JP2002157233A - Multisensor processor - Google Patents

Abstract

PROBLEM TO BE SOLVED: To solve a problem that processing time is delayed more than needed or originally disabled processing occurs conventionally when applied processing exceeds the throughput of a processor. SOLUTION: This device is provided with plural sensors 1, plural processing means 2 for processing data provided from the sensors and a control means 3 for controlling the plural sensors and the plural processing means, and the control means has a sensor selecting means 5 for determining one or plural sensors to be used on the basis of prescribed information, an assignment determining means 6 for determining the number of processing means to be assigned to processing of the sensor determined to use by the sensor selecting means and a processing selecting means 7 for determining the processing contents of the sensor determined to use corresponding to the number of processing means assigned to that sensor. Therefore, within a range not to exceed the throughput of provided processing means at all the time, the processing means can be more effectively used.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

The present invention relates to a multi-sensor processing device for processing data obtained from a plurality of sensors in real time.

[0002]

2. Description of the Related Art In a multi-sensor processing apparatus for processing data obtained from a plurality of sensors in real time, particularly in a multi-sensor processing apparatus in which a plurality of sensors are used in cooperation in a positive manner, processing of all sensors is performed. Is not always the process with the maximum load, and the process of each sensor changes according to the situation, and the load also changes. There may be a sensor that does not perform processing, that is, temporarily does not operate. That is, the maximum processing load of the entire multi-sensor processing device is often lower than the sum of the maximum processing loads of the sensors.

In such a multi-sensor processing device, when each sensor is configured independently, that is, when a dedicated processing device is connected to each sensor, the processing device of each sensor requires the maximum load of the connected sensor. It is necessary to prepare hardware capable of performing the following processing in real time, so that the entire multi-sensor processing apparatus has useless hardware.

[0004] Therefore, a multi-sensor processing device in which a single processing device is shared and a plurality of sensors share one or a plurality of processing devices is desired. Generally, in order to process a plurality of sensors at a higher speed, a plurality of processing devices will need to be provided.

As such a multi-sensor processing device,
For example, Japanese Unexamined Patent Application Publication No. 11-142511 discloses a radar device that processes a plurality of received beam signals with a plurality of processing devices. In this radar apparatus, processing priorities are calculated for a plurality of received beam signals, and are assigned in order from a plurality of processing apparatuses to a processing apparatus in a processing standby state in which processing is not performed from among the plurality of processing apparatuses. Use a control method.

As described above, when processing of a plurality of sensors is performed by a plurality of processing devices, a so-called load distribution method of assigning the processing of the plurality of sensors to the processing devices becomes important. . This has many points in common with load distribution in general parallel computers. In particular, in order to use a processing device (processor) more efficiently, a load distribution method that dynamically changes processing assigned to each processor according to the operation state of the processor is suitable.

[0007] For example, in Japanese Patent Application Laid-Open No. 11-65862, once the operation status of a processor assigned to each process is monitored, and if there is an unused processor,
A load distribution method is disclosed in which an unused processor is temporarily allocated to a process that requires another processor with a large load.

[0008]

In the above-described conventional multi-sensor processing device or parallel computer, a control method is used in which a given process is assigned to a plurality of processing devices. If the processing exceeds the processing capacity of the processing device, there is a problem that processing time is unnecessarily delayed or processing that cannot be performed occurs.

Conversely, when the given processing is sufficiently lower than the processing capacity of the processing apparatus, there is a problem that an unused processing apparatus is generated and the operating rate of the entire apparatus is reduced.

SUMMARY OF THE INVENTION The present invention has been made to solve the above-mentioned problem, and actively adjusts and controls the processing contents so that the processing capacity of a limited number of processing means is not exceeded. It is an object of the present invention to obtain a multi-sensor processing device that can use processing means more effectively and has high flexibility.

[0011]

A multi-sensor processing apparatus according to a first aspect of the present invention includes a plurality of sensors, a plurality of processing means for processing data obtained from the sensors, the plurality of sensors and the plurality of sensors. Control means for controlling the processing means, wherein the control means determines one or a plurality of sensors to be used based on predetermined information, and a sensor determined to be used by the sensor selection means. Having an assignment determining means for determining the number of processing means to be assigned to the processing, and a processing selecting means for determining the processing content of the sensor according to the number of processing means assigned to the sensor determined to be used. It is.

In a multi-sensor processing apparatus according to a second aspect of the present invention, when the sensor selecting means determines that there are a plurality of sensors to be used, the priority calculating means calculates a priority according to the importance of the sensor. Means for deciding the number of processing means to be assigned with reference to the priority information.

According to a third aspect of the present invention, in the multi-sensor processing apparatus, the allocation determining means allocates the number of processing means satisfying the processing of the sensor in order from the sensor having the highest priority. This determines the number of processing means assigned to each sensor.

