Sensor system

Abstract

To provide a sensor system capable of appropriately transmitting measurement data from a plurality of sensor units.SOLUTION: A sensor system 1 includes a plurality of sensor units 30 and a communication unit 20. The plurality of sensor units 30 determine their own unique transmission timing based on a synchronization signal having a first cycle, such that the transmission timings of the plurality of sensor units 30 are different; repeatedly perform measurements based on a second cycle; store measurement values at the timing based on the synchronization signal having the first cycle in a memory, among measurement values obtained by the repeated measurements; and when the sensor units' unique transmission timing arrives, read the measurement values stored in the memory and transmit them to the communication unit 20.SELECTED DRAWING: Figure 3

Description

[Technical Field]

[0001] The present invention relates to a sensor system. [Background technology]

[0002] Conventionally, sensor systems consisting of multiple sensor units have become widespread. In a sensor system consisting of multiple sensor units, each of which is made up of multiple amplifier units and a corresponding sensor head, the state of an object is monitored based on the measurement data acquired by each sensor unit.

[0003] For example, Patent Document 1 discloses a technology related to a sensor system in which, in order to improve communication speed, each sensor unit transmits detection information to a communication device after a waiting time determined for each sensor unit has elapsed, starting from a synchronization signal.

[0004] Furthermore, Patent Document 2 discloses a technology relating to a sensor system in which each sensor unit is configured to operate after a delay time determined according to its identification number has elapsed, starting from a synchronization signal, in order to prevent mutual interference between sensors of the same type. [Prior art documents] [Patent documents]

[0005] [Patent Document 1] Japanese Patent Application Laid-Open No. 2014-96036 [Patent Document 2] Japanese Patent Application Laid-Open No. 2014-96697 Summary of the Invention [Problem to be solved by the invention]

[0006] In the sensor system described above, it is important to appropriately process each piece of measurement data measured by the multiple sensor units in order to perform more highly accurate measurements and condition monitoring.

[0007] Therefore, an object of the present invention is to provide a sensor system that can appropriately transmit measurement data from a plurality of sensor units. [Means for solving the problem]

[0008] A sensor system according to one embodiment of the present invention comprises a plurality of sensor units and a communication unit connected to the plurality of sensor units so as to be capable of transmitting signals and transmitting information received from each of the sensor units to an information processing device or control device, wherein the plurality of sensor units determine transmission timing specific to each sensor unit based on a synchronization signal having a first period so that the transmission timings of the plurality of sensor units are different, and repeatedly measure based on a second period, and store in memory the measurement values ​​obtained by the repeated measurements that are measured at the timing based on the synchronization signal having the first period, and when the transmission timing specific to the sensor unit arrives, read out the measurement values ​​stored in memory and send them to the communication unit.

[0009] According to this aspect, the plurality of sensor units determine transmission timings specific to the sensor units based on a synchronization signal having a first period so that the transmission timings of the plurality of sensor units are different, store the measurement values ​​obtained by repeated measurements at the timings based on the synchronization signal having the first period in memory, and when the transmission timing specific to the sensor units arrives, read out the measurement values ​​stored in memory and send them to the communication unit. As a result, the plurality of sensor units send measurement values ​​at appropriate timings at their respective transmission timings specific to the sensor units, and the measurement values ​​can be appropriately transmitted to the communication unit.

[0010] In the above aspect, the plurality of sensor units and the communication unit may transmit and receive signals using serial communication.

[0011] According to this aspect, the multiple sensor units send measurement values ​​at transmission timings specific to each sensor unit so that the transmission timings of the multiple sensor units are different. Therefore, the multiple sensor units and the communication unit can avoid data collisions when sending and receiving signals using serial communication, thereby reducing the occurrence of communication errors.

[0012] In the above aspect, the plurality of sensor units may be connected in a line, and identification information specific to each sensor unit may be recognized, and transmission timing specific to the sensor unit may be determined based on the identification information.

[0013] According to this aspect, the multiple sensor units determine the transmission timing specific to each sensor unit based on the identification information specific to each sensor unit, so that the transmission timing specific to each sensor unit can be determined more appropriately so that the transmission timings of the multiple sensor units are different.

[0014] In the above aspect, the plurality of sensor units may include a first communication means for communicating with other sensor units and a second communication means for communicating with the communication unit, and each of the plurality of sensor units may use the first communication means to recognize the connection state of the plurality of sensor units and its own unit position among the plurality of sensor units, store the recognized information in memory, determine a transmission timing specific to the sensor unit based on the unit position, and send the measurement value stored in the memory to the communication unit using the second communication means based on the transmission timing specific to the sensor unit.

[0015] According to this aspect, the first communication means is used to recognize the connection state of the multiple sensor units and the position of the sensor unit itself among the multiple sensor units, and the transmission timing specific to the sensor unit is determined based on the unit position, so that the transmission timing specific to the sensor unit can be determined more appropriately as preprocessing so that the transmission timings of the multiple sensor units are different. Then, based on the transmission timing specific to the sensor unit determined in this way, the second communication means is used to send the measurement value stored in the memory to the communication unit, so that the measurement value can be appropriately transmitted to the communication unit.

[0016] In the above aspect, at least one of the plurality of sensor units and communication units may verify the connection status and unit position stored in its own memory with the connection status and unit position stored in the memory of the other sensor units, and if there is no contradiction in the verification results, may determine the connection status and unit position.

[0017] According to this aspect, at least one of the plurality of sensor units and the communication unit verifies the connection state and the unit position, and if there is no contradiction in the verification result, determines the connection state and the unit position, so that it can more appropriately recognize the identification information unique to each sensor unit. As a result, the plurality of sensor units can more appropriately determine the transmission timing unique to each sensor unit based on the identification information unique to each sensor unit so that the transmission timings of the plurality of sensor units are different.

[0018] In the above aspect, a first communication period may be assigned for each of the plurality of sensor units to send and receive data including measurement values, and a second communication period common to the plurality of sensor units to send commands from the communication unit to the plurality of sensor units.

[0019] According to this aspect, a first communication period is allocated for transmitting and receiving data including measurement values ​​between the multiple sensor units and the communication unit, and a second communication period is allocated for transmitting commands from the communication unit to the multiple sensor units, so that measurement values ​​can be properly transmitted between the multiple sensor units and the communication unit, and commands from the communication unit can be properly transmitted to the multiple sensor units. [Effects of the Invention]

[0020] According to the present invention, it is possible to provide a sensor system capable of appropriately transmitting measurement data from a plurality of sensor units. [Brief explanation of the drawings]

[0021] [Figure 1] 1 is a system overview diagram showing the configuration of a sensor system 1 according to an embodiment of the present invention. [Figure 2] FIG. 1 is a functional block diagram for explaining the functions of a sensor unit 30, among the devices that make up a sensor system 1 according to an embodiment of the present invention. [Figure 3] 10 is a diagram showing the timing of sending data in a plurality of amplifier units 31A, 31B, 31C, . . . [Figure 4] 10 is a chart showing the timing of generating and sending data in a parent amplifier unit 31A. [Figure 5] 10 is a chart showing the timing of generating and sending data in the slave amplifier units 31B, 31C, . . . [Figure 6] 10 is a chart showing the timing of receiving data sent from each amplifier unit 31 in the communication unit 20. [Figure 7] FIG. 2 is a functional block diagram for explaining a function of recognizing a unit position in a sensor unit 30 according to an embodiment of the present invention. [Figure 8]10 is a flowchart showing the flow of processing in a channel number recognition method M10 for assigning (recognizing) channel numbers in the sensor units 30 connected at the time of startup of the sensor system 1 according to one embodiment of the present invention. [Figure 9] FIG. 1 is a diagram schematically illustrating how the thickness of a target object T is measured using two sensor units 30A and 30B out of a plurality of sensor units 30 according to an embodiment of the present invention. [Figure 10] 10 is a chart showing timings of light emission and reception by the sensor heads of two sensor units. [Figure 11] 10 is an example showing the timing at which the amplifier unit 31 in the sensor unit 30 receives measurement data from the sensor head 32. [Figure 12] 10 is a diagram showing how the imaging timing is adjusted from the timing when the amplifier unit 31 in the sensor unit 30 receives measurement data from the sensor head 32. FIG. [Figure 13] 10 is a flowchart showing the flow of processing in a timing adjustment method M20 for adjusting the measurement timing between the amplifier unit 31 and the sensor head 32. [Figure 14] 10 is a time chart showing the flow of a series of processes for performing inter-amplifier calculations in a parent sensor unit 30A and a child sensor unit 30B. [Figure 15] FIG. 1 is a functional block diagram for explaining the functions of a communication unit 20, among the devices that make up a sensor system 1 according to an embodiment of the present invention. [Figure 16] FIG. 10 is a diagram showing an example of a data format in which time information is added to data received from amplifier units 31 (1CH to 16CH) within a first period. [Figure 17] 1 is a schematic diagram showing data processing in a user terminal 10 and a communication unit 20. FIG. [Figure 18] FIG. 10 is a diagram showing a mechanism by which a communication unit 20 acquires time information from a server. DETAILED DESCRIPTION OF THE INVENTION

