Control and monitoring of a machine arrangement
A method for controlling and/or monitoring a machine arrangement having at least one machine, in particular at least one robot, with the aid of a processor arrangement having a plurality of processors each with at least one core. The method includes selecting, in particular temporarily selecting, a first available and at least one further available core on the proviso that these cores are implemented, in particular arranged, on different processors of the processor arrangement, in particular during operation of the machine arrangement and/or on the basis of an updated directory and/or on the basis, in particular as a result, of an ascertained need for redundant processing of process signals; processing process signals redundantly with the aid of these selected cores; and controlling and/or monitoring the machine arrangement on the basis of this processing.
1. A system for controlling and/or monitoring a machine arrangement that includes at least one machine with the aid of a processor arrangement having a plurality of processors, each with at least one core, the system comprising:
means for classifying at least one core as available or unavailable on the basis of a utilization level of the at least one core specified in a directory;
means for selecting a first available core and at least one second available core on the proviso that the first and second cores are implemented on different processors of the processor arrangement;
means for processing first process signals redundantly with the aid of the selected first and second cores;
means for controlling and/or monitoring the machine arrangement on the basis of the first process signals;
(d) means for selecting a third available core different from the first core and at least one fourth available core different from the first core, on the proviso that the third available core and the at least one fourth available core are implemented on different processors of the processor arrangement;
(e) means for processing second process signals redundantly with the aid of the third and fourth selected cores; and
(f) means for controlling and/or monitoring the machine arrangement on the basis of the second process signals;
wherein selecting is carried out on the basis of an updated directory.
2. The system of claim 1 , wherein at least one of:
the at least one machine is at least one robot;
selecting the first and second cores comprises temporarily selecting the first and second cores;
the first and second cores are arranged on different processors; or
selecting is carried out at least one of:
during operation of the machine arrangement,
on the basis of an updated directory,
on the basis of an ascertained need for redundant processing of process signals, or
as a result of an ascertained need for redundant processing of process signals.
3. A method for controlling and/or monitoring a machine arrangement comprising at least one machine with the aid of a processor arrangement having a plurality of processors each with at least one core, the method comprising:
classifying at least one core as available or unavailable on the basis of a utilization level of the at least one core specified in a directory;
(a) selecting a first available core and at least one second available core on the proviso that the first and second cores are implemented on different processors of the processor arrangement;
(b) processing first process signals redundantly with the aid of the selected first and second cores;
(c) controlling and/or monitoring the machine arrangement on the basis of the first process signals;
(d) selecting a third available core different from the first core and at least one fourth available core different from the first core, on the proviso that the third available core and the at least one fourth available core are implemented on different processors of the processor arrangement;
(e) processing second process signals redundantly with the aid of the third and fourth selected cores; and
(f) controlling and/or monitoring the machine arrangement on the basis of the second process signals;
wherein selecting is carried out on the basis of an updated directory.
4. The method of claim 3 , wherein at least one of:
selecting the third and fourth cores comprises temporarily selecting the third and fourth cores;
the third and fourth cores are arranged on different processors;
selecting is carried out at least one of:
during or after completion of step (c),
on the basis of an ascertained need for redundant processing of process signals, or
as a result of an ascertained need for redundant processing of process signals; or
controlling and/or monitoring the machine arrangement on the basis of the second process signals comprises controlling and/or monitoring the same machine controlled and/or monitored on the basis of the first process signals.
5. The method of claim 3 , further comprising at least one of the following steps:
(I) classifying at least one of:
at least one core that is currently unselected as available,
at least one of the cores selected in step (a) after the completion of step (c), or
at least one of the cores selected in step (d) upon completion of step (f); or
(II) classifying at least one currently selected core as unavailable.
6. The method of claim 5 , wherein at least one of:
cores are classified as available or unavailable in a directory;
classifying at least one core comprises marking the at least one core; or
classifying at least one core comprises classifying the at least one core in a directory.
7. The method of claim 3 , further comprising repeating steps (a) to (c).
8. The method of claim 3 , further comprising repeating at least one of:
steps (a) to (c); or
steps (d) to (e).
9. The method of claim 5 , wherein at least one of:
steps a) to (c) are repeated;
steps (d) to (e) are repeated; or
at least one of steps (I), or (II) are repeated.
10. The method of claim 3 , wherein selecting cores in at least one of steps (a) or (d) comprises selecting the cores on the basis of a spatial position of the respective processors.
11. The method of claim 3 , wherein at least one of:
(I) in step (a), at least one of:
a core of a processor of a machine controller of a machine of the machine arrangement that is controlled or monitored in step (c),
a core of a processor of a controller of a machine of the machine arrangement arranged in the same cell as the controlled or monitored machine, or
a core of a processor located in close proximity to this controlled or monitored machine and/or machine controller compared to a core of a processor located further away,
is/are prioritized relative to at least one other core;
(II) in step (d), at least one of:
a core of a processor of a machine controller of a machine of the machine arrangement that is controlled or monitored in step (f),
a core of a processor of a controller of a machine of the machine arrangement arranged in the same cell as the controlled or monitored machine, or
a core of a processor located in close proximity to this controlled or monitored machine and/or machine controller compared to a core of a processor located further away,
is/are prioritized relative to at least one other core; or
(III) in at least one of step (a) or step (d), selecting cores comprises selecting on the basis of the respective processor architecture.
12. The method of claim 11 , wherein selecting cores on the basis of the respective processor architecture comprises selecting cores in a prioritized manner on processors with different architectures.
13. The method of claim 3 , further comprising communicating, via at least one shared data connection, between at least one of:
at least one selected core with at least one other selected core;
at least one selected core with at least one process signal source, or
at least one selected core with at least one controller of the machine arrangement.
14. The method of claim 3 , wherein at least one of:
cores selected in step (a) are implemented on different processors of the same computer, or the first core selected in step (a) is implemented on a processor of a computer and the at least one second core selected in step (a) is implemented on a processor of a different computer; or
cores selected in step (d) are implemented on different processors of the same computer, or the third core selected in step (d) is implemented on a processor of a computer and the at least one fourth core selected in step (d) is implemented on a processor of a different computer.
15. The method of claim 14 , wherein:
cores implemented on different processors are arranged on different processors.
16. The method of claim 3 , wherein at least one of:
the at least one machine is at least one robot;
selecting the first and second cores comprises temporarily selecting the first and second cores;
the first and second cores are arranged on different processors; or
selecting is carried out at least one of:
during operation of the machine arrangement,
on the basis of an ascertained need for redundant processing of process signals, or
as a result of an ascertained need for redundant processing of process signals.
17. A computer program code stored on a non-transitory, computer-readable medium, the program code, when executed on a computer, causing the computer to carry out a method according to claim 3 .