According to a fourth aspect of the present invention, there is provided the multi-sensor processing apparatus, wherein the allocation determining means temporarily distributes the number of processing means to be allocated to each sensor once, and then determines whether the number of processing means for each sensor is sufficient or not. The number of processing means to be assigned to each sensor is determined by checking whether or not there is, and redistributing the processing means of the low-priority sensor to the high-priority sensor.

In a multi-sensor processing apparatus according to a fifth aspect of the present invention, each processing means has a plurality of types of processing methods for achieving the same object in advance, and the processing selection means relates to each of the processing methods. Processing time and calculation accuracy are stored, and processing is performed for each sensor by selecting an optimum processing method with reference to the processing information according to the number of processing means assigned to each sensor. Determine the content.

According to a sixth aspect of the present invention, in the multi-sensor processing apparatus, the allocation deciding means allocates to each sensor in consideration of a processing time and a calculation accuracy of each sensor which fluctuates according to the number of processing means to be allocated. This is to determine the number of processing means.

In a multi-sensor processing apparatus according to a seventh aspect of the present invention, each processing means has a plurality of types of processing methods for achieving the same object in advance, and the control means performs processing relating to each of the processing methods. A processing information table that previously stores processing information in which time and calculation accuracy are stored and a minimum number of processing units required to execute each of the processing methods; By referring to the information table, the number of processing means to be assigned to each sensor is determined, and the processing selecting means refers to the processing information table to determine a processing method according to the number of processing means to be assigned to each sensor. To decide.

[0018] In the multi-sensor processing device according to claim 8, the control means associates the required processing time with the obtained calculation accuracy based on the processing content of each sensor determined by the processing selection means. Evaluation value calculation means for calculating the evaluation value obtained, wherein the evaluation value calculation means determines the number of processing means to be assigned to each sensor by the allocation determination means, and the processing content of each sensor by the processing selection means. Is determined, the evaluation value of each sensor is calculated, and the allocation determination unit re-determines the number of processing units to be allocated to each sensor based on the evaluation value of each sensor calculated by the evaluation value calculation unit. Things.

According to a ninth aspect of the present invention, in the multi-sensor processing apparatus, the processing time actually obtained after the control means performs the processing of the sensor to which each of the processing means is assigned is obtained. The apparatus further includes processing information correction means for updating the processing information held in advance based on the calculation accuracy of the processing result.

According to a tenth aspect of the present invention, in the multi-sensor processing apparatus, the control unit further includes a failure detection unit that monitors operation states of the plurality of processing units to detect a failure, and the assignment determination unit. Is to determine the number of processing means to be allocated to the processing of the sensor determined to be used by the sensor selecting means, excluding the processing means in which the fault detected by the fault detecting means has occurred.

[0021] In the multi-sensor processing apparatus according to claim 11 of the present invention, the allocation determining means selects a sensor whose number of processing means should be reduced in order to add the number of processing means to be allocated to another sensor. In this case, the processing time when the number of processing means is reduced and the number of processing means of the sensor which has the least influence on the calculation accuracy are determined to be reduced.

According to a twelfth aspect of the present invention, in the multi-sensor processing apparatus, when the allocation determining means selects a sensor to which the number of processing means is added, a processing time and an operation time when the number of processing means is added are calculated. It is to decide to add the number of processing means of the sensor that has the greatest effect on accuracy.

According to a thirteenth aspect of the present invention, in the multi-sensor processing apparatus, the allocation determination unit reduces the number of processing units because the effect on the processing time and calculation accuracy of a desired sensor to which the number of processing units is added is reduced. Only when the processing time of the other sensor is greater than the effect on the calculation accuracy, the number of processing means allocated to the other sensor is reduced, and the number of processing means of the desired sensor is determined to be added. Is what you do.

According to a fourteenth aspect of the present invention, in the multi-sensor processing apparatus, the processing information is updated only when the processing information correction means satisfies a predetermined condition.

According to a fifteenth aspect of the present invention, in the multi-sensor processing device, the processing information correcting means may be configured such that the actual processing time and the calculation accuracy of the processing result are better than the values held as existing processing information. Only the processing information is updated.

A multi-sensor processing apparatus according to a sixteenth aspect of the present invention is the multi-sensor processing apparatus, wherein the processing information correction means is configured to execute the processing when the actual processing time and the calculation accuracy of the processing result cannot satisfy the values held as existing processing information. Only the processing information is updated.

According to a seventeenth aspect of the present invention, in the multi-sensor processing device, the processing information correction means can only process the processing information when the actual processing time and the calculation accuracy of the processing result exceed a predetermined threshold. To be updated.

In the multi-sensor processing apparatus according to the eighteenth aspect of the present invention, when the processing information correction means satisfies a predetermined condition, the processing information correction means only generates the processing information when a predetermined number of consecutive occurrences occur. Is to be updated.

