Sensor Network System

Abstract

It is known that in a sensor network system (10) having a plurality of sensor devices (12_1 to 12_5), each of the plurality of sensor devices includes a detection unit (16, 18) for detecting a physical quantity and providing a corresponding measurement signal, a calculation unit (20) for processing the measurement signal and providing measurement data (M_1 to M_5) based on the measurement signal, and a data interface (22) capable of reading output data (A_1 to A_5). In order to provide an efficient sensor network system (10), the present invention provides a central evaluation device (24), which determines individual output data (A_1 to A_5) for at least two sensor devices (12_1 to 12_5) through a central evaluation algorithm based on the measurement data (M_1 to M_5) of at least two sensor devices (12) among the plurality of sensor devices (12), and provides the determined output data (A_1 to A_5) to each of the sensor devices (12_1 to 12_5).

Description

[Technical Field]

[0001] The present invention relates to a sensor network system having a plurality of sensor devices, each of which has a detection unit that detects a physical quantity and provides a corresponding measurement signal, a calculation unit that processes the measurement signal and provides measurement data based on the measurement signal, and a data interface (22) through which output data (A_1 to A_5) can be read. [Background technology]

[0002] Such a sensor network system can be used, for example, for monitoring machines or industrial installations, with the individual sensor devices typically being located in different parts of the machine or industrial installation.

[0003] A sensor network system having a plurality of sensor devices is known, for example, from WO 2021 / 052585 A1, in which output data of all the sensor devices are transmitted to a base station and then read out from the base station. Since the individual output data of the sensor devices are determined separately by each sensor device, it is essential to provide each sensor device with a correspondingly powerful computing unit. Summary of the Invention [Problem to be solved by the invention]

[0004] In view of this background, it is an issue to provide an efficient sensor network system. [Means for solving the problem]

[0005] This problem is solved by a sensor network system having the features of the main claim 1.

[0006] A sensor network system according to the invention preferably comprises a number of identical sensor devices, although in principle it is also possible for the sensor network system to comprise several different types of sensor devices interconnected in a known manner by a data transmission network (e.g. by a data bus) allowing data exchange between the individual sensor devices and any other participants of the sensor network system.

[0007] Each sensor device of the present invention comprises at least one detection unit for detecting a physical quantity and providing a corresponding measurement signal. More advantageously, the sensor device comprises a plurality of detection units for detecting a plurality of different physical quantities.

[0008] Each sensor device of the present invention further comprises a computing unit for processing the at least one measurement signal and for providing measurement data based on the at least one measurement signal, typically comprising a microcontroller or a so-called system on a chip (SoC) as well as a data storage device.

[0009] The measurement signal provided by the sensor unit may be an analog signal, from whose amplitude and / or frequency the respective physical quantity can be derived. In this embodiment, the calculation unit comprises a so-called analog-to-digital converter that converts the analog measurement signal into a digital data stream of measurement signal values. However, the measurement signal may also be a digital signal (i.e., a digital data stream) containing at least one measurement value. In principle, the measurement signal may be any signal capable of transmitting information about the physical quantity detected by the sensor unit.

[0010] The measurement data provided by the computing unit typically comprise measured values ​​that are derived from or transmitted by the measurement signals and that indicate physical quantities detected by the sensor unit. However, it is also conceivable that the measurement data comprise values ​​of the measurement signal frequency, the measurement signal amplitude and / or values ​​of the individual measurement signals of an (analog) measurement signal. In principle, the measurement data provided by the computing unit can be digital data in any form that is determined on the basis of the measurement signals.

[0011] Each sensor device of the present invention further comprises at least one data interface via which output data determined on the basis of the measurement data can be read out. Preferably, the sensor device comprises a wireless data interface, more preferably a mobile wireless interface for data exchange with a remote data processing unit, as well as a wired data interface for data exchange with other participants in the sensor network system.

[0012] In the present invention, the sensor network system comprises a central evaluation device that receives measurement data from at least two sensor devices, preferably from all sensor devices. To this end, each sensor device may be configured to actively transmit its measurement data to the central evaluation device, and / or the central evaluation device may be configured to acquire measurement data from each sensor device. A central evaluation algorithm, typically stored in the central evaluation device in the form of an executable calculation program, receives measurement data from the sensor devices as input and provides individual output data for the individual sensor devices as output. Thus, the central evaluation device is configured to determine individual output data from the at least two sensor devices based on the measurement data of the at least two sensor devices using the central evaluation algorithm. In this way, individual output data specific to each sensor device is determined for each of these sensor devices. In the present invention, the central evaluation device is further configured to provide the determined output data to each sensor device, so that the output data can be read from each data interface of the individual sensor devices.

