundant control system as described in claim 1 further includes: a wireless signal receiver connected to the main core unit for receiving a wireless control signal; and a wireless signal transmitter for transmitting the wireless control signal to control the operation process of the machine. 如請求項2所述之農機雙核心冗餘控制系統，其中該無線控制訊號為基於紅外線、無線網路(Wi-Fi)、第4代行動通訊網路(4G)與/或第5代行動通訊網路(5G)的訊號。 A dual-core redundant control system for agricultural machinery as described in claim 2, wherein the wireless control signal is a signal based on infrared, wireless network (Wi-Fi), 4th generation mobile communication network (4G) and/or 5th generation mobile communication network (5G). 如請求項1所述之農機雙核心冗餘控制系統，其中該次核心單元以該第二優先權控制該機器之該運轉程序前，先停止該主核心單元控制該機器之該運轉程序。 As described in claim 1, the dual-core redundant control system for agricultural machinery, wherein the secondary core unit stops the main core unit from controlling the operating program of the machine before controlling the operating program of the machine with the second priority. 如請求項1所述之農機雙核心冗餘控制系統，其中該第二通訊單元為積體電路匯流排(I2C)。 The agricultural machine dual-core redundant control system as described in claim 1, wherein the second communication unit is an integrated circuit bus (I2C). 如請求項1所述之農機雙核心冗餘控制系統，其中該運轉程序包含有載具移動、機械手臂運作、油門控制、引擎啟動及熄火中之一或以上。 A dual-core redundant control system for agricultural machinery as described in claim 1, wherein the operation program includes one or more of vehicle movement, robot arm operation, throttle control, engine start and shutdown. 如請求項1所述之農機雙核心冗餘控制系統，其中該異常條件包含有傳輸內容異常、資料格式異常、尚未處理程序異常中之一或以上。 The agricultural machine dual-core redundant control system as described in claim 1, wherein the abnormal condition includes one or more of transmission content abnormality, data format abnormality, and unprocessed program abnormality. 如請求項1所述之農機雙核心冗餘控制系統，其中該第一通訊單元為控制器區域網路(CANbus)。 A dual-core redundant control system for agricultural machinery as described in claim 1, wherein the first communication unit is a controller area network (CANbus). 一種農機雙核心冗餘控制系統，包含：一主核心單元，用以控制一機器之運轉程序；一第一通訊單元，與該主核心單元連接，用以傳輸該運轉程序之相關資料；及一次核心單元，與該第一通訊單元連接；其中該主核心單元透過一第二通訊單元與一第一感測模組連接，該第一感測模組用以取得傾角感測數據、溫度感測數據、頻率感測數據與加速度感測數據，該主核心單元透過類比數位轉換器與一第二感測模組連接，該第二感測模組用以取得距離感測數據、碰撞感測數據，該次核心單元透過該第一通訊單元接收來自該主核心單元之複數筆資料，該些複數筆資料包含有傾角感測數據、溫度感測數據、頻率感測數據、加速度感測數據、距離感測數據及碰撞感測數據中之一或以上，該次核心單元於一異常狀況產生時，該次核心單元先停止該主核心單元控制該機器之該運轉程序，再控制該機器之該運轉程序。 A dual-core redundant control system for an agricultural machine includes: a main core unit for controlling an operation program of a machine; a first communication unit connected to the main core unit for transmitting data related to the operation program; and a primary core unit connected to the first communication unit; wherein the main core unit is connected to a first sensing module through a second communication unit, the first sensing module is used to obtain tilt sensing data, temperature sensing data, frequency sensing data and acceleration sensing data, and the main core unit is connected to a second sensing module through an analog-to-digital converter. The module is connected, the second sensing module is used to obtain distance sensing data and collision sensing data. The sub-core unit receives multiple data from the main core unit through the first communication unit. These multiple data include one or more of tilt sensing data, temperature sensing data, frequency sensing data, acceleration sensing data, distance sensing data and collision sensing data. When an abnormal condition occurs in the sub-core unit, the sub-core unit first stops the main core unit from controlling the operation program of the machine, and then controls the operation program of the machine. 如請求項9所述之農機雙核心冗餘控制系統，其中該異常狀況為該些複數筆資料之任一或以上符合一異常條件。 The agricultural machinery dual-core redundant control system as described in claim 9, wherein the abnormal condition is that any one or more of the plurality of data meets an abnormal condition. 如請求項10所述之農機雙核心冗餘控制系統，其中該異常條件包含有傳輸內容異常、資料格式異常、尚未處理程序異常中之一或以上。 The agricultural machine dual-core redundant control system as described in claim 10, wherein the abnormal condition includes one or more of transmission content abnormality, data format abnormality, and unprocessed program abnormality. 如請求項9所述之農機雙核心冗餘控制系統，其中該主核心單元以一第一優先權控制該機器之運轉程序，並於該異常狀況產生時，該次核心單元先停止該主核心單元控制該機器之該運轉程序，再以高於該第一優先權之一第二優先權控制該機器之該運轉程序。 As described in claim 9, the agricultural machine dual-core redundant control system, wherein the main core unit controls the operation program of the machine with a first priority, and when the abnormal condition occurs, the secondary core unit first stops the main core unit from controlling the operation program of the machine, and then controls the operation program of the machine with a second priority higher than the first priority. 如請求項9所述之農機雙核心冗餘控制系統，其中還包有：一無線訊號接收器，與該主核心單元連接，用以接收一無線控制訊號；及一無線訊號發射器，用以發射該無線控制訊號，以控制該機器之該運轉程序。 The agricultural machine dual-core redundant control system as described in claim 9 further includes: a wireless signal receiver connected to the main core unit for receiving a wireless control signal; and a wireless signal transmitter for transmitting the wireless control signal to control the operation process of the machine. 如請求項13所述之農機雙核心冗餘控制系統，其中該無線控制訊號為基於紅外線、無線網路(Wi-Fi)、第4代行動通訊網路(4G)與/或第5代行動通訊網路(5G)的訊號。 A dual-core redundant control system for agricultural machinery as described in claim 13, wherein the wireless control signal is a signal based on infrared, wireless network (Wi-Fi), 4th generation mobile communication network (4G) and/or 5th generation mobile communication network (5G). 如請求項9所述之農機雙核心冗餘控制系統，其中該第二通訊單元為積體電路匯流排(I2C)。 The agricultural machine dual-core redundant control system as described in claim 9, wherein the second communication unit is an integrated circuit bus (I2C). 如請求項9所述之農機雙核心冗餘控制系統，其中該運轉程序包含有載具移動、機械手臂運作、油門控制、引擎啟動及熄火中之一或以上。 A dual-core redundant control system for agricultural machinery as described in claim 9, wherein the operation program includes one or more of vehicle movement, robot arm operation, throttle control, engine start and shutdown. 如請求項9所述之農機雙核心冗餘控制系統，其中該第一通訊單元為控制器區域網路(CANbus)。 The agricultural machinery dual-core redundant control system as described in claim 9, wherein the first communication unit is a controller area network (CANbus).
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