KR102594255B1 - Mobile robot network multiplexing system for enhancing safety and reliability, and method for recovering fault therewith - Google Patents

Abstract

The present invention is configured to connect a network of control processors and nodes in a ring or daisy chain method that supports link detection and auto loop-back functions, expanding the network into a multiplexed structure. By doing so, it is possible to respond to various defects such as defects in each control processor and multiple network defects, as well as to quickly and accurately normalize the system by optimizing the network operation mode in response to failure conditions, and without having to install duplicate systems. A network multiplexing system and This is about a failure recovery method using this.

Description

Mobile robot network multiplexing system for enhancing safety and reliability, and fault recovery method using the same {Mobile robot network multiplexing system for enhancing safety and reliability, and method for recovering fault therewith}

The present invention relates to a network multiplexing system for mobile robots with improved safety and reliability and a failure recovery method using the same. In detail, link detection and auto loop-back functions support the network of control processors and nodes. It is configured to connect in a ring or daisy chain method, expanding the network into a multiplexed structure, enabling response to various faults such as faults in each control processor and multiple network faults, as well as responding to fault conditions. This relates to a network multiplexing system for mobile robots that can quickly and accurately normalize the system by optimizing its own network operation mode and a failure recovery method using the same.

Recently, as communication infrastructure has expanded and the electronic device industry has become more sophisticated and sophisticated, systems such as aviation, power generation facilities, and web servers have developed exponentially, and these systems include various processors, actuators, Because sensors are interconnected and connected in a complex and precise manner, they essentially form a network.

These systems have the advantage of providing high-quality services as technology becomes more advanced and integrated, but the incidence of software defects or physical defects also increases in proportion to the advancement of system structure and design, and system defects Because it causes enormous economic and social damage, various studies are being conducted on network management systems (NMS) to manage network components.

In particular, in the case of systems that require high reliability and safety, when a defect occurs, the amount of damage incurred significantly increases, so more precise preparation measures are required.

Accordingly, recently, methods for quickly recovering and restarting the system when an unexpected fault occurs in the system by duplicating or multiplexing the system network have been studied and are widely used in the field.

At this time, system redundancy refers to a method of normalizing the system with replacement equipment in the event of a defect by installing additional equipment that can be operated as a substitute in preparation for system defects, and system multiplexing refers to installing two or more additional equipment that can operate as an alternative. means method.

Figure 1 is an exemplary diagram for explaining a conventional redundancy system.

The conventional redundancy system (hereinafter referred to as the prior art) 210 of FIG. 1 includes a main web server and a main DB server, and additionally installs a sub web server and a sub DB server, so that the web server and DB server are duplicated. .

In this prior art (210), the web server and DB server are redundantly configured, so that when a defect occurs in the main web server or main DB server, the IP is transferred to a sub web server or sub DB server that can be operated as a substitute, thereby ensuring rapid recovery of the system. It has the advantage of being able to be normalized.

However, the prior art 210 has the disadvantage of requiring a certain amount of installation space because a separate sub-web server and sub-DB server are installed, resulting in space constraints. This disadvantage is that the installation space is limited and the mobile robot has narrow characteristics. However, it has structural limitations that cannot be applied to automotive systems.

That is, the conventional redundancy system 210 has the disadvantage of being unsuitable for application to systems with narrow and limited installation space, such as mobile robots or automobiles.

Meanwhile, in general, most mobile robot and automobile systems not only apply CAN (Control Area Network) communication but also support multi-drop, so if a defect occurs in the control processor or network, part or all of the system may be damaged. A problem occurs where it does not work.

Figure 2 is an example diagram showing a mobile robot system using a conventional CAN communication and multi-drop network.

In the conventional mobile robot system 220 of FIG. 2, the control processor 221 and the nodes 222 are connected by CAN communication and multi-drop method, so that the network configuration is simple, the multi-master function is excellent, and line usage efficiency is high. It has high advantages.

However, the conventional mobile robot system 220 has the disadvantage of lowering system safety and reliability because when a fault occurs in the control processor 221, not only does a fault occur in the entire system operation, but also when a fault occurs in the network, a fault occurs in the system operation. has

In particular, mobile robots that frequently experience external shocks and vibrations have structural limitations that make them unsuitable because they require high safety and reliability.