[0022] Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings. Note that the embodiment described below is merely a specific example for carrying out the present invention and is not intended to limit the scope of the present invention. Furthermore, to facilitate understanding of the description, the same components in each drawing will be designated by the same reference numerals wherever possible, and duplicate descriptions may be omitted.

[0023] [Sensor system configuration] Fig. 1 is a system overview diagram showing the configuration of a sensor system 1 according to one embodiment of the present invention. As shown in Fig. 1, the sensor system 1 includes a user terminal (information processing device) 10, a communication unit 20, and a plurality of sensor units 30A, 30B, 30C, etc. (hereinafter, sometimes collectively referred to as "sensor units 30").

[0024] Furthermore, the multiple sensor units 30A, 30B, 30C, etc. each include an amplifier unit 31A, 31B, 31C, etc. (hereinafter sometimes collectively referred to as "amplifier unit 31") and a corresponding sensor head 32A, 32B, 32C, etc. (hereinafter sometimes collectively referred to as "sensor head 32").

[0025] The sensor system 1 is a status monitoring system that monitors the status of manufacturing equipment such as robots that manufacture semiconductors, electronic components, and secondary batteries, as well as workpieces. Specifically, the sensor system detects the robots and workpieces as objects and measures their position, posture, and size.

[0026] The user terminal 10 is, for example, a PC (Personal Computer), and acquires the detection information and measurement values ​​detected by the sensor unit 30 via the communication unit 20 in response to user operations, and analyzes and displays this data, thereby enabling the user to check the status of the manufacturing equipment, workpieces, etc.

[0027] The communication unit 20 is connected to the user terminal 10 via a network such as a LAN (Local Area Network), and transmits data received from the sensor unit 30 to the user terminal 10.

[0028] The communication unit 20 may store the data received from the sensor unit 30 in a memory and / or process it before transmitting it to the user terminal 10 .

[0029] The sensor unit 30 includes an amplifier unit 31 and a corresponding sensor head 32. The amplifier units 31 are each connected to the communication unit 20 and are configured to be able to transmit data to the communication unit 20.

[0030] For example, the sensor head 32 is an optical sensor that projects light onto an object and detects the object and measures its position and size based on the amount of reflected light received. The amplifier unit 31 controls the timing of light projection and reception for the sensor head 32 and receives data including detection information and measurement information from the sensor head 32. The amplifier unit 31 is configured to be able to transmit this data to the communication unit 20.

[0031] The amplifier units 31 are also configured to be able to transmit and receive data between each other, and are further configured to be able to receive data from the communication unit 20 (for example, commands, which will be described later).

[0032] The sensor system 1 includes a plurality of sensor units 30, but the number of sensor units is not particularly limited. For example, the plurality of sensor units 30 may be 2 to 16, and one of the sensor units may be a parent sensor unit (hereinafter, the amplifier unit constituting the parent sensor unit may also be referred to as the "parent amplifier unit"), and the others may be child sensor units (hereinafter, the amplifier unit constituting the child sensor unit may also be referred to as the "child amplifier unit").

[0033] In this embodiment, a total of 16 sensor units 30 are provided, with the sensor unit 30A adjacent to the communication unit 20 being the parent sensor unit and the other sensor units 30B, 30C, etc. being child sensor units.

[0034] For example, the parent amplifier unit 31A transmits a synchronization signal from the parent sensor unit 30A to the child amplifier units 31B, 31C, . . . , and each child amplifier unit 31B, 31C, . . . receives the synchronization signal.

[0035] Each sensor head 32A, 32B, 32C, etc. may detect or measure an object based on the transmission and reception of the synchronization signal, and each amplifier unit 31 may store this measurement data in memory or transmit the data based on the transmission and reception of the synchronization signal.

[0036] The communication unit 20 and each amplifier unit 31 are connected by a bus signal line, and signals may be transmitted and received using serial communication. Here, serial communication is interpreted as including a serial communication protocol, such as CAN (Controller Area Network) communication realized by two signal lines.

[0037] In addition, in this embodiment, the communication unit 20 is configured to transmit data from each amplifier unit 31 to the user terminal 10, but this is not limited to this, and for example, data may be transmitted to the user terminal 10 via a PLC (Programmable Logic Controller) (control device), or data may be transmitted to a PLC separately from the user terminal 10.

[0038] 2 is a functional block diagram for explaining the functions of the devices constituting the sensor system 1 according to one embodiment of the present invention, mainly in the sensor unit 30. As shown in FIG. 2, the sensor unit 30 includes a transmission timing determination means 310, a measurement means 320, a data storage means 330, and a data transmission means 340. The user terminal 10 includes a control means 110 and a memory means 120, and the communication unit 20 includes a control means 210 and a memory means 220.

[0039] In order to transmit and receive signals (data) between each sensor unit 30 and the communication unit 20, each sensor unit 30 and the communication unit 20 has an inter-unit communication control 40, and in order to transmit and receive signals (data) between the user terminal 10 and the communication unit 20, each user terminal 10 and the communication unit 20 has a user terminal communication control 50. Details of each communication control will be described later.

[0040] The transmission timing determination means 310 determines transmission timing specific to each of the plurality of sensor units 30A, 30B, 30C, etc., based on the synchronization signal having the first period, so that the transmission timings of the plurality of sensor units 30A, 30B, 30C, etc. are different.

[0041] For example, the parent amplifier unit 31A transmits a synchronization signal having a first period to the communication unit 20 and the child amplifier units 31B, 31C, etc. The child amplifier units 31B, 31C, etc. receive the synchronization signal from the parent amplifier unit 31A. As a result, the communication unit 20 and each sensor unit 30 synchronize based on the transmission and reception of the synchronization signal, and appropriately determine sensor unit-specific transmission timings so that the transmission timings of the multiple sensor units 30A, 30B, 30C, etc. are different.

[0042] During the first cycle, data including measurement values ​​measured by each sensor unit 30A, 30B, 30C, etc. is transmitted from each amplifier unit 31A, 31B, 31C, etc. to the communication unit 20, and the transmission timing from each amplifier unit 31A, 31B, 31C, etc. to the communication unit 20 is determined so that the transmission timing does not overlap among the amplifier units 31A, 31B, 31C, etc.

[0043] That is, a transmission timing is assigned to each amplifier unit 31 during the first period so that the timings at which data is transmitted from each amplifier unit 31 to the communication unit 20 do not overlap.

[0044] The measuring means 320 repeatedly measures based on the second period. For example, the first period may be an integer multiple of the second period, and during the first period, each sensor unit 30 may repeatedly measure by emitting and receiving light to and from the object using each sensor head 32. The measured values ​​measured by each sensor head 32 are received by each amplifier unit 31.

[0045] The data storage means 330 stores in memory, among the measurement values ​​obtained by repeated measurements by the measurement means 320, the measurement values ​​measured at a timing based on the synchronization signal having the first period.

