FI126267B - Functional safety near a device - Google Patents

Functional safety near a device Download PDF

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Publication number
FI126267B
FI126267B FI20145795A FI20145795A FI126267B FI 126267 B FI126267 B FI 126267B FI 20145795 A FI20145795 A FI 20145795A FI 20145795 A FI20145795 A FI 20145795A FI 126267 B FI126267 B FI 126267B
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Finland
Prior art keywords
actuator
mobile station
control unit
proximity
wireless communication
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FI20145795A
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Finnish (fi)
Swedish (sv)
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FI20145795A (en
Inventor
Jussi Veikkolainen
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Vacon Oy
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Priority to FI20145795A priority Critical patent/FI126267B/en
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    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16P—SAFETY DEVICES IN GENERAL; SAFETY DEVICES FOR PRESSES
    • F16P3/00—Safety devices acting in conjunction with the control or operation of a machine; Control arrangements requiring the simultaneous use of two or more parts of the body
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F21/00—Security arrangements for protecting computers, components thereof, programs or data against unauthorised activity
    • G06F21/30—Authentication, i.e. establishing the identity or authorisation of security principals
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/02—Services making use of location information

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Computer Security & Cryptography (AREA)
  • Theoretical Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Computer Hardware Design (AREA)
  • Software Systems (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Signal Processing (AREA)
  • Manipulator (AREA)

Description

FUNCTIONAL SAFETY IN PROXIMITY OF AN ACTUATOR
Field of the invention
The present invention relates to functional safety in proximity of an actuator. More particularly the invention is related to safety functions with a wireless proximity detection of a person to an actuator, especially to a power electronics device.
Background of the invention
The objective of the functional safety is freedom from unacceptable risk of physical injury or of damage to the health of people either directly or indirectly. The principles on how to carry out safety functions are covered by international standards, e.g. IEC61508 gives the requirements for electric systems. A typical example of the functional safety is that actuating of an actuator which may cause hazardous consequences when misused is allowed only for a trained operator. This kind of an actuator may be e.g. a motor drive, consisting of a frequency converter and a motor, rotating a conveying belt.
The functional safety may include e.g. that if a person enters in too close proximity to the actuator its operation is prohibited. The proximity may be indicated e.g. by a luminous beam.
The safety function may be also the reverse; the actuator operation is allowed only by an authorized operator who needs to prove the authorization close to the actuator e.g. by a special key before being able to start the control actions.
The above-mentioned example, like also other known corresponding arrangements for a proximity indication, require a special instrumentation, which cause remarkable costs and possibly reliability problems due to sensitive hardware. The same applies to the operator authorization arrangements, too.
Summary of the invention
The object of the present invention is to avoid the problems of prior art by presenting a novel solution enabling to detect the proximity of a person to an actuator by using a low-cost, commercially available device such that the requirements of functional safety standards are met. The objective is achieved by what is stated in the independent claims. Other preferred embodiments are disclosed in the dependent claims.
The invention is based on that the proximity of a person to the actuator is detected by utilizing wireless communication link between a mobile device, carried by the person, and the actuator. The data transfer in the wireless communication link is implemented in a way that meets the requirements of the functional safety.
According to the invention, the operation of the actuator is either - forbidden if the proximity of the mobile device is too close to the actuator, or - allowed if the proximity of the mobile device is near enough to the actuator.
The forbidden / allowed proximity information may be based on that the mobile device is in the range of wireless communication link and can be detected or it can be based on the position information that is embedded in the messages sent by the mobile device.
The mobile device may be e.g. a mobile phone, a table computer, a wearable device or a device attachable to a person or his cloths etc. The wireless communication in this context may be e.g. Bluetooth, which is able to link devices at short distances, typically up to 10 meters, or NFC (near field communication), which is able to link devices at few centimeters range. The proximity detection may utilize the known space-based satellite navigation system called GPS (Global Positioning System) or any other satellite position system or indoor position system.
According to an embodiment of the invention the safe communication between devices is implemented by a single channel approach which meets the requirements of the known black channel principle, i.e. cyclic messages with embedded safety related data according to agreed rules.