In other words, there is an urgent need for a new network structure to improve the system safety and reliability of mobile robots that are subject to severe external shocks, vibrations, etc. and have a small installation space.

The present invention is intended to solve this problem, and the problem of the present invention is to connect the network of control processors and nodes to a ring or daisy chain that supports link detection and auto loop-back functions. ), and by expanding the network into a multiplexed structure, it is possible to respond to various faults such as faults in each control processor and multiple network faults, as well as optimize the network operation mode in response to fault conditions to improve the system. The purpose is to provide a network multiplexing system for mobile robots that can be quickly and accurately normalized and a failure recovery method using the same.

In addition, another problem solved by the present invention is that it can be operated without duplicate installation of the system and can respond to various types of defects, so it is a system suitable for the characteristics of mobile robots that have a small installation space and frequently experience external shocks. /The purpose is to provide a network multiplexing system for mobile robots that can provide a network and a failure recovery method using the same.

The solution of the present invention to solve the above problem is to configure the control processor (Controller) as a dual main control processor and a sub-control processor, and at the same time configure the communication module of each control processor as a dual first and second communication module. , in the failure recovery method (S1) for recovering from a failure in the network multiplexing system of a mobile robot in which the ports of each node are configured as quad ports: the failure recovery method (S1) of the first communication module of the main control processor A main network (N1) is formed by connecting the TX port and the RX port of the second communication module, and the nodes in ring communication or daisy chain, and at the same time, the second communication module of the main control processor The TX port of and the RX port of the first communication module are connected to the nodes in ring communication or daisy chain to configure the main network (N1) in redundancy. Step 20 (S20) of supporting link detection and auto loop-back functions; Constructing a sub-network (N2) by connecting the TX port of the first communication module and the RX port of the second communication module of the sub-control processor and the nodes through ring communication or daisy chain method; At the same time, the sub-network (N2) is duplicated by connecting the TX port of the second communication module and the RX port of the first communication module of the sub-control processor and the nodes through ring communication or daisy chain method. Step 30 (S40) of supporting link detection and auto loop-back functions in the sub-network (N2); Step 40 (S40) in which the main control processor and the main network (N1) set by step 20 (S20) are activated, but the sub-network (N2) set by step 30 (S30) is set to be deactivated; Step 50 (S50) of the main control processor and the sub-control processor detecting a link of the main network (N1) using a link detection function and mutual monitoring information; Step 60 (S60) in which the main control processor and the sub-control processor analyze the sensed data detected in step 50 (S50) and determine whether a failure has occurred; Step 80 (S80), which is performed when it is determined that a failure has occurred in step 60 (S60); It proceeds when it is determined that a failure has occurred in step 60 (S60), and includes step 90 (S90) in which the main control processor and the sub-control processor repair the failure and normalize the system, and step 80 (S80) Step 800 (S800) in which the main control processor and the sub-control processor analyze the sensed data detected in step 60 (S60) and the monitoring information received from the other party; The main control processor and the sub-control processor determine a failure type as a first failure state when a single fault occurs on the main network (N1) through the sensed data detected in step 800 (S800). 801(S801); When multiple faults occur on the main network (N1), the main control processor and the sub-control processor determine the fault type as a second fault state through the sensed data detected in step 800 (S800). 802(S802); Through the detection data detected by the main control processor and the sub-control processor in step 800 (S800), a fault occurs in the main control processor and at the same time, a single or multiple faults occur on the main network (N1). At step 803 (S803), determining the failure type as the third failure state; Through the sensed data detected by the main control processor and the sub-control processor in step 800 (S800), a fault occurs in the main control processor and at the same time a single fault occurs on the main network (N1), When a single fault occurs in the sub-network (N2), step 804 (S804) of determining the fault type as the fourth fault state; Through the sensed data detected by the main control processor and the sub-control processor in step 800 (S800), multiple faults occur in the main network (N1) and at the same time, multiple faults occur in the sub-network (N2). When occurring, it includes step 805 (S805) of determining the type of failure as a fifth failure state, and step 90 (S90) determines that the main control processor and the sub-control processor determine the failure state in step 80 (S80). In the case of a 'first failure state', using the redundancy structure of the main network (N1) and the autoregressive function, the network from the main control processor to the node before the location where the fault occurred on the main network (N1) By activating and simultaneously activating the network from the node after the location where the fault occurred on the main network (N1) to the main processor, the first failure state is recovered, and the main control processor and the sub-control processor perform the steps above. If the failure state determined in 80 (S80) is a 'second failure state', the main control processor is deactivated, but the second failure state is recovered by activating the sub-control processor and the sub-network (N2), and the main If the failure state of the control processor and the sub-control processor determined in step 80 (S80) is a 'third failure state', the main control processor is deactivated using the redundancy structure of the control processor, and the sub-control processor and The third failure state is recovered by activating the sub-network (N2), and when the main control processor and the sub-control processor determine the 'fourth failure state' in step 80 (S80), the control processor By using a redundancy structure, a network redundancy structure, and an automatic loop-back function, the main control processor is deactivated and the sub-control processor is activated, and a defect on the sub-network (N2) is detected from the sub-control processor. The fourth failure state is recovered by activating the network up to the node before the occurrence location and simultaneously activating the network from the location where the fault occurred on the sub-network (N2) to the sub-control processor, and the main control processor and When the failure state determined in step 80 (S80) is the 'fifth failure state', the sub-control processor uses the redundancy structure of the control processor, the network redundancy structure, and the automatic loop-back function to The fifth failure state is recovered by activating the control processor and the sub-control processor and independently activating only the network capable of automatic regression in each control processor.

