Sensor Networks

Abstract

A sensor network that provides sensor data output from multiple sensors of different types can reduce the amount of data sent from these multiple sensors while maintaining the accuracy of state estimation. When the first sensor data (SD1) output from the proximity sensor (S1) in the sensor module (Smod(i)) indicates a first specified state, only the first composite sensor data (Dt1) containing the first sensor data (SD1) and a first flag (F1) indicating the type of the proximity sensor (S1) or the first specified state is sent from the sensor module (Smod(i)) to the central processing unit (Smod(0)) via the network. In this case, the second composite sensor data (Dt2) including the second sensor data (SD2) and a second flag (F2) indicating the type of the contact force sensor (S2) or the second specified state is not sent from the sensor module (Smod(i)) to the central processing unit (Smod(0)) via the network.

Description

Technical Field

[0001] This invention relates to sensor networks having multiple sensor modules as constituent elements. Background Technology

[0002] When multiple sensors are configured on an object, the amount of data output from the multiple sensors increases accordingly with the increase of the number of sensors (for example, see Patent Document 1).

[0003] Prior art literature

[0004] Patent documents

[0005] Patent Document 1: Japanese Patent Application Publication No. 2020-092319 Summary of the Invention

[0006] The problem that the invention aims to solve

[0007] When a composite sensor, consisting of a proximity sensor for detecting the proximity of an object to other objects and a contact sensor for detecting the pressure exerted by the object on other objects, is distributed across the object, the amount of data collected from the composite sensor increases significantly, potentially hindering data processing.

[0008] Therefore, the object of the present invention is to provide a sensor network that, based on sensor data output from multiple sensors of different types, can reduce the amount of data sent from the multiple sensors while maintaining the accuracy of state estimation.

[0009] Solution for solving the problem

[0010] The sensor network of the present invention comprises a plurality of sensor modules and a central processing unit for processing data transmitted from the plurality of sensor modules via the network, wherein,

[0011] Each of the plurality of sensor modules has:

[0012] Multiple sensors detecting different objects; and

[0013] A sensor data processing unit determines, based on each of the plurality of sensor data output from the plurality of sensors, whether each of the plurality of sensor data represents each of a plurality of specified states, and sends only composite sensor data to a sensor data communication unit and via the network to a central processing unit. The composite sensor data includes: a sensor data which is determined to represent one of the plurality of specified states; and a flag which is used to determine the type of the sensor that outputs the sensor data or the specified state.

[0014] According to the configured sensor network, when a sensor data output from one of the multiple sensors of different types in the sensor module represents a specified state, that is, when the usefulness of the sensor data is high from the viewpoint of the state of the configuration location (and / or its surroundings) of the sensor module, composite sensor data including the sensor data and a flag indicating the type of a sensor or the specified state is sent from the sensor module to the central processing unit via the network.

[0015] On the other hand, if the other sensor data output from other sensors among the multiple sensors of different types in the sensor module does not indicate other specified states, that is, if the usefulness of the other sensor data is low from the viewpoint of presuming the state of the configuration part of the sensor module, the composite sensor data including the other sensor data and the flag indicating the type of other sensor or the other specified state is not sent from the sensor module to the central processing unit via the network.

[0016] Therefore, based on sensor data output from multiple sensors of different types, the accuracy of estimating the state of each part equipped with each sensor is maintained, while the amount of data transmitted from these multiple sensors to the central processing unit via the network is reduced.

[0017] In the sensor network of the present invention, preferably, based on whether the sensor data is included within a specified range, or instead of whether the sensor data is included within a specified range, the sensor data processing unit determines whether the sensor data represents the specified state based on whether at least one of the changes in the time series of the sensor data exceeds a threshold.

[0018] Based on the constructed sensor network, when a sensor data output from one of the multiple sensors of different types in the sensor module is within a specified range and / or the amount of change of its time series is above a threshold, that is, when the usefulness of the sensor data is high from the viewpoint of presuming the state of the location where the sensor module is installed, composite sensor data including the sensor data is sent from the sensor module to the central processing unit via the network.