According to an embodiment of the invention the safe communication between devices is implemented by a double channel approach wherein the actuator has at least two wireless receivers, each connected to its own microprocessor which is capable for handling possible errors and initiating the safe state of the actuator. The safety in this embodiment is ensured by checking that all receivers receive essentially simultaneously the same messages.
According to an embodiment of the invention the safe communication between devices is implemented by that the actuator includes at least one wireless transceiver or a sender/receiver pair, connected to at least one microprocessor which is capable for handling possible errors and initiating the safe state of the actuator. The safety in this embodiment is ensured by checking that the at least one transceiver or receiver receives, within a specified time limit, from the mobile device the same message that the transceiver or sender sent to the mobile device.
The present invention can be applied to actuators containing wireless communication devices and appropriate identification software both in the actuator control unit and in the mobile device, in order to sense the proximity of a person to an actuator in a way meeting the functional safety requirements. The invention is defined in more detail in the present description and the following examples of embodiment. The scope of protection is defined in the independent claims and the preferred embodiments in other claims.
Brief description of the figures
In the following, preferred embodiments of the present invention will be described in detail by reference to the enclosed drawings, wherein
Fig. 1 presents a main diagram of a speed controlled motor drive,
Fig. 2 presents a schematic diagram on a wireless functional safe system according to the present invention,
Fig. 3 presents a schematic diagram on a wireless functional safe system according to the present invention,
Fig. 4 presents a schematic diagram on a wireless functional safe system according to the present invention,
Fig. 5 presents characteristic signal diagrams of a safe required proximity function, and
Fig. 6 presents characteristic signal diagrams of a safe forbidden proximity function.
Detailed description of the preferred embodiments
It is to be understood that at least some of the figures and descriptions of the invention have been simplified to focus on elements that are relevant for a clear understanding of the invention, while eliminating, for purposes of clarity, other elements which those of ordinary skill in the art will appreciate may also comprise a portion of the invention. However, because such elements are well known in the art, and because they do not necessarily facilitate a better understanding of the invention, a description of such elements is not provided herein.
Fig. 1 presents a main diagram of a known and typical variable speed motor drive, wherein a frequency converter FC is used to control the speed of an AC motor M. The frequency converter FC contains a diode-bridge rectifier REC, rectifying the three-phase supply voltage L-ι, l_2, L3 into a constant DC-link voltage which is smoothed by a capacitor Cdc, a three-phase inverter unit INU, consisting of IGBT-switches V1...V6 and free-wheeling diodes D1...D6, a control panel CP and a control unit CU.
The basic function of the inverter is to create a three-phase adjustable output voltage U, V, W for the motor M. From the functional safety point of view the rotating shaft of the motor may be a source of hazard, and that is why in general all actions in a hazardous situation target on a safe torque off (STO) situation which is achieved by stopping the drive, i.e. turning off all controllable power switches V-|...V6. Also such fault in FC which prevents INU from creating a rotating three-phase output voltage (e.g. an IGBT-failure that causes a DC-link short-circuit and input fuse blow) can be considered as a functionally safe situation.
The functional safety may require that unauthorized personnel need to be prevented from starting the drive, which in case of Fig.Ts example would mean e.g. that the control unit CU is able to identify such personnel and prevent the operating commands, given from the control panel CP, come into effect.
The following figures 2-4 present various methods and arrangements for a wireless communication between a mobile device and an actuator, meeting the requirements of functional safety and thus making possible for the control unit of an actuator, e.g. of a frequency converter, to identify the proximity of a person carrying the mobile device.
Fig. 2 presents in a simplified form a schematic diagram of a similar system than in Fig. 1, comprising of a power controller 210, e.g. a frequency converter containing a control unit 220, a power stage 230, and a motor 240. A mobile device 201, comprising a communication device 202, is in a wireless connection 203 with a communication device 221 in the control unit 220. According to the present invention, the communication between the devices 202, 221 meet the requirements of the functional safety. In this so-called single channel approach the functional safety is met by that the message transfer meets the known black channel specification, i.e. certain safety information is embedded in the cyclic standard telegrams. The control device 224, e.g. a microprocessor, of the control unit 220 decides, based on the proximity information received from the mobile device 201, whether the operating commands given from the control panel 223 will be followed or not. The control device 224 of the control unit 220 communicates with the control device 231 of the power stage 230, which is able to turn on/off the power switches 232 which finally form the output voltage for the motor 240.