[0013] The central evaluation device is configured to perform a central evaluation of measurement data for at least two of the plurality of sensor devices of the sensor network system according to the invention, preferably for all sensor devices of the sensor network system according to the invention. As a result, the central evaluation device can execute relatively complex evaluation algorithms without having to provide a correspondingly powerful computing unit in each sensor device. This provides an efficient sensor network system.

[0014] The central evaluation device is preferably formed by a computing unit of one of the sensor devices, thereby eliminating the need for a separate device for the central evaluation device in the sensor network system. Each computing unit typically has a relatively powerful microcontroller for executing the central evaluation algorithm. In principle, it is also conceivable that the computing units of several sensor devices are configured to form the central evaluation device, and that these take turns taking over the functions. This provides a particularly efficient and versatile sensor network system.

[0015] More advantageously, the central evaluation device is configured to generate at least two sub-calculation commands for calculating intermediate values ​​of the central evaluation algorithm, provide the at least two sub-calculation commands to the calculation units of at least two different sensor devices, and receive or acquire the intermediate values ​​calculated by the at least two sub-calculation commands from the calculation units of the at least two different sensor devices. The sub-calculation commands may be of any complexity and may be designed to determine two or more intermediate values ​​of the central evaluation algorithm. Preferably, the central evaluation device is configured to provide each sub-calculation command to a different calculation unit. By dividing the central evaluation algorithm into multiple sub-calculation commands and executing these sub-calculation commands in the calculation units of multiple sensor devices, it is possible to execute a relatively complex evaluation algorithm, without the need for a specially high-performance calculation unit for this purpose. This provides a particularly versatile sensor network system.

[0016] Preferably, each sensor device comprises a gyro sensor unit and / or an acceleration sensor unit, each attached to a different movable part of the machine, and output data of the sensor device indicates the spatial position and / or orientation of the respective attached part of the machine. A central evaluation device with a central evaluation algorithm makes the measurement data of all machine parts available to the central evaluation algorithm, allowing for particularly accurate determination of the position and / or alignment of each machine part. Sensor devices with gyro sensor units and / or acceleration sensor units are also referred to as angular velocity sensors, gyro devices, accelerometers, acceleration sensors, periodic vibration sensors, seismic sensors, G sensors, B-meters, or inertial measurement units. More preferably, the machine is a construction machine, in particular an excavator or crane, with sensor devices arranged on different parts of the boom to enable detection of the spatial position and orientation of the boom.

[0017] DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, an embodiment of a sensor network system according to the present invention will be described with reference to the accompanying drawings. [Brief explanation of the drawings]

[0018] [Figure 1] FIG. 1 is a schematic diagram showing the arrangement of a sensor network system according to the present invention on an excavator. [Figure 2] FIG. 2 is a schematic diagram of a sensor device in the sensor network system of FIG. [Figure 3] FIG. 3 is a diagram showing an outline of data exchange between sensor devices when output data is determined in the sensor network system of FIG. DETAILED DESCRIPTION OF THE INVENTION

[0019] FIG. 1 shows an excavator 1 having a lower traveling body 2, an upper rotating body 3 rotatably supported on the lower traveling body 2, a boom 4 rotatably attached to the upper rotating body 3, an arm 5 rotatably attached to the boom 4, and a bucket 6 rotatably attached to the arm 5.

[0020] FIG. 1 also shows a schematic representation of a sensor network system 10 according to the present invention, which is arranged on the excavator 1 to detect the spatial position and orientation of the excavator 1 and the spatial positions and orientations of each of the moving parts of the excavator 1, namely the undercarriage 2, the upper rotating body 3, the boom 4, the arm 5 and the bucket 6.

[0021] The sensor network system 10 includes five sensor devices 12_1 to 12_5 interconnected by a data transmission network 14. The first sensor device 12_1 is disposed on the upper rotating body 3, the second sensor device 12_2 is disposed on the lower traveling body 2, the third sensor device 12_3 is disposed on the boom 4, the fourth sensor device 12_4 is disposed on the arm 5, and the fifth sensor device 12_5 is disposed on the bucket 6.