According to a nineteenth aspect of the present invention, in the multi-sensor processing device, the processing information correction means may output the processing information only when the predetermined condition is satisfied and the frequency exceeds a predetermined frequency. To be updated.

[0030]

DESCRIPTION OF THE PREFERRED EMBODIMENTS Embodiment 1 A multi-sensor processing device according to Embodiment 1 of the present invention will be described with reference to the drawings. FIG. 1 is a diagram showing a configuration of a multi-sensor processing device according to Embodiment 1 of the present invention. In the drawings, the same reference numerals indicate the same or corresponding parts.

In FIG. 1, reference numeral 1 denotes a radar, a temperature sensor,
A sensor such as an infrared camera, 2 has a limited number of processing means for processing data acquired by the sensor 1, and 3 has a sensor 1
And control means 4 for controlling the processing means 2, and data transfer means for transferring data between the sensor 1, the processing means 2 and the control means 3. Note that the processing means 2 and the control means 3
Are each composed of, for example, a processor.

FIG. 2 is a diagram showing a configuration of control means of the multi-sensor processing device according to the first embodiment of the present invention.

In FIG. 2, reference numeral 5 denotes a sensor selecting means for judging a situation and determining a sensor 1 to be used based on an operator's instruction, information from an external device, a processing result of each sensor 1 performed in the past, and the like. For one or more sensors 1 determined to be used by the sensor selection means 5,
Assignment determining means 7 for determining the number of processing means 2 assigned to the processing of each sensor 1, processing selection means 7 for determining the processing content of the sensor 1 in accordance with the number of processing means 2 assigned to each sensor 1 It is. In addition, the sensor selection means 5,
The assignment determining means 6 and the processing selecting means 7 are each composed of, for example, a processor, software, or the like.

Next, the operation of the multi-sensor processing device according to the first embodiment will be described with reference to the drawings.

First, the control means 3 inputs instructions from an operator and information from an external device, and, if there is a processing result of each sensor 1 processed in the past or immediately before, passes it to the sensor selecting means 5.

The sensor selecting means 5 selects a sensor 1 to be used based on an instruction from an operator, information from an external device, and a processing result of each sensor 1. Generally, if there is an instruction from an operator or an external device to use a specific sensor 1, the instructed sensor 1 will be selected with the highest priority.

If there is no specific instruction from the operator or the external device, or if there is, the additional information from the operator or the external device and the processing result of each sensor 1 are used.
The situation is determined based on some criteria, and the sensor 1 to be used is selected.

Alternatively, when there is no specific instruction from an operator or an external device, or when a decisive criterion cannot be obtained, it may be selected to use all the sensors 1 depending on the situation.

However, the method of selecting what kind of information is to be prioritized, what kind of criterion, and which sensor 1 to use is not the essence of the present invention but the optimum method according to the characteristics of the applied system. Different selection methods will be implemented.

When the sensor 1 to be used is determined by the sensor selecting unit 5, information on the sensor 1 to be used is passed to the assignment determining unit 6. When it is determined by the sensor selection unit 5 that only a single sensor 1 is used, the allocation determination unit 6 allocates to processing of data obtained by the sensor 1 determined to use all the processing units 2. Alternatively, if the number of processing means 2 necessary for processing data obtained by the sensor 1 is known in advance, the number of processing means 2
Assign.

When it is determined by the sensor selection means 5 that two or more sensors 1 are to be used, the allocation determining means 6 determines the number of processing means 2 to be allocated for each sensor 1 determined to be used by some method. To determine. At this time, the processing means 2 assigned to each sensor 1 to be used
Does not exceed the number of processing means 2 provided.

When the number of the processing means 2 allocated to each sensor 1 is determined by the allocation determining means 6, the information is passed to the processing selecting means 7. The processing selection means 7 determines the processing content of the sensor 1 according to the number of processing means 2 assigned to each sensor 1 determined to be used. That is, for each sensor 1 to be used, a process that can be processed within the range of the assigned number of processing means 2 is selected.

If there is no process that can be processed within the range of the number of allocated processing units 2, the sensor selection unit 5 is notified of the sensor 1 whose processing cannot be selected. The sensor selecting means 5 immediately determines not to perform the processing of the sensor 1, that is, not to use the sensor 1, and notifies the operator, the external device, the allocation determining means 6, and the processing selecting means 7 to that effect. You may.

Alternatively, the assignment determining means 6 may be instructed to adjust the assignment of the number of the processing means 2 again. Alternatively, an instruction for not using the sensor 1 or for performing readjustment may be obtained from an operator or an external device.