[0019] On the other hand, if the sensor data output from other sensors among the multiple sensors of different types in the sensor module deviates from the specified range and / or the amount of change in its time series is less than a threshold, that is, if the usefulness of the other sensor data is low from the viewpoint of presuming the state of the part where the sensor module is installed, the composite sensor data including the other sensor data is not sent from the sensor module to the central processing unit via the network.

[0020] Therefore, based on sensor data output from multiple sensors of different types, the accuracy of estimating the state of each part equipped with each sensor is maintained, while the amount of data transmitted from these multiple sensors to the central processing unit via the network is reduced.

[0021] In the sensor network of the present invention, preferably, the sensor data processing unit determines, based on each of the plurality of sensor data, whether each of the plurality of sensor data represents each of a plurality of specified states that cannot be realized simultaneously.

[0022] Based on this sensor network configuration, for each of the multiple sensor data outputs from various types of sensors within the sensor module, it is not determined that the configuration part of the sensor module is in one specified state while simultaneously being in another specified state. Therefore, when the sensor module transmits composite sensor data including one sensor data point to the central processing unit via the network, it does not transmit composite sensor data including other sensor data to the central processing unit via the network. Thus, based on the sensor data output from multiple different types of sensors, while maintaining the accuracy of estimating the state of each part equipped with each sensor, the amount of data transmitted from these multiple sensors to the central processing unit via the network is reduced.

[0023] In the sensor network of the present invention, preferably, in addition to the sensor data, the sensor data processing unit also determines whether the sensor data represents the specified state based on other sensor data output from other sensors among the plurality of sensors.

[0024] Based on this sensor network, in each sensor module, in addition to the sensor data output from one sensor, other sensor data output from other sensors are also considered, thereby enabling a more accurate determination of whether the first sensor data represents a first specified state. Therefore, based on sensor data output from multiple sensors of different types, while maintaining the accuracy of estimating the state of each part equipped with each sensor, the amount of data transmitted from these multiple sensors to the central processing unit via the network is reduced.

[0025] In the sensor network of the present invention, preferably, each of the plurality of sensor modules includes a proximity sensor for detecting the proximity state to an object as one sensor, and a contact force sensor for detecting the presence or absence of contact with the object and the intensity of the contact force as the other sensor.

[0026] Based on the sensor network, the state of an object is determined by the sensor data output from each of the proximity sensor and contact force sensor in each sensor module. This maintains the accuracy of the estimation of the proximity state and contact state relative to other objects while reducing the amount of data transmitted from the proximity sensor and contact force sensor.

[0027] In the sensor network of the present invention, it is preferable that the sensor data processing unit generates composite sensor data that includes configuration factors representing the configuration of the sensor modules.

[0028] Based on this sensor network, the accuracy of estimating the state of multiple parts of an object, corresponding to the configuration of each sensor module, can be maintained based on sensor data output from multiple sensors of different types. Furthermore, as described above, the amount of data transmitted from these multiple sensors can be reduced.

[0029] In the sensor network of the present invention, preferably,

[0030] The central processing unit has:

[0031] Multiple processing units; and

[0032] The central data processing unit determines the type of the sensor or the specified state based on the flag, and sends the composite sensor data to the processing unit corresponding to the type of the sensor or the specified state among the plurality of processing units.

[0033] Based on this sensor network, the composite sensor data is transmitted to the arithmetic processing unit among the multiple arithmetic processing units of the central processing unit that processes the sensor data contained in the composite sensor data. That is, composite sensor data that does not contain sensor data that is the object of processing by each arithmetic processing unit is not transmitted to that arithmetic processing unit. Therefore, as described above, while maintaining the accuracy of state estimation based on sensor data output from multiple sensors of different types, the amount of data transmitted from these multiple sensors is reduced, thereby reducing the computational processing load on each control unit constituting the central processing unit. Attached Figure Description

[0034] Figure 1 This is an explanatory diagram of the structure of a sensor network as an embodiment of the present invention.