[0046] For example, during the first period, each sensor unit 30 repeats the measurement as described above, and the parent amplifier unit 31A, based on the transmission of a synchronization signal having the first period, stores the measurement value at the timing of transmission of the synchronization signal in the memory of the parent amplifier unit 31A. The child amplifier units 31B, 31C, etc., based on the reception of a synchronization signal having the first period, store the measurement value at the timing of reception of the synchronization signal in the memory of each child amplifier unit 31B, 31C, etc.

[0047] When the transmission timing specific to the sensor unit arrives, the data transmission means 340 reads out the measurement value stored in the memory and transmits it to the communication unit 20 .

[0048] For example, when the transmission timing determined by the transmission timing determination means 310 to be different for each sensor unit 30A, 30B, 30C, etc. arrives in each sensor unit 30, the measurement value stored in the memory by the data storage means 330 is read out, data including the measurement value is generated, and sent to the communication unit 20.

[0049] [Data transmission timing for each amplifier unit] 3 is a diagram showing the data transmission timings of the multiple amplifier units 31A, 31B, 31C, etc. As shown in Fig. 3, the transmission timings of the data of the amplifier units 31A, 31B, 31C, etc. are assigned to each amplifier unit 31 during the first cycle so that the transmission timings of the data of the amplifier units 31A, 31B, 31C, etc. are different (so that the transmission timings do not overlap).

[0050] The amplifier units 31 in each sensor unit 30 are connected in a row and recognize identification information specific to each sensor unit. Here, the amplifier unit 31A is the first channel (1CH), the amplifier unit 31B is the second channel (2CH), the amplifier unit 31C is the third channel (3CH), and so on, and data transmission timings are assigned as the first channel (1CH) to the sixteenth channel (16CH) for the 16 sensor units 30 that make up the sensor system 1.

[0051] The total transmission period for the 16 amplifier units 31 (16 channels) is composed of a start timing period, the transmission time of data assigned to one amplifier unit 31, and a transmission interval which is the interval between the transmission start timings of each amplifier unit 31, and is set to fit within at least the period of the first cycle.

[0052] The communication unit 20 and each amplifier unit 31 transmit and receive signals (data) using serial communication, so by sending data at the timing assigned to each channel, data collisions are avoided and communication errors are reduced.

[0053] Here, the data sent from each amplifier unit 31 to the communication unit 20 may include, but is not limited to, measurement values ​​measured by each sensor head 32. The data may include channel numbers, amplifier unit states (including errors and warnings), external input states, measurement values, calculated values, control outputs (determination results, error outputs), command codes, and parameters for commands.

[0054] Furthermore, within the period of the first cycle, a communication period (second communication period) for transmitting commands from the communication unit 20 to each amplifier unit 31 may be allocated, separate from the first communication period allocated for each amplifier unit 31 to transmit data to the communication unit 20. Note that this communication period (second communication period) may be allocated after the transmission and reception of synchronization signals and before the first communication period, as shown in Fig. 3, so that commands can be transmitted and received appropriately even if communication between each amplifier unit 31 and the communication unit 20 is not appropriate due to the influence of noise, for example.

[0055] This communication period (second communication period) is common to multiple amplifier units 31, and for example, the communication unit 20 sends commands to a specific amplifier unit 31 among the multiple amplifier units 31, such as changing the setting value (such as on / off threshold) of the sensor unit 30 (sensor head 32), reading the setting value, and executing an operation command (such as teaching, light projection OFF, zero reset, etc.).

[0056] Since this is a communication period common to the multiple amplifier units 31, the command transmitted and received during this communication period may include the destination amplifier unit 31 (channel number), a command code indicating the type (content) of the command, and arguments (parameters) for the command, etc. This allows the sensor unit that is the target of the command, out of the multiple sensor units 30, to recognize that the command is intended for itself.

[0057] Furthermore, these commands are transmitted from the communication unit 20 to the amplifier units 31, but may also be transmitted to each amplifier unit 31 via the communication unit 20 based on an external input request from, for example, the user terminal 10 or a PLC.

[0058] Furthermore, the amplifier unit 31 that receives a command from the communication unit 20 may include a response to the command in the data at the timing of sending the data assigned to each amplifier unit 31 and transmit it to the communication unit 20.

[0059] 4 is a chart showing the timing of data generation and transmission in the parent sensor unit 30A. As shown in FIG. 4, the parent amplifier unit 31A transmits a synchronization signal having a first period (here, 1 ms) to the communication unit 20 and the child amplifier units 31B, 31C, etc., and after a predetermined time (here, 815 μs) has elapsed, generates data including measurement values ​​measured by the sensor head 32A. Then, in the next first period, the data is transmitted to the communication unit 20 at the transmission timing of the first channel (1CH) assigned to the parent amplifier unit 31A (here, 15 μs after the transmission of the synchronization signal).

[0060] 5 is a chart showing the timing of data generation and transmission in the slave amplifier units 31B, 31C, etc. As shown in FIG. 5, the slave amplifier units 31B, 31C, etc. receive a synchronization signal having a first period (here, 1 ms) from the master amplifier unit 31A, and after a predetermined time (here, 815 μs) has elapsed, generate data including measurement values ​​measured by the sensor heads 32B, 32C, etc. Then, in the next first period, the data is transmitted to the communication unit 20 at the transmission timing of the second channel (2CH) and third channel (3CH) assigned to each sensor head 32B, 32C, etc.

[0061] [Data reception timing in the communication unit] Fig. 6 is a chart showing the timing of reception of data sent from each amplifier unit 31 by the communication unit 20. As shown in Fig. 6, the communication unit 20 receives a synchronization signal having a first period from the parent amplifier unit 31A, and then receives data from all of the connected amplifier units 31 in order within the period of the first period.

[0062] Note that, within the period of the first cycle, after receiving a synchronization signal having the first cycle from the parent amplifier unit 31A, the communication unit 20 may receive data from the 16 amplifier units 31 (1CH to 16CH) at equal intervals or at different intervals. For example, after receiving a synchronization signal having the first cycle from the parent amplifier unit 31A, the communication unit 20 may receive data from the parent amplifier unit 31A (1CH) after a predetermined time has elapsed, and then receive data from the next child amplifier unit 31B (2CH) at an interval longer than the other intervals.

[0063] Furthermore, if the communication unit 20 has a communication period for transmitting a command after receiving data from 16 amplifier units 31 (1CH to 16CH), the period for receiving data from the 16 amplifier units 31 (1CH to 16CH) may be set taking into consideration the communication period.

[0064] Here, the communication unit 20 sequentially receives data from 16 amplifier units 31 (1CH to 16CH), but this is not limited to this. For example, as shown in Fig. 6, the communication unit 20 is set to receive data for 16 channels (1CH to 16CH) on the assumption that 16 amplifier units 31 are connected, but there may be cases where the sensor system 1 includes less than 16 sensor units 30, or where the number of sensor units 30 in operation is less than 16.

[0065] For example, if the sensor system 1 comprises four sensor units 30 or four operating sensor units 30, the communication unit 20 completes the reception of data for four channels (1CH to 4CH) out of the preset reception timing for 16 channels (1CH to 16CH) within the first period, and does not receive data from 5CH onwards as shown in Figure 6.

[0066] As described above, in the multiple sensor units 30, the transmission timing determination means 310 determines sensor-unit-specific transmission timing based on a synchronization signal having a first period so that the transmission timings from the multiple amplifier units 31 to the communication unit 20 are different. The measurement means 320 repeatedly measures based on a second period, and the data storage means 330 stores in memory, among the measurement values ​​obtained by the repeated measurements by the measurement means 320, the measurement values ​​measured at the timing based on the synchronization signal having the first period. Then, when the sensor-unit-specific transmission timing arrives, the data transmission means 340 reads the measurement value stored in memory and transmits data including the measurement value to the communication unit 20. In this way, by each amplifier unit 31 transmitting data at the transmission timing assigned to each amplifier unit 31 during the first period, data collisions can be avoided in serial communication, and the occurrence of communication errors can be reduced. The memory may store not only the measurement values ​​but also the channel number, the state of the amplifier unit (including errors and warnings), the external input state, the calculated value, the control output (judgment result, error output), the command code and parameters for the command, and these data may also be sent to the communication unit 20 together with the measurement values ​​as necessary.