In any case, when the sensor 1 to be used is changed by the sensor selecting means 5 or when a readjustment is instructed, the allocation determining means 6 again executes the processing means 2 to allocate to each sensor 1. Is determined, and the processing selection means 7 determines the processing contents of each sensor 1 according to the number of the processing means 2 readjusted.

When the sensors 1 to be used, the number of processing means 2 assigned to each sensor 1 and the processing content of each sensor 1 are determined, the control means 3 sets the sensor 1 to be used.
Is notified of an operation start instruction. At this time, if some operation parameters need to be set for the sensor 1,
The control unit 3 may set these parameters directly, or may set them via an operator or an external device.

Further, the control means 3 determines the processing means 2 to be actually used as the processing of each sensor 1, and gives the processing means 2 the processing content of the sensor 1 to be processed and the same sensor 1. The information of the other processing means 2 to be processed is notified.

The sensor 1 determined to be used receives the instruction from the control means 3 and starts operating. Further, the processing means 2 determined to be used also receives the instruction of the control means 3,
Start operation.

The data acquired by the sensor 1 which has started operation may be temporarily stored in a separately provided buffer memory. In this case, when the data acquisition is completed, the control means 3 may transfer the buffered data to the corresponding processing means 2.
Instead, the processing means 2 may directly acquire the buffered data. Alternatively, sensor 1
The data acquired in step (1) may be directly transferred to the desired processing unit 2 via the data transfer unit 4 without being buffered. In this case, the control unit 3 or the processing unit 2 notifies the sensor 1 of the processing unit 2 to which the data is to be transferred in advance.

The processing means 2 comprises a sensor 1 to be processed by itself.
When the acquired data is input, the processing is started based on the processing contents instructed by the control means 3 in advance. Depending on the processing content, the processing is advanced while performing data transfer with other processing means 2 performing the processing of the same sensor 1 as appropriate. When the desired process is completed, the controller 3 is notified of the completion of the process. At the same time, the processing result may be transferred. The processing result is output from each processing means 2 or the control means 3 to an operator or an external device.

In general, it is necessary for the sensor 1 to periodically acquire data and process the data one after another. In particular, when there is no change in the situation, that is, when there is no special instruction from an operator or an external device. In addition, if there is no particular change even if the situation is determined based on some criterion using additional information from the operator or an external device or the processing result of each sensor, the used sensor 1 determined above is used. Based on the number of processing means 2 assigned to the sensor 1 and the processing content,
The processing is continued on a regular basis.

When some situation change occurs, that is,
If there is an instruction from an operator or an external device, or if there is a change in the situation judgment based on some judgment criteria using additional information from the operator or the external device or the processing result of each sensor, the control means 3 immediately starts redetermining the sensors 1 to be used, the number of processing means 2 assigned to each sensor 1, and the processing content. At this time, the operation of the sensor 1 or the processing means 2 may be stopped immediately, or the operation may be continued.

The procedure of the re-determination is not different from the procedure shown above. That is, the sensor 1 to be used is determined by the sensor selecting unit 5, the number of the processing units 2 to be allocated to each sensor 1 is determined by the allocation determining unit 6, and the processing content of each sensor 1 is determined by the processing selecting unit 7. If the processing cannot be determined by the processing selecting means 7, this procedure may be followed again to determine again the number of sensors 1 used, the number of processing means 2 assigned to each sensor 1 and the processing content.

When the number of sensors 1 to be used, the number of processing means 2 allocated to each sensor 1 and the processing content are determined again,
The control means 3 controls the sensor 1 and the processing means 2 based on the re-determined contents.

As described above, in the multi-sensor processing device according to the first embodiment, according to the number of sensors 1 to be used,
Each sensor 1 within a range not exceeding the total number of processing means 2 provided
The number of processing means 2 assigned to each sensor 1 is determined, and furthermore, control is performed so as to select a process that can be processed within the range of the number of processing means 2 assigned to each sensor 1. The processing means 2 can be used more effectively as long as it does not exceed the range.

The sensor 1 may be composed of a plurality of physically independent sensors, or may be physically
One sensor data may be obtained, but a plurality of sensor data may be obtained, or these data may be mixed.

Further, the control means 3 may be constituted as a device physically different from the processing means 2 or may be constituted in the same device as the processing means 2. Further, the control means 3
The sensor selection unit 5, the allocation determination unit 6, and the process selection unit 7 may be configured on the same device, or may be configured to be distributed over a plurality of devices.

Embodiment 2 Embodiment 2 A multi-sensor processing device according to Embodiment 2 of the present invention will be described with reference to the drawings. FIG. 3 is a diagram showing a configuration of a control unit of the multi-sensor processing device according to Embodiment 2 of the present invention.

In FIG. 3, reference numeral 8 denotes priority calculating means for calculating the priority of each sensor 1 determined to be used by the sensor selecting means 5, and the other components are the same as those in the first embodiment. Note that the priority calculation means 8 is, for example, a processor,
It is composed of software and the like.