[0035] Figure 2 This is an explanatory diagram of the structure of the sensor module and the central processing unit.

[0036] Figure 3A This is an explanatory diagram of data from two composite sensors.

[0037] Figure 3B This is an explanatory diagram of composite sensor data from one side.

[0038] Figure 3C This is an explanatory diagram of the composite sensor data from the other party.

[0039] Figure 4A This is an illustration of the interaction between a finger and the surface of an object.

[0040] Figure 4B This is an illustration of how composite sensor data is transmitted from a sensor module configured on a finger.

[0041] Figure 5 This is an explanatory diagram of the structure of a sensor network as another embodiment of the present invention.

[0042] Figure 6 This is an explanatory diagram of the structure of a sensor network as another embodiment of the present invention. Detailed Implementation

[0043] Figure 1 The sensor network shown as an embodiment of the present invention consists of a plurality of (n) sensor modules Smod(1) to Smod(n) and a central processing unit Smod(0) for processing data transmitted from the plurality of sensor modules Smod(1) to Smod(n) via the network.

[0044] like Figure 1 As shown, the sensor network in one embodiment of the present invention is configured as a ring network as follows: starting from the central processing unit Smod(0), a first sensor module Smod(1), a second sensor module Smod(2), ..., the (i-1)th sensor module Smod(i-1), the ith sensor module Smod(i), the (i+1)th sensor module Smod(i+1), ..., the n-1th sensor module Smod(n-1) and the nth sensor module Smod(n) are connected in sequence, and the nth sensor module Smod(n) is connected to the central processing unit Smod(0).

[0045] The i-th sensor module Smod(i) (i = 1, 2, ..., n) is, for example, distributed among multiple fingers and multiple parts of the palm of the robotic hand that is being controlled.

[0046] like Figure 2As shown, the central processing unit Smod(0) includes a central data communication unit 40, a central data processing unit 41, a first arithmetic processing unit 421, and a second arithmetic processing unit 422. The central processing unit Smod(0) and at least a portion thereof consist of a storage device (ROM, RAM, EEPROM, etc., SSD, HDD, etc.) for storing software and / or data, and an arithmetic processing device (single-core processor, multi-core processor, CPU, etc.) for reading necessary software and / or data from the storage device and performing arithmetic processing on the data.

[0047] The central data communication unit 40 is configured to transmit and receive data with the i-th sensor module Smod(i) (i = 1, 2, ..., n) via a network. The central data processing unit 41 is configured to determine the type or specified state of the sensor based on the flags included in the composite sensor data (described later) received by the central data communication unit 40, and to send the composite sensor data to the arithmetic processing units corresponding to the type or specified state of the sensor in the first arithmetic processing unit 421 and the second arithmetic processing unit 422.

[0048] The first processing unit 421 and the second processing unit 422 control the operation of one or more actuators 44 of the controlled object by sending control command signals to the actuators 44. The controlled object is, for example, a robotic hand having a palm and multiple fingers extending from the palm, or a robotic arm having the robotic hand as an end effector.

[0049] The first processing unit 421, based on first sensor data SD1 (included in first composite sensor data Dt1) indicating the proximity state of each of the multiple parts of the robotic hand (the controlled object) to the object, sets the gripping parts of the multiple fingers to hold the object and sends a first control command signal to the actuator 44 in such a way that the gripping parts of the multiple fingers abut against the object. The second processing unit 422, based on second sensor data SD2 (included in second composite sensor data Dt2) indicating the contact state of each of the multiple parts of the robotic hand (the controlled object) to the object, sets the force exerted on the object by the multiple fingers and / or palm and sends a second control command signal to the actuator 44 in such a way that the force exerted on the object by the multiple fingers and / or palm increases or decreases.

[0050] like Figure 2 As shown, the i-th sensor module Smod(i) includes a proximity sensor S1 (first sensor) for detecting the proximity state to the object, a contact force sensor S2 (second sensor) for detecting the presence or absence of contact with the object and pressure (reaction force from the object), a sensor data processing unit 21, and a sensor data communication unit 22.