[0067] As a result, according to the sensor system 1 according to one embodiment of the present invention, measurement data from the plurality of sensor units 30 can be transmitted appropriately.

[0068] [Channel number recognition] As described above, the parent amplifier unit 31A is connected adjacent to the communication unit 20, and the child amplifier units 31B, 31C, etc. are connected in a row, with each amplifier unit 31A, 31B, 31C, etc. recognizing the first channel (1CH), second channel (2CH), third channel (3CH), etc. Specifically, the communication unit 20 and all amplifier units 31 recognize the connection configuration including the number of connected amplifier units 31 and the connection positions at which each amplifier unit 31 is connected, as well as model information of the connected amplifier units 31.

[0069] The connection configuration (number of connected units and connection positions) and model information of all connected amplifier units may be set in advance in each amplifier unit 31 and communication unit 20, for example, or a channel number may be assigned (recognized) to each connected amplifier unit 31 when the sensor system 1 is started up.

[0070] Fig. 7 is a functional block diagram for explaining the function of recognizing the unit position in the sensor unit 30 according to one embodiment of the present invention. As shown in Fig. 7, the communication unit 20 and each sensor unit 30 include a first communication means 41 and a second communication means 42 in the inter-unit communication control 40 described in Fig. 2, and further include an identification information recognition means 350 in addition to these means. The parent sensor unit 30A may also include a verification means 360.

[0071] The first communication means 41 communicates between each amplifier unit 31 and the communication unit 20 in order to recognize the unit position in the amplifier unit 31.

[0072] In each sensor unit 30, the identification information recognition means 350 uses the first communication means 41 to recognize the connection state of the multiple sensor units 30A, 30B, 30C, etc. and the position of its own unit among the multiple sensor units 30A, 30B, 30C, etc., and stores the recognized information in the memory of each amplifier unit 31.

[0073] In the parent sensor unit 30A, the verification means 360 verifies the connection state and unit position stored in its own memory with the connection state and unit position stored in the memory of the child sensor units 30B, 30C, etc., and if there is no contradiction in the verification results, it determines the connection state and unit position.

[0074] In each sensor unit 30, the transmission timing determination means 310 determines a transmission timing specific to the sensor unit based on the unit position determined by the verifying means 360.

[0075] The second communication means 42 communicates data including the measurement values ​​measured by each sensor unit 30 between each amplifier unit 31 and the communication unit 20 .

[0076] In each sensor unit 30, the data sending means 340 sends data including the measurement values ​​stored in the memory of each amplifier unit 31 to the communication unit 20 using the second communication means 42 based on the transmission timing specific to the sensor unit determined by the transmission timing determination means 310.

[0077] [Channel number recognition method] 8 is a flowchart showing the process flow of a channel number recognition method M10 for assigning (recognizing) channel numbers in the connected sensor units 30 at the time of startup of the sensor system 1 according to one embodiment of the present invention. As shown in FIG. 8, the channel number recognition method M10 includes steps S11 to S15, and is executed by the amplifier unit 31 and the communication unit 20 that constitute the sensor system 1.

[0078] In step S11, each sensor unit 30 and communication unit 20 confirms at which position they are connected (coupled) (connection position confirmation step). For example, the parent amplifier unit 31A sequentially switches the output of the handshake GPIO terminal to confirm the connection position based on the state of the input terminals of the child amplifier units 31B, 31C, etc.

[0079] Here, the connection position may include, for example, the highest, middle, lowest, stand-alone, etc., and it may be confirmed at which of these positions each sensor unit 30 and communication unit 20 is connected (coupled).

[0080] In step S12, each sensor unit 30 recognizes the communication unit 20 (communication unit recognition step). For example, the parent amplifier unit 31A first performs a handshake with the communication unit 20 using a handshake GPIO terminal, and then notifies the child amplifier units 31B, 31C, etc. of connection with the communication unit 20.

[0081] Here, the child amplifier units 31B, 31C, etc. may be notified using a command, for example, of connection information with the communication unit 20 (including model information of the communication unit 20), and if they are not connected to the communication unit 20, they may or may not be notified of this.

[0082] This allows each amplifier unit 31 to recognize the communication unit 20. Then, each amplifier unit 31 and communication unit 20 may store this information in its own memory.

[0083] In step S13, each sensor unit 30 and communication unit 20 recognizes the parent sensor unit 30A (parent sensor unit recognition step). For example, the parent amplifier unit 31A notifies the communication unit 20 and each child amplifier unit 31B, 31C, etc. of model information of the parent sensor unit 30A.

[0084] Here, the communication unit 20 and the child amplifier units 31B, 31C, etc. may be notified of, for example, the sensor type of the parent sensor unit 30A (optical displacement sensor, length measurement sensor, contact sensor, proximity sensor, etc.) using a command. Then, each amplifier unit 31 and communication unit 20 may store this information in its own memory.

[0085] In step S14, each sensor unit 30 and communication unit 20 recognizes the child sensor units 30B, 30C, etc. (child sensor unit recognition step). For example, the parent amplifier unit 31A first handshakes with the child amplifier unit 31B using a handshaking GPIO terminal, and then receives a channel number acquisition request command from the child amplifier unit 31B. The parent amplifier unit 31A then assigns a channel number (here, 2CH) to the child amplifier unit 31B, and notifies the other child amplifier units 31 and the communication unit 20 of the channel number information (2CH) of the child amplifier unit 31B.

[0086] Next, the child amplifier unit 31B handshakes with the child amplifier unit 31C using the handshaking GPIO terminal, and then the parent amplifier unit 31A receives a channel number acquisition request command from the child amplifier unit 31C. The parent amplifier unit 31A then assigns a channel number (3CH in this case) to the child amplifier unit 31C and notifies the other child amplifier units 31 and the communication unit 20 of the channel number information (3CH) of the child amplifier unit 31C.

[0087] In this way, the parent amplifier unit 31A repeats the same process in order up to the lowest-ranking child amplifier unit 31, assigning channel numbers to each child amplifier unit 31B, 31C, etc., and notifying the child amplifier units 31B, 31C, etc. and the communication unit 20 of this information. Each amplifier unit 31 and communication unit 20 may then store this information in its own memory.

[0088] In step S15, the channel number assigned to the amplifier unit 31 is confirmed (verification step). For example, the parent amplifier unit 31A acquires information (connection information and unit position) stored in the memory of each of the child amplifier units 31B, 31C, etc., and compares (verifies) it with the information (connection information and unit position) stored in its own memory. Then, if there is no contradiction in the verification results, the connection state and unit position are determined.

[0089] Furthermore, the parent amplifier unit 31A may transmit information (connection information and unit positions) stored in its own memory to the child amplifier units 31B, 31C, etc. Each child amplifier unit 31B, 31C, etc. compares (verifies) the information (connection information and unit positions) from the parent amplifier unit 31A with the information (connection information and unit positions) stored in its own memory. Then, if there is no contradiction in the verification results, the connection state and unit positions may be determined.

[0090] As described above, when the sensor system 1 is started up, the identification information recognition means 350 in each sensor unit 30 uses the first communication means 41 to recognize connection information indicating how many sensor units 30 are connected and the unit position (channel number) indicating the ordinal number of each sensor unit 30. Furthermore, the verification means 360 verifies the connection information and unit position recognized in each sensor unit 30 and then confirms the connection information and unit position. The transmission timing determination means 310 then determines a transmission timing specific to the sensor unit based on the unit position recognized by the identification information recognition means 350, and the data transmission means 340 reads measurement values ​​stored in memory based on the transmission timing specific to the sensor unit and transmits data including the measurement values ​​to the communication unit 20. This allows each sensor unit 30 to more appropriately recognize its own identification information (unit position) and more appropriately determine a transmission timing specific to the sensor unit based on the unit position so that the transmission timings of the multiple sensor units are different.

[0091] [Measurement timing] Next, a mechanism for using a plurality of sensor units 30 to perform measurements at appropriate timing in each sensor unit 30 and for appropriately processing the measured values ​​will be described.