Fig. 3 presents a similar system than Fig. 2, comprising a power controller 310 containing a control unit 320, a power stage 330 and a motor 340. In this case the control unit comprises two communication devices 321, 322, which both are connected to their own control devices 324, 325. In this case, if both communication devices 321, 322, receive via the wireless connection 303 the same message from the communication device 302 of the mobile device 301, the message can be considered as reliable and thus meet the requirement of functional safety. Just as in Fig. 2 case, the control devices 324, 325 can decide on the basis of the proximity information from the mobile device 301 if the operating commands given from the control panel 323 will be followed or not.
Fig. 4 presents a similar system than Fig. 2, comprising a power controller 410 containing a control unit 420, a power stage 430 and a motor 440. The control unit comprises communication devices 421, 422, which may be a sender and a receiver or a single transceiver device being able to send and receive wireless messages. In this case, if the proximity inquiry sent by 421 is received by 422 with the actual proximity information from a mobile device 401, the received data can be considered as reliable and thus meet the requirement of functional safety. Just as in case of Fig. 2, the control devices 424, 425 can decide on the basis of the proximity information of the mobile device 401 if the operating commands given from the control panel 423 will be followed or not.
Figures 5 and 6 illustrate how the proximity information of the mobile device can be utilized according to the present invention. In the examples it has been supposed that authorization for operating an actuator is personalized and all personnel within the operating area is obligated to carry a mobile device including appropriate software for the communication with the actuator.
According to Fig. 5, when the wireless link between the mobile device and the actuator is disconnected (WLD), it means that the person is outside the required proximity (area ORP), and the actuator is in a safe torque off state (STO). Respectively, when the wireless link is connected (WLC), the person is within the required proximity (IRP) and the actuator turns into a ready state (RDY) where it can be started, i.e. in the examples of Figs. 1 - 4 the commands given from the control panel will be followed.
According to Fig. 6, when the wireless link between the mobile device and the actuator is disconnected (WLD), it means that the person is outside the forbidden proximity (OWP), and the actuator is in a ready state (RDY), following the commands given from the control panel. When the person comes closer to the actuator, the wireless link activates (WLC), but according to the distance information indicated by e.g. the GPS coordinates is still far enough to the actuator. It means that the person is inside a warning proximity (IWP), where the ready state is still on but a warning signal may be given by the actuator and/or the mobile device. Finally, when the person is within the forbidden proximity (IFP), the actuator turns into a safe torque off state (STO) where the person is not able to give operative commands.
Even though the safe required proximity and safe forbidden proximity functions are opposite, they can be utilized simultaneously e.g. in a case where a person is authorized to enter into a factory area and operate certain machines but is not authorized to operate some other machines. In this embodiment the mobile device, which is in the proximity of the actuator, is identified and the operation of the actuator is controlled based on proximity and identification of the mobile device.
While the invention has been described with reference to the previous embodiment, it should be recognized that the invention is not limited to this embodiment, and many modifications and variations will become apparent to persons skilled in the art without departing from the scope and spirit of the invention, as defined in the appended claims.