[0051] Figure 2 The sensor data processing unit 21 shown consists of a storage device (ROM, RAM, EEPROM, etc., SSD, HDD, etc.) that stores and holds software and / or data, and an arithmetic processing device (single-core processor, multi-core processor, CPU, etc.) that reads the necessary software and / or data from the storage device and performs arithmetic processing on the data.

[0052] Figure 2 The proximity sensor S1 and the contact force sensor S2 shown are, for example, capacitive sensors. The sensor data processing unit 21 determines the multiple states based on the electrostatic capacitance C1 measured by the proximity sensor S1 and the electrostatic capacitance C2 measured by the contact force sensor S2.

[0053] Table 1 summarizes the state determination results corresponding to the measurement results of the electrostatic capacitance C1 of proximity sensor S1 and the electrostatic capacitance C2 of contact force sensor S2.

[0054] [Table 1]

[0055] C1 C2 state C1=Cp C2=Cf (1) No approach or contact Cp_min<C1<Cp C2=Cf (2) Approaching C1 = Cp_min C2=Cf (3) Arrival Cp_min<C1<Cp Cf < C2 (4) Low stress Cp < C1 Cf < C2 (5) High pressure

[0056] Based on the first sensor data SD1 output from the proximity sensor S1, the sensor data processing unit 21 determines states (1) to (3) as a proximity state (first designated state) in which the configuration part of the i-th sensor module Smod(i) is approaching the object. Based on the second sensor data SD2 output from the contact force sensor S2, the sensor data processing unit 21 determines states (4) to (5) as a contact state (second designated state) in which the configuration part of the i-th sensor module Smod(i) is contacting or pressing the object.

[0057] like Figure 3A As shown, the sensor data processing unit 21 has the function of generating first composite sensor data Dt1, which includes first sensor data SD1 output from the proximity sensor S1 and a first flag F1 indicating the type of the proximity sensor S1, and second composite sensor data Dt2, which includes second sensor data SD2 output from the contact force sensor S2 and a second flag F2 indicating the type of the contact force sensor S2.

[0058] However, if the sensor data processing unit 21 determines that the configuration location of the i-th sensor module Smod(i) is in a state of approaching an object (first designated state), such as Figure 3BAs shown, the sensor data processing unit 21 only sends the first composite sensor data Dt1 to the sensor data communication unit 22 and then to the central processing unit Smod(0) via the network. The first composite sensor data Dt1 includes first sensor data SD1 and a first flag F1 for determining the type of proximity sensor S1 that outputs the first sensor data SD1 or the first specified state. In this case, the generation of the second composite sensor data Dt2 can also be omitted.

[0059] Furthermore, if the sensor data processing unit 21 determines that the configuration part of the i-th sensor module Smod(i) is in a contact state (second designated state) where it is contacting or pressing an object, such as Figure 3C As shown, the sensor data processing unit 21 only sends the second composite sensor data Dt2 to the sensor data communication unit 22 and then to the central processing unit Smod(0) via the network. The second composite sensor data Dt2 includes the second sensor data SD2 and a second flag F2 for determining the type of the contact force sensor S2 that outputs the second sensor data SD2 or the second specified state. In this case, the generation of the first composite sensor data Dt1 can also be omitted.

[0060] For example, such as Figure 4A As schematically illustrated, consider the case where a finger in a robotic arm, equipped with sensor modules Smod(i) arranged on a surface, moves along a surface of an object with irregularities. Specifically, as... Figure 4A As shown, the state is based on the state when the finger is in contact with the object's surface (time t = t). i-2 The state of a finger approaching the surface of an object (time t = t) i-1 The state of the finger in contact with the surface of the object (time t=t) i and t i+1 The state of a finger approaching the surface of an object (time t = t) i+2 ) and the state in which the finger is moving away from the object's surface (time t = t i+3 The sequence of transfers.