[0092] 9 is a diagram schematically illustrating how two sensor units 30A and 30B out of the plurality of sensor units 30 according to one embodiment of the present invention are used to measure the thickness of an object T. As shown in FIG. 9, using a parent sensor unit 30A (1CH) and a child sensor unit 30B (2CH), sensor heads 32A and 32B emit and receive light on the front and back of the object T, respectively, to measure the thickness of the object T.

[0093] Here, it is important that the sensor heads 32A and 32B measure at the same position on the front and back of the object T. For example, if the object T is part of a manufacturing facility that includes a robot or the like, and particularly if the object T involves movement, it is preferable that the sensor heads 32A and 32B measure at an appropriate timing (the same timing).

[0094] Fig. 10 is a chart showing the timing of light emission and reception of the sensor heads in the two sensor units. As shown in Fig. 10, the ON / OFF timings of the laser control signal and the CMOS control signal are set to be the same for the sensor head 32A of the parent sensor unit 30A, which is the first channel (1CH), and the sensor head 32B of the child sensor unit 30B, which is the second channel (2CH).

[0095] That is, the sensor head 32A (1CH) and the sensor head 32B (2CH) each project light onto the target T at the same time and each receive reflected light. Then, the amplifier unit 31A (1CH) receives measurement data based on the amount of reflected light received from the sensor head 32A, and the amplifier unit 31B (2CH) receives measurement data based on the amount of reflected light received from the sensor head 32B.

[0096] Here, the laser control signal ON period (light projection period) is set to half the measurement period during which sensor head 32A (1CH) and sensor head 32B (2CH) measure the target object T, and the CMOS control signal ON period (exposure period) is set correspondingly.

[0097] 9 and 10, the sensor heads 32A and 32B measure the object T at the same time, but if the sensor heads 32A and 32B do not need to measure at the same time (for example, if the object is a stationary object and the tilt is measured from the same direction), the sensor head 32A (1CH) and the sensor head 32B (2CH) may be set to emit and receive light at different timings rather than at the same time. By staggering the timings of emission and reception, interference between the measurement light and reflected light of the sensor head 32A and the sensor head 32B can be avoided.

[0098] 11 is an example showing the timing at which the amplifier unit 31 in the sensor unit 30 receives measurement data from the sensor head 32. As shown in Fig. 11, the amplifier unit 31 receives measurement data for each measurement period (second period) during the first period.

[0099] As a specific example, if the first period is 1 ms and the measurement period is 250 μs, the amplifier unit 31 receives measurement data (first time) a predetermined time after the transmission and reception of a synchronization signal transmitted from the parent amplifier unit 31A during the first period (1 ms), and then receives measurement data every 250 μs, for a total of four times. Furthermore, reception of measurement data is similarly repeated during the first period of the next transmission and reception of a synchronization signal.

[0100] Note that, as a specific example, the first period is set to 1 ms and the measurement period is set to 250 μs here, but typically the first period is set to an integer multiple of the measurement period, for example, the first period may be set to 1 ms and the measurement period to 125 μs, in which case the amplifier unit 31 will receive measurement data a total of eight times during the first period. Also, the first period and measurement period (second period) are not limited to these and may be set appropriately depending on the object to be measured and the required measurement accuracy.

[0101] [Adjusting reception timing] Each of the sensor units 30 includes a measurement timing adjustment means, and in each sensor unit 30, the measurement timing adjustment means adjusts the timing at which the amplifier unit 31 receives measurement data from the sensor head 32. For example, the amplifier unit 31 and the sensor head 32 may be connected via an RS-485 interface. Four signal lines (two communication signal lines, a power supply, and a GND) are provided, and two of the communication signal lines (RX and TX) are used to exchange data between the amplifier unit 31 and the sensor head 32 via serial communication using UART (Universal Asynchronous Receiver / Transmitter) communication, thereby adjusting the reception timing. In other words, instead of providing a signal line for communicating a synchronization signal to synchronize the timing between the amplifier unit 31 and the sensor head 32, the amplifier unit 31 uses the communication signal lines to adjust the timing using a timing adjustment value (numerical information) sent from the amplifier unit 31 to the sensor head 32. Details of the timing adjustment value will be described later.

[0102] Specifically, with regard to data exchanged between the amplifier unit 31 and the sensor head 32 via UART communication, the sensor head 32 transmits to the amplifier unit 31 measurement data measured in the sensor head 32 in synchronization with the measurement period, the status of the sensor head 32 (including errors and warnings), and responses to commands from the amplifier unit 31. The amplifier unit 31 transmits to the sensor head 32 the status of the amplifier unit 31 (including errors and warnings) and commands for the sensor head 32. Furthermore, the amplifier unit 31 calculates a timing adjustment value based on the timing (time) at which it receives the measurement data from the sensor head 32, and transmits the calculated timing adjustment value to the sensor head 32.

[0103] 12 is a diagram showing how the imaging timing is adjusted based on the timing at which the amplifier unit 31 in the sensor unit 30 receives measurement data from the sensor head 32. As shown in Fig. 12, the reception timing of the measurement data received by the amplifier unit 31 from the sensor head 32 is phase-adjusted so that it coincides with (comes closer to) a preset reception timing.

[0104] For example, in the sensor unit 30, a predetermined time (here, 15 μs) after the transmission and reception of a synchronization signal having a first period (here, 1 ms) transmitted from the parent amplifier unit 31A is set as the timing at which the amplifier unit 31 receives the first measurement data in the period of the first period from the sensor head 32. More specifically, for example, the transmission and reception of the synchronization signal may be completed after a predetermined time has elapsed from the falling edge of the synchronization signal, and a predetermined time (here, 15 μs) after the completion of the transmission and reception of the synchronization signal may be set as the timing at which the amplifier unit 31 receives the measurement data from the sensor head 32. Note that the predetermined time may be different between the parent amplifier unit 31A and the child amplifier units 31B, 31C, etc.; for example, it may be 3.5 μs for the parent amplifier unit 31A and 2.4 μs for the child amplifier units 31B, 31C, etc.

[0105] In contrast, the actual reception timing at which the amplifier unit 31 receives the data from the sensor head 32 is 10 μs after the transmission and reception of the synchronization signal having the first cycle transmitted from the parent amplifier unit 31A, and a deviation occurs from the set reception timing. Similarly, the actual reception timing (10 μs) at which the amplifier unit 31 receives the measurement data from the sensor head 32 may be the time from the completion of transmission and reception of the synchronization signal after a specified time has elapsed, starting from the falling edge of the synchronization signal.

[0106] The measurement timing adjustment means calculates a timing adjustment value based on a preset reception timing (15 μs from the transmission / reception of the synchronization signal) and the actual reception timing (10 μs from the transmission / reception of the synchronization signal). Specifically, the measurement timing adjustment means may calculate the difference (5 μs) between the preset reception timing and the actual reception timing as the timing adjustment value. That is, the timing adjustment value can be calculated using the following formula. [Timing adjustment value] = [Reception timing (time) preset in amplifier unit 31] - [Timing (time) from transmission / reception of synchronization signal to actual reception of measurement data]

[0107] The timing adjustment value calculated by the measurement timing adjustment means is reflected at the timing when the synchronization signal having the next first period is transmitted and received. Specifically, the timing adjustment value is transmitted from the amplifier unit 31 to the sensor head 32, and the light emission and reception timing of the sensor head 32 is adjusted in the next first period.

[0108] In other words, the timing at which the amplifier unit 31 receives the first measurement data from the sensor head 32 during the next first cycle period transmitted from the parent amplifier unit 31A is adjusted, and until then, the timing at which the amplifier unit 31 receives the second and subsequent measurement data from the sensor head 32 during that first cycle period is not adjusted (the timing adjustment value is not reflected).

[0109] Regarding the timing at which the amplifier unit 31 receives data from the sensor head 32, the first to fourth measurement data during the first cycle period are received every measurement cycle, so by adjusting the timing at which the first measurement data is received during the first cycle period, the timing at which the second and subsequent measurement data are received is also automatically adjusted (shifted).