Claims (16)

1. Menetelmä toimilaitteen toiminnan ohjaamiseksi, jossa menetelmässä havaitaan matkaviestintä kantavan henkilö läheisyys toimilaitteeseen, jolloin toimilaite käsittää ohjausyksikön ja ohjausyksikköön liitetyn langattoman viestintävälineen, tunnettu siitä, että menetelmä käsittää vaiheet, joissa havaitaan matkaviestimen läheisyys toimilaitteeseen matkaviestimen ja toimilaitteen ohjausyksikköön liitetyn langattoman viestintävälineen välisellä langattomalla yhteydellä ja ohjataan toimilaitteen toimintaa sen mukaan, mikä on matkaviestimen havaittu läheisyys toimilaitteeseen, jolloin matkaviestimen läheisyys havaitaan käyttämällä matkaviestimen ja langattoman viestintävälineen välistä langatonta tiedonsiirtoyhteyttä, joka täyttää toiminnallisen turvallisuuden standardin siten, että ohjausyksikkö toimeenpanee yhden kanavan lähestymistavan ja laitteiden välinen viestiliikenne on syklinen, käsittäen spesifisiä turvallisuustietoja mustan kanavan periaatteen mukaisesti, tai toimilaitteen ohjausyksikkö käsittää vähintään kaksi langatonta viestintälaitetta ja matkaviestimen ja toimilaitteen ohjausyksikön välissä on kaksi tiedonsiirtoyhteyttä, ja viestiliikenne matkaviestimestä tulkitaan luotettavaksi, jos molemmat viestintälaitteet vastaanottavat samat tiedot oleellisesti samanaikaisesti, tai toimilaitteen ohjausyksikkö käsittää vähintään yhden lähetin-vastaanottimen tai vähintään yhden lähettimen ja vähintään yhden vastaanottimen, ja viestiliikenne matkaviestimestä tulkitaan luotettavaksi, jos lähetin-vastaanotin/vastaanotin vastaanottaa tietyn määräajan sisällä matkaviestimestä saman viestin, jonka lähetin-vastaanotin/lähetin lähetti sille.A method for controlling the operation of an actuator, comprising detecting the proximity of a person carrying a mobile station to the actuator, the actuator comprising a control unit and a wireless communication device connected to the control unit, characterized by the steps of detecting proximity of the mobile station controlling the actuator operation according to the perceived proximity of the mobile station to the actuator, wherein the proximity of the mobile station is detected using a wireless communication link between the mobile station and the wireless communication device that meets the operational security standard; the control unit implements one-channel, kan or the actuator control unit comprises at least two wireless communication devices and there are two communication links between the mobile station and the actuator control unit, and the communication from the mobile station is interpreted as reliable if both communication devices receive the same information substantially simultaneously, or the actuator control unit comprises and at least one receiver, and communication from the mobile station is considered reliable if the transceiver receives the same message from the mobile station that was sent to it by the transceiver / transmitter within a specified time. 2. Patenttivaatimuksen 1 mukainen menetelmä, tunnettu siitä, että toimilaitteen toiminta sallitaan tai toimilaitteen toiminta estetään sen mukaan, mikä on matkaviestimen havaittu läheisyys toimilaitteeseen.Method according to Claim 1, characterized in that the actuator is allowed to operate or is blocked according to the perceived proximity of the mobile station to the actuator. 3. Patenttivaatimuksen 2 mukainen menetelmä, tunnettu siitä, että toimilaite käsittää virtakytkimiä ja ohjausyksikön, joka ohjausyksikkö pystyy sallimaan tai estämään toimilaitteen virtakytkinten kääntämisen päälle tai pois päältä sen mukaan, mikä on matkaviestimen läheisyys toimilaitteeseen.Method according to claim 2, characterized in that the actuator comprises power switches and a control unit, which control unit is able to allow or prevent the actuator power switches from being turned on or off depending on the proximity of the mobile station to the actuator. 4. Jonkin edellisen patenttivaatimuksen mukainen menetelmä, tunnettu siitä, että menetelmä käsittää lisäksi vaiheet, joissa matkaviestin tunnistetaan ja toimilaitteen toimintaa ohjataan matkaviestimen tunnisteen perusteella.Method according to one of the preceding claims, characterized in that the method further comprises the steps of identifying the mobile station and controlling the operation of the actuator based on the identification of the mobile station. 