Next, the operation of the multi-sensor processing device according to the second embodiment will be described with reference to the drawings.

A series of basic operations of the entire multi-sensor processing apparatus are based on the multi-sensor processing apparatus according to the first embodiment.

That is, the control means 3 determines the sensor 1 to be used by the sensor selection means 5 on the basis of an operator's instruction, information from an external device, the processing result of each sensor 1 processed in the past, etc. Each sensor 1 by means 6
The number of processing means 2 to be assigned to the
After the processing contents of each sensor 1 are determined, the sensor 1 and the processing means 2 are controlled based on these. In addition, as soon as any situation change occurs, the sensor 1
Also, the number of processing means 2 assigned to each sensor 1 and the processing content are determined again, and the sensors 1 and processing means 2 are controlled.

Here, in the multi-sensor processing apparatus according to the second embodiment, when there are a plurality of sensors 1 to be determined to be used by the sensor selecting means 5, the priority calculating means 8 determines the priority of each sensor 1 to be used. Is calculated, and the assignment determining means 6 adopts a method of determining the number of processing means 2 to be assigned to each sensor 1 to be used with reference to the priority information.

The control means 3 inputs an operator's instruction and information from an external device and, if there is a processing result of each sensor 1 processed in the past or immediately before, passes it to the sensor selecting means 5.

The sensor selecting means 5 selects a sensor 1 to be used based on an operator's instruction, information from an external device, and a processing result of each sensor 1. Sensor selection means 5
When the use of a plurality of sensors 1 is determined, the processing priority of each sensor 1 determined to be used is calculated by the priority calculation means 8.

Here, the selection of the sensors 1 to be used and the calculation of the priority of each sensor 1 may be performed simultaneously. Alternatively, the priority of each sensor 1 may be calculated after determining the sensor 1 to be used. Alternatively, after calculating the priorities of all the sensors 1 first, the sensors 1 to be used may be determined with reference to the priority information. In this case, one may decide to use a sensor 1 whose priority exceeds a predetermined threshold.

In general, the priority of each sensor 1 will be the highest when the operator or an external device gives an instruction to use a specific sensor 1. . The priority of the other sensors 1 is calculated based on some criterion using additional information from an operator or an external device and processing results of each sensor 1. The priority of all or some of the sensors 1 may have the same value depending on the situation, such as when there is no specific instruction from an operator or an external device, or when a definitive criterion cannot be obtained. However, the method of determining the priority of what kind of information is prioritized, by what kind of criterion, and how to determine the priority of each sensor 1 is not the essence of the present invention.
An optimal priority determination method will be implemented depending on the characteristics of the applied system.

As described above, when the sensor 1 to be used and its priority are determined by the sensor selecting means 5,
These pieces of information are passed to the assignment determining means 6. When it is determined by the sensor selection unit 5 that only a single sensor 1 is used, the allocation determination unit 6 allocates to processing of data obtained by the sensor 1 determined to use all the processing units 2. Alternatively, if the number of processing units 2 necessary for processing the data obtained by the sensor 1 is known in advance, that number of processing units 2 is assigned.

If it is determined by the sensor selection means 5 that two or more sensors 1 are to be used, the allocation determination means 6 refers to the priority of each sensor 1 and determines whether to use it by any method. The number of processing means 2 to be assigned is determined for each sensor 1. At this time, the total number of processing means 2 assigned to each sensor 1 to be used does not exceed the number of processing means 2 provided.

When the number of processing means 2 allocated to each sensor 1 is determined by the allocation determining means 6, the information is passed to the processing selecting means 7. In the processing selection means 7,
For each sensor 1 determined to be used, the processing content of that sensor 1 is determined according to the number of assigned processing means 2. That is, for each sensor 1 to be used, a process that can be processed within the range of the assigned number of processing means 2 is selected.

If there is no process that can be processed within the range of the assigned number of processing units 2, the sensor selection unit 5 is notified of the sensor 1 whose processing cannot be selected. The sensor selecting unit 5 checks the priority of the sensor 1 for which the processing cannot be selected, and if the priority is equal to or lower than the predetermined priority, the sensor 1 may immediately determine that the processing of the sensor 1 is not performed, that is, the sensor 1 is not used. . If the priority of the sensor 1 for which processing cannot be selected is higher than a predetermined priority, the priority of each sensor 1 determined to be used may be readjusted. In this case, the priority of the sensor 1 for which the process cannot be selected and the sensor 1 having a higher priority than this sensor 1 may be made higher. Alternatively, the priority of the sensor 1 having a lower priority than the sensor 1 whose processing cannot be selected may be reduced again. Further, the operator or the external device may be instructed whether to use the sensor 1 or to readjust the priority.