[0022] In this embodiment, the five sensor devices 12_1 to 12_5 are configured to be substantially identical. Therefore, in FIG. 2 and the following description, when describing all of the sensor devices 12_1 to 12_5 or when describing any one of the sensor devices 12_1 to 12_5, a generic reference number without the indexes _1 to _5 is used for simplicity.

[0023] In this embodiment, each sensor device 12 comprises two detection units 16, 18. The first detection unit 16 is a three-axis gyroscope sensor unit configured to detect turning rates along three spatial axes and provide them as digital turning rate measurement signals. The second detection unit 18 is a three-axis acceleration sensor unit configured to detect accelerations along three spatial axes and provide them as digital acceleration measurement signals.

[0024] Each sensor device 12 further comprises a calculation unit 20 connected to both the first detection unit 16 and the second detection unit 18 and configured to receive the turning rate measurement signal and the acceleration measurement signal. The calculation unit 20 is configured to process the turning rate measurement signal and the acceleration measurement signal and to provide measurement data M based thereon. The measurement data M comprises turning rate measurement values ​​in the three spatial axes of the gyro sensor unit and acceleration measurement values ​​in the three spatial axes of the acceleration sensor unit.

[0025] Each sensor device 12 further comprises a data interface 22, by means of which the determined output data A can be read out from the sensor device 12. In this embodiment, the data interface 22 is also used for connection to the data transmission network 14. However, different data interfaces may be provided for connecting the sensor network system 10 to the data transmission network 14 and for reading out the output data A.

[0026] The sensor network system 10 includes a central evaluation device 24, which in this embodiment is configured as the calculation unit 20 of the first sensor device 12_1. The central evaluation device 24 is configured to acquire measurement data M_2 of the second sensor device 12_2, measurement data M_3 of the third sensor device 12_3, measurement data M_4 of the fourth sensor device 12_4, and measurement data M_5 of the fifth sensor device 12_5 from the data transmission network 14. The central evaluation device 24 also acquires measurement data M_1 of the first sensor device 12_1.

[0027] The central evaluation device 24 comprises a central evaluation algorithm designed to determine individual output data A_1 to A_5 of each sensor device 12_1 to 12_5 based on measurement data M_1 to M_5 of the plurality of sensor devices 12_1 to 12_5. In this embodiment, the five determined output data A_1 to A_5 indicate at least the inclination of each sensor device 12, i.e. the inclination of each part of the excavator 1, namely the undercarriage 2, the upper rotating body 3, the boom 4, the arm 5 and the bucket 6.

[0028] In this embodiment, the central evaluation device 24 Each was designed to determine the median Z of the median evaluation algorithm. configured to generate at least two sub-computation commands T . Medium The central evaluation device 24 ,So Each of the sub-calculation commands T is provided to the calculation unit 20 of one of the plurality of sensor devices 12_1 to 12_5. do.

[0029] In the example shown in FIG. 3, the central evaluation device 24 generates five sub-calculation commands T_1 to T_5. The first sub-calculation command T_1 is executed by the calculation unit 20 of the first sensor device 12_1 that forms the central evaluation device 24. The second sub-calculation command T_2 is provided from the central evaluation device 24 via the data transmission network 14 to the calculation unit 20 of the second sensor device 12_2 and executed there. The third sub-calculation command T_3 is provided from the central evaluation device 24 via the data transmission network 14 to the calculation unit 20 of the third sensor device 12_3 and executed there. The fourth sub-calculation command T_4 is provided from the central evaluation device 24 via the data transmission network 14 to the calculation unit 20 of the fourth sensor device 12_4 and executed there. And the fifth sub-calculation command T_5 is provided from the central evaluation device 24 via the data transmission network 14 to the calculation unit 20 of the fifth sensor device 12_5 and executed there.

[0030] Furthermore, in this embodiment, the central evaluation device 24 is configured to obtain from each sensor device 12 the intermediate value Z calculated by the sub-calculation command T in the calculation unit 20 of each sensor device 12 .

[0031] 3, the central evaluation device 24 acquires, from each sensor device 12 via the data transmission network 14, a second intermediate value Z_2 calculated by the second sub-calculation command T_2 in the calculation unit 20 of the second sensor device 12_2, a third intermediate value Z_3 calculated by the third sub-calculation command T_3 in the calculation unit 20 of the third sensor device 12_3, a fourth intermediate value Z_4 calculated by the fourth sub-calculation command T_4 in the calculation unit 20 of the fourth sensor device 12_4, and a fifth intermediate value Z_5 calculated by the fifth sub-calculation command T_5 in the calculation unit 20 of the fifth sensor device 12_5. The central evaluation device 24 also acquires the first intermediate value Z_1 calculated by the calculation unit 20 of the first sensor device 12_1.