5. Jonkin edellisen patenttivaatimuksen mukainen menetelmä, tunnettu siitä, että toimilaitteen toiminta estetään, jos matkaviestimen ja toimilaitteen välinen etäisyys alittaa ennalta määrätyn etäisyysarvon.Method according to one of the preceding claims, characterized in that the actuator is prevented from operating if the distance between the mobile station and the actuator falls below a predetermined distance value. 6. Jonkin patenttivaatimuksen 1-4 mukainen menetelmä, tunnettu siitä, että toimilaitteen toiminta sallitaan, jos matkaviestimen ja toimilaitteen välinen etäisyys alittaa ennalta määrätyn etäisyysarvon.Method according to one of Claims 1 to 4, characterized in that the actuator is allowed to operate if the distance between the mobile station and the actuator is below a predetermined distance value. 7. Jonkin edellisen patenttivaatimuksen mukainen menetelmä, tunnettu siitä, että matkaviestimen läheisyys havaitaan, kun matkaviestin on langattoman viestintävälineen kantaman sisällä.Method according to one of the preceding claims, characterized in that the proximity of the mobile station is detected when the mobile station is within the range of the wireless communication device. 8. Jonkin edellisen patenttivaatimuksen mukainen menetelmä, tunnettu siitä, että matkaviestimen läheisyys havaitaan sijaintitiedolla, esimerkiksi GPS-koordinaatilla, joka on upotettu matkaviestimen lähettämiin viesteihin.Method according to one of the preceding claims, characterized in that the proximity of the mobile station is detected by location information, for example a GPS coordinate embedded in the messages transmitted by the mobile station. 9. Toimilaite, joka käsittää ohjausyksikön ja ohjausyksikköön liitetyn langattoman viestintävälineen, tunnettu siitä, että toimilaite on sovitettu ohjaamaan sen toimintaa sen perusteella, että havaitaan matkaviestintä kantavan henkilön läheisyys toimilaitteeseen, jolloin ohjausyksikkö on sovitettu havaitsemaan matkaviestimen läheisyyden toimilaitteeseen matkaviestimen ja toimilaitteen ohjausyksikköön liitetyn langattoman viestintävälineen välisellä langattomalla yhteydellä ja ohjausyksikkö on sovitettu ohjaamaan toimilaitteen toimintaa sen mukaan, mikä on matkaviestimen läheisyys toimilaitteeseen, jolloin ohjausyksikkö on sovitettu havainnoimaan matkaviestimen läheisyyden käyttämällä matkaviestimen ja langattoman viestintävälineen välistä langatonta tiedonsiirtoyhteyttä, joka täyttää toiminnallisen turvallisuuden standardin siten, että ohjausyksikkö on sovitettu toimeenpanemaan matkaviestimen ja toimilaitteen ohjausyksikön välisen tiedonsiirtoyhteyden yhden kanavan lähestymistavalla, ja laitteiden välinen viestiliikenne on syklinen, käsittäen spesifisiä turvallisuustietoja mustan kanavan periaatteen mukaisesti, tai toimilaitteen ohjausyksikkö käsittää vähintään kaksi langatonta viestintälaitetta ja matkaviestimen ja toimilaitteen ohjausyksikön välissä on kaksi tiedonsiirtoyhteyttä, ja ohjausyksikkö on sovitettu tulkitsemaan viestiliikenteen matkaviestimestä luotettavaksi, jos molemmat viestintälaitteet vastaanottavat samat tiedot oleellisesti samanaikaisesti, tai toimilaitteen ohjausyksikkö käsittää vähintään yhden lähetin-vastaanottimen tai vähintään yhden lähettimen ja vähintään yhden vastaanottimen, ja ohjausyksikkö on sovitettu tulkitsemaan viestiliikenteen matkaviestimestä luotettavaksi, jos lähetin-vastaanotin/vastaanotin vastaanottaa tietyn määräajan sisällä matkaviestimestä saman viestin, jonka lähetin-vastaanotin/lähetin lähetti sille.An actuator comprising a control unit and a wireless communication device connected to the control unit, characterized in that the actuator is adapted to control its operation by detecting proximity of the mobile carrier to the actuator, the control unit being adapted to detect the proximity of the mobile station to the wirelessly and the control unit is adapted to control actuator operation according to the proximity of the mobile station to the actuator, wherein the control unit is adapted to detect the proximity of the mobile station using the wireless data link between the mobile station and the wireless information in the