[0061] In this case, such as Figure 4B As schematically shown, according to time t = t i-2 ~t i+2 Their respective states, the second composite sensor data Dt2(t) i-2 ), First composite sensor data Dt1(t i-1 ), second composite sensor data Dt2(t i ), second composite sensor data Dt2(t i+1 ) and the first composite sensor data Dtl(t i-2The data is sequentially sent from sensor module Smod(i) to central processing unit Smod(0). Additionally, based on time t = t... i+3 In this state, neither the first composite sensor data Dtl nor the second composite sensor data Dt2 are sent from the sensor module Smod(i) to the central processing unit Smod(0).

[0062] Sensor data is transmitted and received via a network between the sensor data communication unit 22 constituting the i-th sensor module Smod(i) and the sensor data communication unit 22 constituting the adjacent (i-1)-th sensor module Smod(i-1) and / or (i+1)-th sensor module Smod(i+1).

[0063] Sensor data sent from the i-th sensor module Smod(i) is transmitted from the (i-1)-th sensor module Smod(i-1) to the (i-2)-th sensor module Smod(i-2). Then, the sensor data is transmitted to the central processing unit Smod(0) in the following order: i-th sensor module Smod(i) → (i-1)-th sensor module Smod(i-1) → (i-2)-th sensor module Smod(i-2) → ... → second sensor module Smod(2) → first sensor module Smod(1) → central processing unit Smod(0).

[0064] Conversely, sensor data sent from the i-th sensor module Smod(i) can be transmitted from the (i+1)-th sensor module Smod(i+1) to the (i+2)-th sensor module Smod(i+2). Then, the sensor data can also be transmitted to the central processing unit Smod(0) in the following order: i-th sensor module Smod(i) → (i+1)-th sensor module Smod(i+1) → (i+2)-th sensor module Smod(i+2) → ... → (n-1)-th sensor module Smod(n-1) → n-th sensor module Smod(n) → central processing unit Smod(0).

[0065] (Effects)

[0066] According to the constructed sensor network, when the first sensor data SD1 output from the proximity sensor S1 of the sensor module Smod(i) indicates a first designated state, that is, when the usefulness of the first sensor data SD1 is high from the viewpoint of the state of the configuration location (and / or the surrounding area) of the sensor module Smod(i), only the first composite sensor data Dt1, which includes the first sensor data SD1 and a first flag F1 indicating the type of proximity sensor S1 or the first designated state, is sent from the sensor module Smod(i) via the network to the central processing unit Smod(0) (see reference). Figure 3B and Figure 4B (Time t = t)i-1 t i+2 )).

[0067] In this embodiment, since the second sensor data SD2 output from the contact force sensor S2 does not represent the second specified state, the second composite sensor data Dt2, which includes the second sensor data SD2 and the second flag F2 representing the type of the contact force sensor S2 or the second specified state, is not sent from the sensor module Smod(i) to the central processing unit Smod(0) via the network (see reference). Figure 3B and Figure 4B (Time t = t) i-1 t i+2 )).

[0068] On the other hand, when the second sensor data SD2 output from the contact force sensor S2 of the sensor module Smod(i) represents a second specified state, that is, when the second sensor data SD2 is highly useful from the viewpoint of the state of the configuration location (and / or the surrounding area) of the sensor module Smod(i), only the second composite sensor data Dt2, which includes the second sensor data SD2 and the second flag F2 indicating the type of the contact force sensor S2 or the second specified state, is sent from the sensor module Smod(i) to the central processing unit Smod(0) via the network (see reference). Figure 3C as well as Figure 4B (Time t = t) i-2 t i t i+1 )).

[0069] In this embodiment, since the first sensor data SD1 output from the proximity sensor S1 does not represent the first specified state, the first composite sensor data Dt1, which includes the first sensor data SD1 and the first flag F1 representing the type of the proximity sensor S1 or the first specified state, is not sent from the sensor module Smod(i) to the central processing unit Smod(0) via the network (see reference). Figure 3C as well as Figure 4B (Time t = t) i-2 t i t i+1 )).