When the sensor 1 to be used and its priority are changed by the sensor selecting means 5, the assignment determining means 6
Determines again the number of processing means 2 assigned to each sensor 1, and the processing selection means 7 determines the processing content of each sensor 1 according to the number of processing means 2 readjusted.

When the sensors 1 to be used, the number of processing means 2 assigned to each sensor 1 and the processing content of each sensor 1 are determined in this way, the control means 3
It controls the sensor 1 and the processing means 2.

As described above, in the multi-sensor processing apparatus according to the second embodiment, the priority is set for each sensor 1 to be used, and the number of processing means 2 assigned to each sensor 1 is determined based on this priority information. Since the determination is made, the processing unit 2 can be used more effectively within a range that does not exceed the processing capability of the processing unit 2 that is always provided and according to the importance of each sensor 1.

Embodiment 3 Third Embodiment A multi-sensor processing device according to a third embodiment of the present invention will be described with reference to the drawings. The configuration of the multi-sensor processing device according to Embodiment 3 of the present invention is the same as that of Embodiment 2 shown in FIG.

A series of basic operations of the entire multi-sensor processing apparatus are based on the multi-sensor processing apparatus according to the second embodiment.

That is, the control means 3 determines the sensor 1 to be used by the sensor selection means 5 based on the instruction of the operator, information from an external device, the processing result of each sensor 1 processed in the past, and the like. , The priority of each sensor 1 to be used is determined, the number of processing means 2 to be allocated to each sensor 1 is determined by the allocation determining means 6 with reference to the priority information, and the processing content of each sensor 1 is determined by the processing selecting means 7. After the determination, the sensor 1 and the processing means 2 are controlled based on these. In addition, as soon as any situation change occurs, the sensor 1 to be used and the number and processing contents of the processing means 2 assigned to each sensor 1 are determined again, and the sensors 1 and the processing means 2 are controlled.

Here, in the multi-sensor processing device according to the third embodiment, the number of the processing means 2 to be allocated to each sensor 1 is determined by the allocation determining means 6 with reference to the priority information of each sensor 1 to be used. In this case, a method is adopted in which the number of processing means 2 allocated to the sensor 1 is determined in order from the sensor 1 having the highest priority.

When the sensor 1 to be used and its priority are determined by the sensor selecting means 5, the information is passed to the assignment determining means 6. When it is determined by the sensor selection unit 5 that only a single sensor 1 is used, the allocation determination unit 6 allocates to processing of data obtained by the sensor 1 determined to use all the processing units 2. Alternatively, if the number of processing means 2 necessary for processing data obtained by the sensor 1 is known in advance, the number of processing means 2
Assign.

When it is determined by the sensor selection means 5 that two or more sensors 1 are to be used, the allocation determination means 6 refers to the priority of each sensor 1 and refers to the processing means 2 assigned to each sensor 1. Determine the number. In this case, the assignment determining means 6 determines the number of processing means 2 to be assigned to each sensor 1 in the following procedure.

The allocation determining means 6 first focuses on the sensor 1 having the highest priority, and determines the maximum value of the number of processing means 2 required for processing the sensor 1 and the other sensor 1
Is compared with the number of the processing means 2 not assigned to the sensor 1, and the smaller number of the processing means 2 is set as the number of the processing means 2 allocated to the sensor 1.

Subsequently, focusing on the sensor 1 having the next highest priority, the number of processing means 2 to be assigned to this sensor 1 is determined in the same manner. Hereinafter, in the same manner, for all of the sensors 1 determined to be used, in descending order of priority,
The number of processing means 2 to be allocated is determined.

Here, the sum of the number of processing means 2 assigned to each sensor 1 does not exceed the total number of processing means 2 provided. If the sum of the maximum values of the number of processing means 2 necessary for processing of each sensor 1 determined to be used exceeds the total number of processing means 2 provided, the processing means 2 assigned to the sensor 1 with a lower priority The number is 0. That is,
The processing means 2 is not assigned to the sensor 1 having a low priority.

When the number of processing means 2 allocated to each sensor 1 is determined by the allocation determining means 6, the information is passed to the processing selecting means 7. In this processing selection means 7, for each sensor 1 determined to be used,
The processing content of the sensor 1 is determined according to the number of the processing means 2 assigned. That is, for each sensor 1 to be used, a process that can be processed within the range of the assigned number of processing means 2 is selected.

When the number of allocated processing means 2 is 0 or when the number of allocated processing means 2 is smaller than the minimum required number of processing means 2, the processing of the sensor 1 may be selected. Can not. In this case, the processing selection means 7
Notifies the sensor selection means 5 of the sensor 1 for which processing cannot be selected.