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According to the present invention, which has the above problems and solutions, the network of control processors and nodes is configured to connect in a ring or daisy chain method that supports link detection and auto loop-back functions. By expanding the network into a multiplexed structure, it is possible to respond to various faults such as faults in each control processor and multiple network faults, as well as to quickly and accurately normalize the system by optimizing the network operation mode in response to fault conditions. There will be.

In addition, according to the present invention, not only can the system be operated without duplicate installation, but it can also respond to various types of defects, so it is possible to create a system/network suitable for the characteristics of mobile robots that have a small installation space and frequently experience external shocks. can be provided.

Figure 1 is an exemplary diagram for explaining a conventional redundancy system.
Figure 2 is an example diagram showing a mobile robot system using a conventional CAN communication and multi-drop network.
Figure 3 is a flow chart showing a failure recovery method using a network multiplexing system for a mobile robot, which is an embodiment of the present invention.
FIG. 4 is a configuration diagram showing a network multiplexing system for a mobile robot configured as shown in FIG. 3.
Figure 5 is an example diagram showing when the present invention is changed to an industrial Ethernet-based processor and network multiplexing system.
FIG. 6 is a flow chart showing the failure state analysis/decision step of FIG. 2.
Figure 7 (a) is an exemplary diagram for explaining the first failure state determined in the failure state analysis/determination step of Figure 6, (b) is an exemplary diagram for explaining the second failure state, and (c) is an exemplary diagram for explaining the second failure state. This is an example diagram to explain the third disorder state.
Figure 8(d) is an example diagram for explaining the fourth failure state determined in the failure state analysis/decision step of Figure 6, and (e) is an example diagram for explaining the fifth failure state.
Figure 9 (a) is an example diagram for explaining the process of recovering the first failure state in the failure recovery and system normalization step of Figure 3, and (b) is an example for explaining the process for recovering the second failure state. , and (c) is an example diagram to explain the process of recovering from the third failure state.
Figure 10 (d) is an example diagram for explaining the process of recovering the fourth failure state in the failure recovery and system normalization step of Figure 3, and (e) is an example for explaining the process for recovering the fifth failure state. It is also a degree.

Hereinafter, an embodiment of the present invention will be described with reference to the attached drawings.

Figure 3 is a flowchart showing a failure recovery method using a network multiplexing system for a mobile robot, which is an embodiment of the present invention, Figure 4 is a configuration diagram showing a network multiplexing system for a mobile robot configured by Figure 3, and Figure 5 is a diagram showing the present invention. This is an example diagram showing when the invention is changed to an industrial Ethernet-based processor and network multiplexing system.