[0070] In addition to the first sensor data SD1, the sensor data processing unit 21 also determines whether the first sensor data SD1 represents a first designated state (approaching state) based on the second sensor data SD2 (refer to states (2) and (4) in Table 1). As a result, it is possible to determine whether the first sensor data SD1 represents a first designated state with higher accuracy.

[0071] Therefore, based on sensor data output from multiple sensors S1 and S2 of different types, while maintaining the estimation accuracy of the state of the configuration part of the sensor module Smod(i) having each sensor S1 and S2, the amount of data sent from the multiple sensors S1 and S2 to the central processing unit Smod(0) via the network is reduced.

[0072] The composite sensor data is sent to the first processing unit 421 and the second processing unit 422, which are among the multiple processing units in the central processing unit Smod(0) for processing sensor data SD1 and SD2 contained in composite sensor data Dt1 and Dt2. That is, composite sensor data that does not contain sensor data that is the object of processing by each processing unit 421 and 422 is not sent to the processing unit. Therefore, as described above, while maintaining the state estimation accuracy based on sensor data SD1 and SD2 output from multiple sensors S1 and S2 of different types, the amount of data sent from the multiple sensor modules Smod(i) is reduced, thereby reducing the processing load of each processing unit 421 and 422 constituting the central processing unit Smod(0).

[0073] (Other embodiments of the present invention)

[0074] In the above embodiments, by Figure 1 The ring network shown constitutes a sensor network, but as another implementation, a sensor network can also be constituted by various different ring networks.

[0075] For example, such as Figure 5 As shown, a sensor network can also be formed by multiple sub-sensor modules Smod(i_1), Smod(i_2), ..., which are connected in branches and extend in a branching manner with the i-th sensor module Smod(i) forming a ring network as the base point.

[0076] like Figure 6 As shown, a sensor network can also be formed by a sub-network that connects multiple sub-sensor modules Smod(i_1), Smod(i_2), ... in sequence, extending in a ring shape with the i-th sensor module Smod(i) forming a ring network as the base point. In this case, the i-th sensor module Smod(i) can also have the function of the central processing unit of multiple sub-sensor modules Smod(i_1), Smod(i_2), ...

[0077] In the above embodiment, the sensor module Smod(i) includes a proximity sensor S1 and a contact force sensor S2, but may additionally or alternatively include various sensors such as a vision sensor, a radiation sensor, a magnetic sensor, an olfactory sensor and / or a taste sensor for detecting different physical quantities and different specified states as multiple sensors of different types.

[0078] In the above embodiments, the first designated state (refer to states (1) to (3) in Table 1) and the second designated state (refer to states (4) to (5) in Table 1) are defined as states that cannot be realized simultaneously. However, as in other embodiments, they can also be defined as states that realize both the first and second designated states simultaneously (refer to state (3) in Table 1). As described above, when the sensor module Smod(i) has multiple sensors of different types for detecting different physical quantities and different designated states, it can be defined as a state in which multiple designated states determined based on each of the multiple sensor data output from the multiple sensors are realized simultaneously.

[0079] In the above embodiment, in addition to the first sensor data SD1, the second sensor data SD2 is used to determine whether the first sensor data SD1 represents the first specified state (refer to states (2) and (4) in Table 1). However, as mentioned above, when the sensor module Smod(i) has multiple sensors of different types for detecting different physical quantities and different specified states, each specified state can be determined based on the sensor data output from each of the multiple sensors.

[0080] In the above embodiment, the sensor data processing unit 21 determines whether the first sensor data SD1 (electrostatic capacitance C1) represents a first specified state (approach state) based on whether the first sensor data SD1 is included within a specified range (Cp_min≤C1<Cp) (refer to Table 1). Alternatively, or based on this, it can determine whether the first sensor data SD1 represents a first specified state (approach state or state with a large change in the distance from the object) based on whether the change in the time series of the first sensor data SD1 exceeds a threshold.