When the sensor selecting unit 5 is notified of the sensor 1 for which processing cannot be selected from the processing selecting unit 7, the sensor selecting unit 5 checks the priority of the sensor 1, and if the priority is lower than the predetermined priority, immediately executes the processing of the sensor 1. The determination may not be performed, that is, the sensor 1 may not be used. If the priority of the sensor 1 for which processing cannot be selected is higher than a predetermined priority, the assignment determining means 6 may be instructed to readjust the number of processing means 2 assigned to each sensor 1. At this time, the priority of each sensor determined to be used may be readjusted. In this case, the priority of the sensor 1 for which the process cannot be selected and the sensor 1 having a higher priority than this sensor 1 may be made higher. Alternatively, the priority of the sensor 1 having a lower priority than the sensor 1 whose processing cannot be selected may be reduced again. Further, the operator or an external device may be instructed whether to use the sensor 1 or to readjust the priority of each sensor 1 or the number of the processing means 2 to be assigned.

When the sensor 1 to be used and its priority are changed by the sensor selecting means 5, or when an instruction is given to readjust the number of processing means 2 to be assigned to each sensor 1, the assignment determining means 6 Then, the number of processing means 2 assigned to each sensor 1 is determined again.

When the sensor 1 to be used and its priority are changed, the assignment determining means 6 assigns the sensor 1 to each sensor 1 in the same procedure as when the sensor 1 to be used and its priority are determined first. The number of processing means 2 is determined again. That is, for all of the sensors 1 determined to be used, the maximum value of the number of processing units 2 required to perform the processing of the sensor 1 is determined in order from the sensor 1 having the highest priority, and the other sensors 1 Is compared with the number of the processing means 2 not assigned to the sensor 1, and the smaller number of the processing means 2 is set as the number of the processing means 2 allocated to the sensor 1.

On the other hand, when the sensor 1 to be used and its priority are not changed from the previous time, and there is an instruction to simply readjust the number of the processing means 2 allocated to each sensor 1, the following procedure is performed. The number of processing means 2 assigned to the sensor 1 is determined.

The allocation determining means 6 allocates the number of processing means 2 to each sensor 1 performed immediately before, in order from the sensor 1 whose processing is selected, the sensor 1 having the lowest priority. It is checked whether the number of processing means 2 assigned can be reduced, and if possible, the number of assigned processing means 2 is reduced.

When the unassigned processing means 2 is generated in this way, among the sensors 1 whose processing cannot be selected next, the processing necessary for performing the processing of the sensor 1 in order from the sensor 1 having the highest priority. The minimum value of the number of the processing means 2 is compared with the number of the processing means 2 which has not been assigned to another sensor 1 and the smaller number of the processing means 2 is determined.
Is the number of processing means 2 to be assigned to.

The allocation determining means 6 continues until the processing means 2 is allocated to all of the sensors 1 for which the processing could not be selected.
The reduction of the number of processing means 2 from the sensor 1 for which processing is selected and the allocation of the number of processing means 2 to the sensor 1 for which processing could not be selected are repeatedly performed.

According to the above procedure, when the number of the processing means 2 is allocated to all the sensors 1 determined to be used, there is a processing means 2 which is not allocated to any of the sensors 1. However, the assignment determining means 6 may immediately determine the assignment of the number of the processing means 2 to each sensor 1. Alternatively, the number of processing units 2 assigned to each sensor 1 may be adjusted so that the number of processing units 2 not assigned to any of the sensors 1 is minimized.

The assignment determining means 6 is a case where the number of processing means 2 is reduced from all the sensors 1 for which processing is selected by the assignment of the number of processing means 2 to each sensor 1 performed immediately before. However, if the processing unit 2 cannot be assigned to all of the sensors 1 for which the processing could not be selected, the sensor selecting unit 5 is notified.

When the sensor selecting means 5 is notified by the allocation determining means 6 that the processing means 2 cannot be allocated to all of the sensors 1 for which the processing could not be selected, the sensor 1
The threshold value of the priority for deciding not to use may be changed. In this case, an operator or an external device may be instructed to change the priority threshold. When the priority threshold is changed, the sensors 1 to be used and their priorities are determined again, and the allocation determining unit 6 determines the number of processing units 2 allocated to each sensor 1 based on this. In this case, the procedure for determining the number of processing means 2 to be allocated to each sensor 1 in the allocation determining means 6 is no different from the case where the sensor 1 to be used and its priority are changed.

In this way, the number of processing means 2 is assigned to all of the sensors 1 finally determined to be used, and the processing contents of each sensor 1 are determined by the processing selecting means 7. The control means 3 controls the sensor 1 and the processing means 2 based on these.

As described above, in the multi-sensor processing apparatus according to the third embodiment, the number of processing means 2 that satisfies the processing of the sensor 1 is assigned in order from the sensor 1 with the highest priority. The higher the importance of each sensor 1, the more effectively the processing means 2 can be used within a range not exceeding the processing capacity of the processing means 2 which is always provided.