The failure recovery method (S1) using a network multiplexing system for a mobile robot, which is an embodiment of the present invention shown in FIG. 3, configures the control processor (controller) of the mobile robot to be dual and has dual communication modules for each control processor. The communication port of each node is equipped with a quad port, and the network of control processors and nodes is connected in a ring or daisy chain method that supports link detection and auto loop-back functions. By expanding the network into a multiplexed structure, not only can the system be quickly and accurately recovered even if various faults such as self-faults of each control processor and multiple network faults occur, but it can also operate the network operation mode on its own in response to fault conditions. System safety and reliability can be maximized by optimization, and it is intended to provide a network structure suitable for the characteristics of mobile robots that have a small installation space and frequently experience external shocks.

In addition, as shown in FIG. 3, the failure recovery method (S1) using the network multiplexing system of the mobile robot of the present invention includes a processor and node installation step (S10), a main network configuration/setting step (S20), and a sub-network configuration. /Setting phase (S30), network activation phase (S40), link detection phase (S50), failure determination phase (S60), network activation continuation phase (S70), failure status analysis/decision phase (S80), failure recovery and a system normalization step (S90).

A failure recovery method (S1) using the mobile robot's network multiplexing system will be examined with reference to FIGS. 3 to 5.

The processor and node installation step (S10) is a step of preparing and installing network target processors and nodes.

Additionally, in the processor and node installation step (S10), as shown in FIGS. 4 and 5, the control processor (Controller) consists of a main control processor (3) and a sub-control processor (4).

In addition, dual communication modules 31 and 32 are installed in the main control processor 3, and dual communication modules 41 and 42 are also installed in the sub control processor 4.

Additionally, in the processor and node installation step (S10), quad ports 51 are extended to each node 5 instead of the existing dual ports.

At this time, node refers to an actuator node provided in an actuator constituting a mobile robot or a sensor node provided in a sensor installed in a mobile robot.

Additionally, in the processor and node installation step (S10), the main control processor 3 and sub-control processor 4 are designed to enable data transmission and reception.

As shown in FIGS. 4 and 5, the main network configuration/setting step (S20) includes the TX port of the first communication module 31 and the RX port of the second communication module 32 of the main control processor 3, This is the step of forming the main network (N1) by connecting the nodes (5) using ring communication or daisy chain method.

In addition, the main network configuration/setting step (S20) involves ringing the TX port of the second communication module 32 and the RX port of the first communication module 31 of the main control processor 3 and the nodes 5. This is the step to configure the main network (N1) as redundant by connecting through communication or daisy chain method.

Additionally, the main network configuration/setting step (S20) supports link detection and auto loop-back functions in the duplicated main network (N1).

That is, in the main network configuration/setting step (S20), the main control processor (3) is equipped with dual communication modules (31) and (32) through the processor and node installation step (S10), and at the same time, each node (5) is equipped with a quad port. By being configured to have (51), it is possible to configure a network redundancy system between the main control processor (3) and the nodes (5).

For example, the message transmitted from the main control processor 3 is not only sequentially transmitted to each node through the main network (N1), but also transmitted to each node in the reverse direction.

The sub-network configuration/setting step (S30) involves ring communication between the nodes 5 and the TX port of the first communication module 41 and the RX port of the second communication module 42 of the sub-control processor 4. Alternatively, this is the step of forming a sub-network (N2) by connecting in a daisy chain manner.

In addition, the sub-network configuration/setting step (S30) is performed by ringing the TX port of the second communication module 42 of the sub-control processor 4 and the RX port of the first communication module 41, and the nodes 5. This is the step to form a sub-network (N2) by connecting through communication or daisy chain method.

Additionally, the sub-network configuration/setting step (S30) supports link detection and auto loop-back functions in the sub-networks (N2).

That is, in the sub-network configuration/setting step (S30), the sub-control processor (4) is equipped with dual communication modules (41) and (42) through the processor and node installation step (S10), and at the same time, each node (5) is equipped with a quad port. By being configured to have (51), it is possible to configure a network redundancy system between the sub-control processor (4) and the nodes (5).