[0110] Furthermore, the above-mentioned adjustment of the reception timing may be continuously performed every first period, so that the difference between the preset reception timing and the actual reception timing tends to become smaller, and the actual reception timing can be made to converge to the preset reception timing. Specifically, for example, if the measurement period is 125 μs and the difference (timing adjustment value) between the preset reception timing and the actual reception timing is −40 μs, the difference is adjusted by 15 μs in the next period, by 15 μs in the period after that, and by 10 μs in the period after that, and so on, and the difference is corrected little by little over multiple periods (here, three periods).

[0111] By adjusting the reception timing as described above in each sensor unit 30, the reception timing of the measurement data between each sensor unit 30 can be brought closer to coincide, and the results of measuring the target object T at the same time can be obtained.

[0112] [Measurement timing adjustment method] 13 is a flowchart showing the processing flow of a timing adjustment method M20 for adjusting the measurement timing between the amplifier unit 31 and the sensor head 32. As shown in FIG. 13, the timing adjustment method M20 includes steps S21 to S25, and is executed by the amplifier unit 31 and the sensor head 32 of each sensor unit 30.

[0113] In step S21, based on the transmission and reception of a synchronization signal having a first period from the parent amplifier unit 31, the sensor head 32 repeatedly measures the object T based on a measurement period (second period) (measurement step).

[0114] In step S22, the amplifier unit 31 receives the measurement data measured in step S21 from the sensor head 32 (measurement data receiving step).

[0115] In step S23, the amplifier unit 31 calculates a timing adjustment value based on the reception timing of the measurement data received in step S22 and a preset reception timing (timing adjustment value calculation step). For example, the amplifier unit 31 calculates, as the timing adjustment value, the difference between the reception timing at which the first measurement data is received during the first period from the transmission and reception of a synchronization signal having a first period from the parent amplifier unit 31 and the preset reception timing.

[0116] In step S24, the sensor head 32 receives the timing adjustment value calculated in step S23 from the amplifier unit 31 (timing adjustment value receiving step).

[0117] In step S25, the sensor head 32 reflects the timing adjustment value received in step S24 in the next cycle (timing adjustment step). For example, the sensor head 32 adjusts the timing of emitting and receiving light to the target T and adjusts the measurement timing by adjusting the laser control signal and the CMOS control signal as shown in Fig. 10.

[0118] Then, returning to the processing of step S21, based on the transmission and reception of a synchronization signal having the first period from the parent amplifier unit 31, the sensor head 32 repeatedly measures the object T based on the measurement period (second period) at the measurement timing adjusted in step S25.

[0119] As described above, the measurement timing adjustment means in the parent sensor unit 30A and the child sensor unit 30B adjust the measurement timing between the amplifier unit 31A and the sensor head 32A, and the measurement timing between the amplifier unit 31B and the sensor head 32B. This allows the measurement timing between the parent sensor unit 30A and the child sensor unit 30B to approach the same timing. Without providing a signal line for communicating a synchronization signal between the amplifier unit 31 and the sensor head 32 in each sensor unit 30, the measurement timing in each sensor unit 30 can be synchronized, thereby preventing the wiring from becoming complicated and the manufacturing costs from increasing.

[0120] At least one of the multiple sensor units 30 includes a calculation means, and the calculation means generates a calculated value through inter-amplifier calculation based on measurement data measured by each sensor unit 30. Here, the parent sensor unit 30A includes a calculation means, and the calculation means generates a calculated value based on the measurement data measured by the parent sensor unit 30A and the measurement data measured by the child sensor unit 30B.

[0121] The calculation means calculates the measurement data measured at the parent sensor unit 30A and the child sensor unit 30B at the same measurement timing or at an appropriate measurement timing that is close to the same timing, so that, for example, when measuring the thickness of the object T as shown in Figure 9, it is possible to measure at the same position on the front and back of the object T, thereby achieving more accurate measurements.

[0122] In this embodiment, an optical displacement sensor is used as an example to explain how the measurement timing is adjusted by adjusting the timing of light emission and reception in the multiple sensor heads 32, but the present invention is not limited to this. For example, the present invention is also applicable to contact sensors, length measurement sensors, proximity sensors, analog input (voltage, current), color sensors, flow sensors, ultrasonic sensors, fiber sensors, and TOF sensors. The measurement timing can be adjusted for each type of sensor head based on the timing at which the amplifier unit receives measurement data from the sensor head.

[0123] Fig. 14 is a time chart showing the flow of a series of processes for performing inter-amplifier calculations in the parent sensor unit 30A and the child sensor unit 30B. As shown in Fig. 14, based on the transmission and reception of a synchronization signal (S1 to S4) having a first period, four measurements are performed in each of the parent sensor unit 30A and the child sensor unit 30B during the period (T1 to T4) of the first period.

[0124] For example, if the first period is 1 ms and the measurement period (second period) is 250 μs, in the parent sensor unit 30A, the parent amplifier unit 31A receives four pieces of measurement data ("A1" to "A4") from the sensor head 32A during a period T1 of the first period from the transmission and reception of a synchronization signal S1 having the first period. The parent amplifier unit 31A sends out data at the sending timing assigned to the parent amplifier unit 31A during the period T1 of the first period, but here the measurement data (RV) and the calculated value (MV) may be "indefinite."

[0125] In the parent amplifier unit 31A, the measurement data (here, "A4") generated during period T1 of the first period is stored in memory at the timing of sending and receiving the synchronization signal S2 having the next first period, and data including the measurement data "A4" and the calculated value "indeterminate" is sent out at the sending timing assigned to the parent amplifier unit 31A during period T2 of the first period.

[0126] The parent amplifier unit 31A stores the measurement data (here, "A8") generated during period T2 of the first period in memory at the timing of sending and receiving the synchronization signal S3 having the next first period, and sends out data including the measurement data "A8" and the calculated value "indeterminate" at the sending timing assigned to the parent amplifier unit 31A during period T3 of the first period.

[0127] Similarly, in the slave sensor unit 30B, the slave amplifier unit 31B receives four pieces of measurement data ("B1" to "B4") from the sensor head 32B during a period T1 of the first period from the transmission and reception of a synchronization signal S1 having a first period. The slave amplifier unit 31B sends out data at the sending timing assigned to the slave amplifier unit 31B during the period T1 of the first period, but here the measurement data (RV) may be "indefinite."

[0128] In the slave amplifier unit 31B, the measurement data (here, "B4") generated during period T1 of the first period is stored in memory at the timing of transmitting and receiving the synchronization signal S2 having the next first period, and data including the measurement data "B4" is sent out at the sending timing assigned to the slave amplifier unit 31B during period T2 of the first period.

[0129] Then, the parent amplifier unit 31A receives the data including the measurement data "B4" sent from the child amplifier unit 31B.

[0130] The parent amplifier unit 31A receives data including the measurement data "B4" depending on the timing of transmission from the amplifier unit 31B during the period T2 of the first cycle, but is able to acquire the data at the latest within the period T2 of the first cycle (at the start of the period T3 of the first cycle).

[0131] The parent amplifier unit 31A generates a calculated value "AB4" by calculating the measurement data "A4" stored in the memory of the parent amplifier unit 31A and the measurement data "B4" measured by the child sensor unit 30B. Here, the calculated value "AB4" generated by the parent amplifier unit 31A is calculated based on the measurement data "A4" and "B4" measured at the same time by the parent sensor unit 30A and the child sensor unit 30B.

[0132] Thereafter, the parent amplifier unit 31A stores the measurement data (here, "A12") at the timing of transmission and reception of the next synchronization signal S4 having the first period in memory, and transmits data including the measurement data "A12" and the calculation value "AB4" at the transmission timing assigned to the parent amplifier unit 31A during period T4 of the first period. That is, the communication unit 20 receives data including the measurement data "A12" and the calculation value "AB4" from the parent amplifier unit 31A.

[0133] In this way, in each sensor unit 30, the measurement of the object T, the acquisition of the measurement data, the transmission of data including the measurement value, the generation of a calculated value by calculation based on the measurement data measured at the same timing, and the transmission of data including the calculated value are processed in a pipeline in cycles divided into the first period (T1 to T4).