single-channel approach of communication, and communication between devices is cyclic, comprising specific security information according to the black channel principle, or the actuator control unit comprises at least two wireless communication devices and the communication device between the mobile communication receive the same information substantially simultaneously, or the actuator control unit comprises at least one transceiver or at least one transmitter and at least one receiver, and the control unit is adapted to interpret the communication from the mobile station as reliable if the transceiver receives the same message from the mobile station the receiver / transmitter sent it. 10. Patenttivaatimuksen 9 mukainen toimilaite, tunnettu siitä, että ohjausyksikkö on sovitettu ohjaamaan toimilaitteen toimintaa siten, että toimilaitteen toiminta sallitaan tai toimilaitteen toiminta estetään sen mukaan, mikä on matkaviestimen läheisyys toimilaitteeseen.Actuator according to Claim 9, characterized in that the control unit is arranged to control the operation of the actuator in such a way that the operation of the actuator is allowed or denied according to the proximity of the mobile station to the actuator. 11. Patenttivaatimuksen 10 mukainen toimilaite, tunnettu siitä, että toimilaite käsittää virtakytkimiä ja ohjausyksikön, joka ohjausyksikkö on sovitettu siten, että se pystyy sallimaan tai estämään toimilaitteen virtakytkinten kääntämisen päälle tai pois päältä sen mukaan, mikä on matkaviestimen läheisyys toimilaitteeseen.Actuator according to Claim 10, characterized in that the actuator comprises power switches and a control unit, which control unit is arranged to allow or prevent the actuator power switches from being turned on or off depending on the proximity of the mobile station to the actuator. 12. Jonkin patenttivaatimuksen 9-11 mukainen toimilaite, tunnettu siitä, että ohjausyksikkö on sovitettu tunnistamaan matkaviestimen ja ohjaamaan toimilaitteen toimintaa matkaviestimen tunnisteen perusteella.Actuator according to one of Claims 9 to 11, characterized in that the control unit is adapted to recognize the mobile station and to control the operation of the actuator based on the identification of the mobile station. 13. Jonkin patenttivaatimuksen 9-12 mukainen toimilaite, tunnettu siitä, että ohjausyksikkö on sovitettu estämään toimilaitteen toiminnan, jos matkaviestimen ja toimilaitteen välinen etäisyys alittaa ennalta määrätyn etäisyysarvon.Actuator according to one of Claims 9 to 12, characterized in that the control unit is arranged to prevent the actuator from operating if the distance between the mobile station and the actuator falls below a predetermined distance value. 14. Jonkin patenttivaatimuksen 9-13 mukainen toimilaite, tunnettu siitä, että ohjausyksikkö on sovitettu sallimaan toimilaitteen toiminnan, jos matkaviestimen ja toimilaitteen välinen etäisyys alittaa ennalta määrätyn etäisyysarvon.Actuator according to one of Claims 9 to 13, characterized in that the control unit is arranged to allow the actuator to operate if the distance between the mobile station and the actuator falls below a predetermined distance value. 15. Jonkin patenttivaatimuksen 9-14 mukainen toimilaite, tunnettu siitä, että ohjausyksikkö on sovitettu havainnoimaan matkaviestimen läheisyyden, kun matkaviestin on langattoman viestintävälineen kantaman sisällä.Actuator according to one of Claims 9 to 14, characterized in that the control unit is adapted to detect the proximity of the mobile station when the mobile station is within the range of the wireless communication device. 16. Jonkin patenttivaatimuksen 9-15 mukainen toimilaite, tunnettu siitä, että ohjausyksikkö on sovitettu havaitsemaan matkaviestimen läheisyyden sijaintitiedolla, esimerkiksi GPS-koordinaatilla, joka on upotettu matkaviestimen lähettämiin viesteihin.An actuator according to any one of claims 9 to 15, characterized in that the control unit is adapted to detect the proximity of the mobile station by location information, for example a GPS coordinate embedded in the messages transmitted by the mobile station.
FI20145795A 2014-09-11 2014-09-11 Functional safety near a device FI126267B (en)

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