The network activation step (S40) is a step of activating the main control processor 3 and the main network (N1) set by the administrator in the main network configuration/setting step (S20).

Additionally, the network activation step (S40) deactivates the subnetwork (N2) set by the subnetwork configuration/setting step (S30). At this time, the main control processor 3 and the sub-control processor 4 monitor the network status, and are connected to enable data communication with each other to transmit and receive monitoring information.

Link detection (S50) is a step in which the main control processor 3 and sub control processor 4 detect the status of each link using the link detection function.

In the determination step (S60) whether a failure has occurred, the main control processor (3) and the sub control processor (4) analyze and utilize the sensed data and mutual monitoring information detected in the link detection step (S50) to determine whether a failure has occurred. This is the judgment stage.

In addition, in the step of determining whether a failure has occurred (S60), 1) if it is determined that a failure has not occurred, the next step is the network activation continuation step (S70), and 2) if it is determined that a failure has occurred, the next step is to analyze the failure status/ Proceed to the decision step (S80).

The network activation continuation stage (S70) is performed when it is determined that no failure has occurred in the failure determination stage (S60), and is a stage in which the currently set network state is continued.

FIG. 6 is a flowchart showing the failure state analysis/decision step of FIG. 2, (a) of FIG. 7 is an example diagram for explaining the first failure state determined in the failure state analysis/decision step of FIG. 6, and (b) is an exemplary diagram for explaining the second failure state, (c) is an exemplary diagram for explaining the third failure state, and (d) in FIG. 8 is the fourth failure determined in the failure state analysis/decision step of FIG. 6. This is an example diagram for explaining the state, and (e) is an example diagram for explaining the fifth failure state.

As shown in FIG. 6, the failure state analysis/decision step (S80) includes a sensed data analysis step (S800), a first failure state determination step (S801), a second failure state determination step (S802), and a third failure state. It consists of a state determination step (S803), a fourth failure state determination step (S804), and a fifth failure state determination step (S805).

In the sensed data analysis step (S800), the main control processor (3) analyzes and utilizes the sensed data detected in the link detection step (S60) and the monitoring information received from the sub-control processor (4) to determine the failure state. It's a step.

At this time, 1) 'first failure state' refers to the type of failure when a single fault occurs on the main network (N1) connected to the main control processor 3, as shown in (a) of FIG. 7, and 2 ) 'Second failure state' refers to the type of failure when multiple faults occur on the main network (N1) connected to the main controller processor 3, as shown in (b) of FIG. 7, 3)' As shown in (c) of FIG. 7, the 'third failure state' occurs when a fault occurs in the main control processor 3 and at the same time a single or multiple faults occur on the main network (N1). 4) 'Fourth failure state' refers to a fault occurring in the main control processor 3 and at the same time a fault occurring in the main network N1, as shown in (d) of FIG. 8. It refers to the type of failure when a fault occurs in the sub-network (N2), and 5) 'fifth failure state' is when multiple faults occur in the main network (N1), as shown in (e) of FIG. 8. It refers to the type of failure when multiple faults occur in the subnetwork (N2) at the same time.

Figure 9 (a) is an example diagram for explaining the process of recovering the first failure state in the failure recovery and system normalization step of Figure 3, and (b) is an example for explaining the process for recovering the second failure state. 10(d) illustrates the process of recovering the fourth failure state in the failure recovery and system normalization steps of FIG. 3. This is an example diagram for this purpose, and (e) is an example diagram for explaining the process of recovering the fifth failure state.

In the fault recovery and system normalization step (S90) of FIG. 3, the main control processor 3 or sub-control processor 4 overcomes the fault and normalizes the system according to the fault state determined in the fault state analysis/decision step (S80). This is the step to do it.

In addition, in the failure recovery and system normalization step (S90), when the failure state determined in the failure state analysis/decision step (S80) is the 'first failure state', as shown in (a) of FIG. 9, the main network (N1) ) and the auto-regressive function, the main control processor 3 and the sub-control processor 4 are used to control data from the main control processor 3 to the node before the location where the fault occurred on the main network (N1) By activating the network and simultaneously activating the network from the location where the fault occurred on the main network (N1) to the main control processor (3), rapid system recovery and system normalization for the first failure state are achieved.