[0134] As described above, measurement data measured by each of the multiple sensor units 30 is generated (stored in memory) in cycles divided by a first period (T1 to T4) based on the transmission and reception of a synchronization signal having a first period transmitted from the parent amplifier unit 31A, and the data is transmitted at the transmission timing assigned to each amplifier unit 31. Then, in inter-amplifier calculations, measurement data measured at the same timing is calculated to appropriately calculate a calculated value, and further, by including the calculated value in the data transmission at the transmission timing assigned to each amplifier unit 31 and transmitting it, a series of data processes can be performed appropriately. For example, in applications where multiple sensor units 30 are used for monitoring (such as thickness measurement and step measurement), it is possible to reduce differences in measurement timing and calculated measurement data, thereby enabling measurements to be performed with higher accuracy.

[0135] In this embodiment, the calculated value is generated by performing inter-amplifier calculation based on the measurement data of the parent sensor unit 30A and the child sensor unit 30B, but the number of measurement data to be used for inter-amplifier calculation is not limited to two, and for example, the calculated value may be generated by performing inter-amplifier calculation based on three or more measurement data. Examples of inter-amplifier calculation include calculating the thickness of the object T based on two measurement data as shown in Figure 9, or calculating the average value of multiple other measurement data to generate a calculated value.

[0136] In addition, in this embodiment, the parent sensor unit 30A is provided with a calculation means for calculating the measurement data at the parent sensor unit 30A and the measurement data at the child sensor unit 30B, but this is not limited to this, and for example, the calculation means may be provided in the child sensor unit 30B, the communication unit 20, or the user terminal 10.

[0137] Furthermore, it is not limited to calculating the measurement data of the parent sensor unit 30A and the measurement data of the child sensor unit 30B, but for example, the measurement data between the child sensor units 30 may be calculated as the subject of inter-amplifier calculation to generate a calculated value.

[0138] [Data Transmission] Next, a mechanism by which the user terminal 10 (information processing device) appropriately acquires and processes data including measurement values ​​measured by a plurality of sensor units 30 via the communication unit 20 will be described.

[0139] 15 is a functional block diagram for explaining the functions of the communication unit 20, among the devices constituting the sensor system 1 according to one embodiment of the present invention. As shown in FIG. 15, the communication unit 20 is connected to a plurality of sensor units 30 by an inter-unit communication control 40 so as to be able to communicate signals, and is connected to a user terminal (information processing device) 10 by a user terminal communication control 50 so as to be able to communicate signals, and further includes control means 210 and storage means 220. The storage means 220 has a plurality of buffers, and includes, for example, a first buffer 220-1, a second buffer 220-2, ..., and an M-th buffer 220-M.

[0140] The control means 210 receives data from the plurality of sensor units 30 through the inter-unit communication control 40. Specifically, as shown in Fig. 6, the communication unit 20 receives a synchronization signal having a first period from the parent amplifier unit 31A, and then receives data from all of the connected amplifier units 31 (1CH to 16CH) in order within the period of the first period.

[0141] The storage means 220 sequentially stores the data received from the amplifier units 31 (1CH to 16CH). For example, the storage means 220 is a Synchronous Dynamic Random Access Memory (SDRAM).

[0142] The communication unit 20 may include a timer, and may associate data received from the amplifier unit 31 (1CH to 16CH) with time information measured by the timer, and store the data and time information as a set in the storage means 220.

[0143] 16 is a diagram showing an example of a data format in which time information is added to data received from the amplifier units 31 (1CH to 16CH) during the first period. As shown in FIG. 16, time information is added to data from the 1st channel (1CH) to the 16th channel (16CH).

[0144] For example, the communication unit 20 receives data from the amplifier units 31 (1CH to 16CH) within the period of the first cycle, and at that time measures the time using a timer to obtain time information. Then, the communication unit 20 may add the time information to the data received from the amplifier units 31 (1CH to 16CH) and store the data in the storage means 220.

[0145] The communication unit 20 continuously receives data from the amplifier unit 31 (1CH to 16CH) every first period and stores the data in the storage means 220. The storage means 220 includes a first buffer 220-1, a second buffer 220-2, etc., and an M-th buffer 220-M, and is configured so that data is buffered in the order of the first buffer 220-1, the second buffer 220-2, etc., and the M-th buffer 220-M every predetermined amount (a predetermined period of the first period).

[0146] The data buffered in the first buffer 220-1, the second buffer 220-2, ..., the M-th buffer 220-M may be permanently stored in a ring buffer structure. Here, the storage means 220 has M buffers, but it is sufficient to have at least two buffers. For example, if the storage means 220 has the first buffer 220-1 and the second buffer 220-2, data is buffered and output alternately in the first buffer 220-1 and the second buffer 220-2 every predetermined amount (a predetermined period of the first cycle).

[0147] The control means 210 transmits the data stored in the storage means 220 to the user terminal 10 by the user terminal communication control 50. Here, the data transmitted from the communication unit 20 to the user terminal 10 is data buffered in the first buffer 220-1, the second buffer 220-2, ..., the M-th buffer 220-M, and may be, for example, data for multiple first cycles (multiple cycles).

[0148] Furthermore, even when data is being transmitted from the communication unit 20 to the user terminal 10, for example, when data is read out and transmitted from any one of the first buffer 220-1, the second buffer 220-2, ..., and the M-th buffer 220-M, any one of the remaining buffers continues to store the data received from the amplifier unit 31 (1CH to 16CH).

[0149] [Multiple buffers and data transmission] Fig. 17 is a schematic diagram showing data processing in the user terminal 10 and the communication unit 20. As shown in Fig. 17, data is transmitted from the communication unit 20 to the user terminal 10 based on a data request from the user terminal 10 to the communication unit 20. Note that sampling may be set to start automatically immediately after startup and continue until power is cut off.

[0150] In the communication unit 20, data is received in sequence from the amplifier units 31 (1CH to 16CH) during the first period. For example, the first buffer 220-1 buffers the data for multiple times (multiple periods) of the first period, and then the second buffer 220-2 buffers the data for multiple times (multiple periods) of the first period, and this is repeated up to the Mth buffer 220-M.

[0151] Here, the first period is 1 ms, and the communication unit 20 receives data from the amplifier unit 31 (1CH to 16CH) over a period of 1 ms and buffers the data in the first buffer 220-1 in order, and the first buffer 220-1 buffers 100 ms worth of data (N=100; data for 100 times the first period).

[0152] Then, the communication unit 20 continues to receive data from the amplifier unit 31 (1CH to 16CH) every first period, and stores the next 100 ms worth of data (N=100; data for 100 times in the first period) in the second buffer 220-2.

[0153] In this way, in the communication unit 20, data from the amplifier unit 31 (1CH to 16CH) is stored by switching buffers in order from the first buffer 220-1, to the second buffer 220-2, ..., to the M-th buffer 220-M for every 100 ms worth of data (N=100; data for 100 times in the first cycle). After the M-th buffer 220-M, the buffer can simply be switched back to the first buffer 220-1.

[0154] As described above, the communication unit 20 automatically starts sampling immediately after startup, causing the multiple sensor units 30 to start measurement, and continues to acquire data including measurement values ​​measured by the multiple sensor units 30 until power is cut off.

[0155] The user terminal 10 transmits a data request A to the communication unit 20 to acquire data including measurement values ​​measured by a plurality of sensor units 30. Here, the data request A requests, for example, 100 ms worth of data (N=100; 100 times of data in the first cycle) from the amplifier units 31 (1CH to 16CH).

[0156] Based on the data request A, the communication unit 20 buffers data from the amplifier unit 31 (1CH to 16CH) in the first buffer 220-1 for 100 ms (N=100; 100 times the first cycle), and then transmits the data buffered in the first buffer 220-1 to the user terminal 10.

[0157] Even when the data buffered in the first buffer 220-1 is being transmitted from the communication unit 20 to the user terminal 10, the second buffer 220-2 continues to store the data received from the amplifier unit 31 (1CH to 16CH).

[0158] Then, the user terminal 10 receives data for 100 ms from the communication unit 20 based on the data request A, and further transmits data for the next 100 ms as a data request B to the communication unit 20.