[0081] In the above embodiment, the sensor data processing unit 21 determines whether the second sensor data SD2 (electrostatic capacitance C2) represents a second specified state (contact state) based on whether the second sensor data SD2 is above a reference value Cf (whether it is included in a specified range (Cf < C2)). Alternatively, or based on this, it can determine whether the second sensor data SD2 represents a second specified state (contact state or a state with a large change in the force exerted on the object) based on whether the change in the time series of the second sensor data SD2 exceeds a threshold.

[0082] Based on this sensor network, in each sensor module, in addition to the sensor data output from one sensor, other sensor data output from other sensors are also considered, thereby enabling a more accurate determination of whether the first sensor data represents a first specified state. Therefore, based on sensor data output from multiple sensors of different types, while maintaining the accuracy of estimating the state of each part equipped with each sensor, the amount of data transmitted from these multiple sensors to the central processing unit via the network is reduced.

[0083] The sensor data processing unit 21 can also generate composite sensor data Dt that includes configuration factors representing the configuration of the sensor module Smod(i). In this case, based on the sensor data SD output from multiple sensors S1 and S2 of different types, the estimation accuracy of the state of multiple parts in an object corresponding to the configuration of each sensor module Smod(i) is maintained.

[0084] Explanation of reference numerals in the attached figures

[0085] 10··Substrate; 21··Sensor data processing unit; 22··Sensor data communication unit; 40··Central data communication unit; 41··Central data processing unit; 421··First arithmetic processing unit; 422··Second arithmetic processing unit; S1··Proximity sensor (first sensor); S2··Contact force sensor (second sensor); Smod(0)··Central processing unit; Smod(i)··Sensor module.

Claims

1. A sensor network comprising a plurality of sensor modules and a central processing unit for processing data transmitted from the plurality of sensor modules via the network, wherein, Each of the plurality of sensor modules has: Multiple sensors that detect different objects include a proximity sensor for detecting the proximity state to the object and a contact force sensor for detecting the presence or absence of contact with the object and the intensity of the contact force. as well as The sensor data processing unit determines, based on each of the multiple sensor data output from the multiple sensors respectively, whether each of the multiple sensor data represents each of the multiple specified states, and generates only the following composite sensor data, and sends the composite sensor data to the sensor data communication unit and to the central processing unit via the network. The composite sensor data includes: a sensor data that is determined to represent one of the multiple specified states. And a flag, which is used to identify the type of sensor that outputs the sensor data or the specified state. The sensor data processing unit, based on the sensor data output from the proximity sensor, determines that a specified state is represented, and generates composite sensor data related to the proximity sensor. When the sensor data processing unit determines that the sensor data output from the contact force sensor indicates a specified state, it generates composite sensor data related to the contact force sensor. The sensor data processing unit sends the generated composite sensor data from the sensor data communication unit to the central processing unit.

2. The sensor network according to claim 1, wherein, Based on whether the sensor data is included within a specified range, or instead of whether the sensor data is included within a specified range, the sensor data processing unit determines whether the sensor data represents the specified state based on whether at least one of the changes in the time series of the sensor data exceeds a threshold.

3. The sensor network according to claim 1 or 2, wherein, The sensor data processing unit determines, based on each of the plurality of sensor data, whether each of the plurality of sensor data represents each of the plurality of specified states that cannot be realized simultaneously.

4. The sensor network according to claim 1 or 2, wherein, In addition to the sensor data based on the proximity sensor, the sensor data processing unit also determines, based on the sensor data of the contact force sensor, whether the sensor data of the proximity sensor represents the specified state.

5. The sensor network according to claim 4, wherein, The proximity sensor and the contact force sensor are respectively mounted on the robotic arm.

6. The sensor network according to claim 1 or 2, wherein, The sensor data processing unit generates composite sensor data that includes configuration factors representing the configuration of the sensor module.

7. The sensor network according to claim 1 or 2, wherein, The central processing unit has: Multiple processing units; and The central data processing unit determines the type of the sensor or the specified state based on the flag, and sends the composite sensor data to the processing unit corresponding to the type of the sensor or the specified state among the plurality of processing units.

Images