At this time, the sub-control processor 4 only performs a monitoring function for network status.

In addition, in the failure recovery and system normalization step (S90), when the failure state determined in the failure state analysis/decision step (S80) is a 'second failure state', as shown in (b) of FIG. 9, the control processor is redundant. Using the structure, the main control processor (3) is deactivated, but the sub-control processor (4) is activated, and at the same time, the sub-network (N2) of the sub-control processor (4) line is activated, thereby quickly responding to the second failure state. Recovery and system normalization will take place.

In addition, in the failure recovery and system normalization step (S90), when the failure state determined in the failure state analysis/decision step (S80) is a 'third failure state', as shown in (c) of FIG. 9, the control processor is redundant. By using this structure, the main control processor 3 is deactivated, but the sub-control processor 4 and the sub-network N2 are activated, thereby enabling rapid system recovery and system normalization for the third failure state.

In addition, in the failure recovery and system normalization step (S90), when the failure state determined in the failure state analysis/decision step (S80) is the 'fourth failure state', as shown in (a) of FIG. 10, the control processor is redundant. Using the structure, network redundancy structure, and automatic loop-back function, the main control processor (3) is deactivated, but the sub control processor (4) is activated, and the sub network (N2) is activated from the sub control processor (4). ) by activating the network up to the node before the location where the fault occurred on the sub-network (N2) and at the same time activating the network from the node after the location where the fault occurred on the sub-network (N2) to the sub-control processor 4. System recovery and system normalization will take place.

In addition, in the failure recovery and system normalization step (S90), when the failure state determined in the failure state analysis/decision step (S80) is the 'fifth failure state', as shown in (b) of FIG. 10, the control processor is redundant. By using the structure, network redundancy structure, and auto-recursion (Loop-back) function, both the main control processor (3) and sub-control processor (4) are activated, and only the network capable of auto-recursion is independently activated in each control processor. As a result, rapid system recovery and system normalization for the fifth failure state are achieved.

As such, the mobile robot network multiplexing system and the failure recovery method (S1) using the same, which are an embodiment of the present invention, connect the network of control processors and nodes to a ring (Ring) function that supports link detection and auto loop-back functions. ) or daisy chain, it expands the network into a multiplexed structure, enabling response to various faults such as faults in each control processor and multiple network faults, as well as self-networking in response to fault conditions. By optimizing the operating mode, the system can be quickly and accurately normalized.

In addition, the mobile robot network multiplexing system of the present invention and the failure recovery method (S1) using the same can be operated without duplicate installation of the system and can respond to various types of defects, so it has a small installation space and is resistant to external shocks. It is possible to provide a system/network suitable for the characteristics of these frequently occurring mobile robots.

S1: How to configure network multiplexing for mobile robots
S10: Processor and node installation step S20: Main network configuration/setting step
S30: Sub-network configuration/setting step S40: Network activation step
S50: Link detection step S60: Determination step whether a failure has occurred
S70: Network activation continuation phase S80: Failure status analysis/decision phase
S90: Failure recovery and system normalization phase S800: Analysis phase
S801: First failure state determination step S802: Second failure state determination step
S803: Third failure state determination step S804: Fourth failure state determination step
S805: Fifth failure state determination step

Claims (7)