[0159] Based on the data request B, the communication unit 20 buffers data from the amplifier unit 31 (1CH to 16CH) in the second buffer 220-2 for 100 ms (N=100; 100 times the first cycle), and then transmits the data buffered in the second buffer 220-2 to the user terminal 10.

[0160] Based on the data request B, the user terminal 10 receives data for 100 ms from the communication unit 20.

[0161] In this way, the user terminal 10 can obtain 200 ms worth of data (200 times the first cycle) from the amplifier units 31 (1CH to 16CH) by transmitting data requests A and B to the communication unit 20.

[0162] In addition, in accordance with the data request (amount) from the user terminal 10, data requests A, B, etc. are made from the user terminal 10 to the communication unit 20, and the data buffered in the first buffer 220-1, the second buffer 220-2, etc., the Mth buffer 220-M in the storage means 220 of the communication unit 20 are sequentially transmitted to the user terminal 10.

[0163] As described above, the communication unit 20 associates data received from the amplifier units 31 (1CH to 16CH) with time information measured by the timer and stores the data and time information as a set in the storage means 220. At this time, the data is buffered in the first buffer 220-1, the second buffer 220-2, ..., the M-th buffer 220-M in sequence every predetermined amount (predetermined period of the first cycle). As a result, even if data from the amplifier units 31 (1CH to 16CH) is being written to one of the buffers, the data buffered in one of the remaining buffers is transmitted, so that the writing of data can continue without affecting the current writing. As a result, the communication unit 20 can appropriately transmit data from the amplifier units 31 (1CH to 16CH) to the user terminal 10 without causing any loss of data.

[0164] In this embodiment, the buffer configuration is provided with a plurality of buffers, including the first buffer 220-1, the second buffer 220-2, . . . , and the M-th buffer 220-M. However, it is preferable to have at least two or more areas (buffers) for storing data.

[0165] In this embodiment, the communication unit 20 receives the data request from the user terminal 10, but this command may be obtained by the user, for example, via an external device or directly. The communication unit 20 may transmit data to the user terminal 10 in response to the data request.

[0166] Furthermore, in this embodiment, the communication unit 20 mainly functions as a device that relays data from the amplifier unit 31 (1CH to 16CH), but is not limited to this. For example, the communication unit 20 may calculate or judge data from the amplifier unit 31 (1CH to 16CH) and transmit the calculation results and judgment results to the user terminal 10 together with the data buffered in the first buffer 220-1, the second buffer 220-2, ..., and the Mth buffer 220-M.

[0167] [Update time information] Fig. 18 is a diagram showing how the communication unit 20 acquires time information from a server. As shown in Fig. 18, the communication unit 20 is connected to an NTP (Network Time Protocol) 90 server via an EtherNet / IP network. The NTP server 90 may also be an SNTP (Simple Network Time Protocol) server.

[0168] The communication unit 20 further includes a communication means for communicating with an NTP server 90, and updates the time information of a timer within the communication unit 20 by acquiring time information from the NTP server 90.

[0169] For example, the communication unit 20 may obtain time information from the NTP server 90 by issuing a command when the power of the communication unit 20 is turned on, or may obtain time information from the NTP server 90 by issuing a command at predetermined intervals (e.g., every 120 seconds).

[0170] By updating the time information within the communication unit 20 with the time information obtained from the NTP server 90, it is possible to reduce discrepancies in the time information within the communication unit 20 and use appropriate time information. In other words, the time information within the communication unit 20 is synchronized with the time information of the NTP server 90.

[0171] As described above, the communication unit 20 measures time using a timer to obtain time information, and adds the time information to data received from the amplifier unit 31 (1CH to 16CH) and stores the data in the storage means 220. Then, as shown in Fig. 16, the data with the added time information is transmitted from the communication unit 20 to the user terminal 10.

[0172] In other words, the data received by the user terminal 10 is associated with time information that has been appropriately updated in the communication unit 20 to reduce discrepancies, and data from the amplifier unit 31, and the user terminal 10 can perform data analysis, etc. based on this appropriate time information.

[0173] In addition, the time information of the event log in the communication unit 20 is synchronized with the time information of the NTP server 90, so that, for example, when an abnormality occurs and the cause is to be analyzed, or when analysis is performed using data sent to the user terminal 10, the time information can be easily and appropriately compared, allowing for appropriate and efficient analysis.

[0174] The above-described embodiments are intended to facilitate understanding of the present invention and are not intended to limit the present invention. The elements of the embodiments, as well as their arrangement, materials, conditions, shapes, sizes, etc., are not limited to those illustrated and can be modified as appropriate. Furthermore, configurations shown in different embodiments can be partially substituted or combined with each other.

[0175] [Appendix] A sensor system (1) comprising a plurality of sensor units (30) and a communication unit (20) connected to the plurality of sensor units (30) so as to be capable of transmitting signals and configured to transmit information received from each of the sensor units (30) to an information processing device (10) or a control device, The plurality of sensor units (30) determining transmission timings specific to the sensor units (30) so that the transmission timings of the plurality of sensor units (30) differ based on a synchronization signal having a first period; repeatedly measuring based on the second period, and storing in a memory, among the measured values ​​obtained by the repeated measurements, the measured values ​​at a timing based on the synchronization signal having the first period; When a transmission timing specific to the sensor unit arrives, the measurement value stored in the memory is read out and sent to the communication unit (20). Sensor system (1). [Explanation of symbols]

[0176] 1... sensor system, 10... user terminal (information processing device), 20... communication unit, 30, 30A, 30B, 30C... sensor unit, 31, 31A, 31B, 31C... amplifier unit, 32, 32A, 32B, 32C... sensor head, 40... inter-unit communication control, 41... first communication means, 42... second communication means, 50... user terminal communication control, 90... NTP server, 110, 210... control means, 120, 220... storage means, 220-1 to 22 0-M...buffer, 310...transmission timing determination means, 320...measurement means, 330...data storage means, 340...data transmission means, 350...identification information recognition means, 360...verification means, M10...channel number recognition method, M20...timing adjustment method, S11-S15...each step of channel recognition method M10, S21-S25...each step of timing adjustment method M20, T...object, S1-S4...synchronization signal, T1-T4...period of first cycle

Claims

1. A sensor system comprising: a plurality of sensor units; and a communication unit connected to the plurality of sensor units so as to be capable of transmitting signals, the communication unit transmitting information received from each of the sensor units to an information processing device or a control device, The plurality of sensor units include: determining transmission timings specific to the sensor units based on a synchronization signal having a first period so that the transmission timings of the plurality of sensor units are different; repeatedly measuring based on the second period, and storing in a memory, among the measured values ​​obtained by the repeated measurements, the measured values ​​at a timing based on the synchronization signal having the first period; When a transmission timing specific to the sensor unit arrives, the measurement value stored in the memory is read out and sent to the communication unit. Sensor system.

2. the plurality of sensor units and the communication unit transmit and receive signals using serial communication; The sensor system of claim 1 .

3. The plurality of sensor units include: They are connected in a row, Recognizes the unique identification information of each sensor unit, determining a transmission timing specific to the sensor unit based on the identification information; The sensor system of claim 1 .

4. The plurality of sensor units include: a first communication means for communicating with other sensor units; and second communication means for communicating with the communication unit; Each of the plurality of sensor units using the first communication means to recognize the connection state of the plurality of sensor units and the position of the sensor unit itself among the plurality of sensor units, and store the recognized information in a memory; determining a transmission timing specific to the sensor unit based on the unit position; transmitting the measurement value stored in the memory to the communication unit using the second communication means based on a transmission timing specific to the sensor unit; The sensor system of claim 3 .

5. At least one of the plurality of sensor units and the communication unit Verifying the connection status and unit location stored in the memory of the sensor unit itself and the connection status and unit location stored in the memory of the other sensor units; If the verification result is consistent, confirm the connection state and unit position; The sensor system of claim 4 .

6. a first communication period for transmitting and receiving data including the measurement values ​​in each of the plurality of sensor units, and a second communication period common to the plurality of sensor units for transmitting commands from the communication unit to the plurality of sensor units are assigned to the plurality of sensor units; The sensor system of claim 1 .

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