[0032] All calculated intermediate values ​​Z_1 to Z_5 are provided to a central evaluation algorithm, which determines thereon five individual output data A_1 to A_5 of the five sensor devices 12_1 to 12_5.

[0033] The central evaluation device 24 is further configured to provide the determined output data A_1 to A_5 to each sensor device 12. In particular, the central evaluation device 24 is configured to transmit the determined second output data A_2 to the second sensor device 12_2 via the data transmission network 14, to transmit the determined third output data A_3 to the third sensor device 12_3 via the data transmission network 14, to transmit the determined fourth output data A_4 to the fourth sensor device 12_4 via the data transmission network 14, and to transmit the determined fifth output data A_5 to the fifth sensor device 12_5 via the data transmission network 14. The determined first output data A_1 is stored in the first sensor device 12_1, the calculation unit 20 of which constitutes the central evaluation device 24.

[0034] The output data A_1 to A_5 are read from the data interface 22 of each sensor device 12. In particular, the first output data A_1 can be read from the data interface 22 of the first sensor device 12_1, the second output data A_2 can be read from the data interface 22 of the second sensor device 12_2, the third output data A_3 can be read from the data interface 22 of the third sensor device 12_3, the fourth output data A_4 can be read from the data interface 22 of the fourth sensor device 12_4, and the fifth output data A_5 can be read from the data interface 22 of the fifth sensor device 12_5. [Explanation of symbols]

[0035] 1. Excavator 2 Undercarriage 3 Upper rotating body 4. Boom 5 Arm 6 buckets 10 Sensor Network System 12 Sensor device 14 Data Transmission Network 16 First detection unit (gyro sensor unit) 18 Second detection unit (acceleration sensor unit) 20 computing units 22 Data Interface 24 Central Evaluation Device A Output Data M measurement data T subcalculation command Z Median

Claims

1. A sensor network system (10) having a plurality of sensor devices (12_1 to 12_5), each of the plurality of sensor devices: a detection unit (16, 18) for detecting a physical quantity and providing a corresponding measurement signal; a calculation unit (20) for processing the measurement signals and providing measurement data (M_1 to M_5) based on the measurement signals; a data interface (22) through which output data (A_1 to A_5) can be read; The sensor network system (10) further includes a central evaluation device (24), and the central evaluation device (24) determining individual output data (A_1 to A_5) for the at least two sensor devices (12_1 to 12_5) by a central evaluation algorithm based on the measurement data (M_1 to M_5) of at least two sensor devices (12) of the plurality of sensor devices (12); The sensor network system (10) provides the determined output data (A_1 to A_5) to the respective sensor devices (12_1 to 12_5).

2. 2. The sensor network system (10) according to claim 1, wherein the central evaluation device (24) is configured by the calculation unit (20) of any one of the plurality of sensor devices (12_1 to 12_5).

3. The central evaluation device (24) generating at least two sub-calculation commands (T_1 to T_5) for calculating intermediate values ​​(Z_1 to Z_5) of the central evaluation algorithm; providing the at least two sub-calculation commands (T_1 to T_5) to the calculation units (20) of the at least two different sensor devices (12_1 to 12_5); 2. The sensor network system (10) according to claim 1, wherein the calculation units (20) of the at least two different sensor devices (12_1 to 12_5) receive or acquire the intermediate values ​​(Z_1 to Z_5) calculated by the at least two sub-calculation commands (T_1 to T_5) from the at least two different sensor devices (12_1 to 12_5).

4. Each of the plurality of sensor devices (12_1 to 12_5) includes a gyro sensor unit (16) and / or an acceleration sensor unit (18); the plurality of sensor devices (12_1 to 12_5) are respectively attached to different movable parts (2, 3, 4, 5, 6) of the machine (1); The sensor network system (10) according to any one of claims 1 to 3, wherein the output data (A_1 to A_5) of the plurality of sensor devices (12_1 to 12_5) indicate the spatial positions and / or orientations of different moving parts (2, 3, 4, 5, 6) of the machine (1). That's all.

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