The control processor (Controller) is configured as a dual main control processor and a sub-control processor, and the communication module of each control processor is configured as a dual first and second communication module, and the port of each node is configured as a quad port. In the failure recovery method (S1) for recovering from a failure in the robot's network multiplexing system:
The failure recovery method (S1) is
Constructing a main network (N1) by connecting the TX port of the first communication module and the RX port of the second communication module of the main control processor and the nodes through ring communication or daisy chain method; At the same time, the main network (N1) is duplicated by connecting the TX port of the second communication module and the RX port of the first communication module of the main control processor and the nodes in ring communication or daisy chain method. Step 20 (S20) of supporting link detection and auto loop-back functions in the main network (N1);
Constructing a sub-network (N2) by connecting the TX port of the first communication module and the RX port of the second communication module of the sub-control processor and the nodes through ring communication or daisy chain method; At the same time, the sub-network (N2) is duplicated by connecting the TX port of the second communication module and the RX port of the first communication module of the sub-control processor and the nodes through ring communication or daisy chain method. Step 30 (S30) of supporting link detection and auto loop-back functions in the sub-network (N2);
Step 40 (S40) in which the main control processor and the main network (N1) set by step 20 (S20) are activated, but the sub-network (N2) set by step 30 (S30) is set to be deactivated;
Step 50 (S50) of the main control processor and the sub-control processor detecting a link of the main network (N1) using a link detection function and mutual monitoring information;
Step 60 (S60) in which the main control processor and the sub-control processor analyze the sensed data detected in step 50 (S50) and determine whether a failure has occurred;
Step 80 (S80), which is performed when it is determined that a failure has occurred in step 60 (S60);
It proceeds when it is determined that a failure has occurred in step 60 (S60), and includes step 90 (S90) in which the main control processor and the sub-control processor recover from the failure and normalize the system,
The step 80 (S80) is
Step 800 (S800) in which the main control processor and the sub-control processor analyze the sensed data detected in step 60 (S60) and the monitoring information received from the other party;
The main control processor and the sub-control processor determine a failure type as a first failure state when a single fault occurs on the main network (N1) through the sensed data detected in step 800 (S800). 801(S801);
When multiple faults occur on the main network (N1), the main control processor and the sub-control processor determine the fault type as a second fault state through the sensed data detected in step 800 (S800). 802(S802);
Through the detection data detected by the main control processor and the sub-control processor in step 800 (S800), a fault occurs in the main control processor and at the same time, a single or multiple faults occur on the main network (N1). At step 803 (S803), determining the failure type as the third failure state;
Through the sensed data detected by the main control processor and the sub-control processor in step 800 (S800), a fault occurs in the main control processor and at the same time a single fault occurs on the main network (N1), When a single fault occurs in the sub-network (N2), step 804 (S804) of determining the fault type as the fourth fault state;
Through the sensed data detected by the main control processor and the sub-control processor in step 800 (S800), multiple faults occur in the main network (N1) and at the same time, multiple faults occur in the sub-network (N2). When occurring, it includes step 805 (S805) of determining the failure type as the fifth failure state,
The step 90 (S90) is
When the failure state determined in step 80 (S80) is the 'first failure state', the main control processor and the sub-control processor use the redundancy structure of the main network (N1) and the autoregressive function to Activating the network from the control processor to the node before the location where the fault occurred on the main network (N1) and simultaneously activating the network from the node after the location where the fault occurred on the main network (N1) to the main processor Recover the first failure state by doing so,
If the failure state of the main control processor and the sub-control processor determined in step S80 is a 'second failure state', the main control processor is deactivated and the sub-control processor and the sub-network (N2) are connected. Recover the second failure state by activating it,
If the failure state of the main control processor and the sub-control processor determined in step 80 (S80) is a 'third failure state', the main control processor is deactivated using the redundant structure of the control processor, and the sub-control processor is deactivated. Recovering the third failure state by activating the processor and the sub-network (N2),
When the failure state determined in step 80 (S80) is the 'fourth failure state', the main control processor and the sub-control processor use the control processor's redundancy structure, network redundancy structure, and automatic loop-back function. Using this, the main control processor is deactivated, but the sub-control processor is activated, and the network from the sub-control processor to the node before the location where the defect occurred on the sub-network (N2) is activated, and at the same time, the sub-network is activated. (N2) Recovering the fourth failure state by activating the network from the location where the phase fault occurred to the sub-control processor,
When the failure state determined in step 80 (S80) is the 'fifth failure state', the main control processor and the sub-control processor use the control processor's redundancy structure, network redundancy structure, and automatic loop-back function. A failure recovery method (S1) characterized in that the fifth failure state is recovered by activating the main control processor and the sub-control processor and independently activating only the network capable of automatic regression in each control processor. delete delete delete delete delete delete