Embodiment 4 Fourth Embodiment A multi-sensor processing device according to a fourth embodiment of the present invention will be described with reference to the drawings. The configuration of the multi-sensor processing apparatus according to Embodiment 4 of the present invention is the same as that of Embodiment 2 shown in FIG.

A series of basic operations of the entire multi-sensor processing apparatus conform to the multi-sensor processing apparatus according to the second embodiment.

That is, the control means 3 determines the sensor 1 to be used by the sensor selection means 5 by the priority calculation means 8 based on the instructions of the operator, information from external devices, the processing results of each sensor processed in the past, and the like. Each sensor 1 to be used
, The number of processing means 2 to be assigned to each sensor 1 is determined by the allocation determining means 6 with reference to the priority information, and the processing content of each sensor 1 is determined by the processing selecting means 7. The sensor 1 and the processing means 2 are controlled based on the information. Also, as soon as any situation changes,
The number of sensors 1 to be used and the number of processing means 2 assigned to each sensor 1 and the processing content are determined again, and the sensors 1 and the processing means 2 are controlled.

Here, in the multi-sensor processing device according to the fourth embodiment, the allocation determining means 6 once distributes the processing means 2 provided to each sensor 1 evenly, and then the processing means of each sensor 1 It is checked whether there is an excess or deficiency in the number of sensors 2, and the processing means 2 or the sensor 1 which has been excessively assigned or the processing means 2 of the sensor 1 with a low priority is replaced with the sensor 1 or the priority A method of redistribution to the sensor 1 having a high degree is employed.

When the sensor 1 to be used and its priority are determined by the sensor selecting means 5, the information is passed to the assignment determining means 6. When it is determined by the sensor selection unit 5 that only a single sensor 1 is used, the allocation determination unit 6 allocates to processing of data obtained by the sensor 1 determined to use all the processing units 2. Alternatively, if the number of processing means 2 necessary for processing data obtained by the sensor 1 is known in advance, the number of processing means 2
Assign.

When the use of two or more sensors 1 is determined by the sensor selecting means 5, the allocation determining means 6 determines the number of processing means 2 to be allocated to each sensor 1 in the following procedure.

The allocation determining means 6 equally allocates the number of processing means 2 to all of the sensors 1 determined to be used. At this time, the total number of processing means 2 assigned to each sensor 1 to be used does not exceed the number of processing means 2 provided.

Subsequently, the allocation determining means 6 checks whether there is an excess or deficiency in the number of processing means 2 allocated to all of the sensors 1 determined to be used.

At this time, the processing selection means 7 may be used. The processing selection means 7 determines the processing content of the sensor 1 in accordance with the number of processing means 2 assigned to each sensor 1. Therefore, the processing selection means 7 By checking whether or not the processing content can be determined, it is possible to know whether the number of the allocated processing means 2 is excessive or insufficient.

The allocation determining means 6 checks whether there is an excess or deficiency in the number of allocated processing means 2 for all the sensors 1 determined to be used, and then the processing means 2 is excessively allocated. Regarding the sensor 1, the number of the excess processing means 2 is reduced and counted as unassigned processing means 2.
As a result, at this point, there is no sensor 1 to which the processing means 2 is over-allocated, and the sensor 1 in which the number of the processing means 2 is reduced, that is, the sensor to which the processing means 2 was previously over-allocated. The number of processing means 2 assigned to 1 is equal to the maximum value of the number of processing means 2 required for performing the processing of the sensor 1.

When the unassigned processing means 2 is generated in this way, the sensors 1 having a shortage of the assigned processing means 2 are assigned in order from the sensor 1 having the highest priority.
The number of processing means 2 is allocated so as to compensate for the shortage.

At the time when the unassigned processing means 2 has been exhausted, if there is a sensor 1 in which the number of the assigned processing means 2 is still insufficient, the assignment determining means 6
In order from the sensor 1 having the lowest priority and the number of the processing units 2 not being insufficient, the number of the allocated processing units 2 is reduced to the minimum number of the processing units 2 required to perform the processing of the sensor 1. The value is reduced to a value, and the reduced processing means 2 is counted as unassigned processing means 2.

When the unassigned processing means 2 is generated again in this manner, the sensor 1 having a shortage of the assigned processing means 2 is replaced by the sensor 1 having a higher priority.
, The number of processing means 2 is allocated so as to compensate for the shortage.

The sensor 1 having no unassigned processing means 2 and capable of reducing the number of assigned processing means 2
Processing means 2 which does not exist and is still assigned
If there is a sensor 1 that is insufficient in number, the assignment determining unit 6 notifies the sensor selecting unit 5 that the assignment of the processing unit to each sensor 1 has failed.

When notified by the assignment determining means 6 that the assignment of the processing means 2 to each sensor 1 has failed, the sensor selecting means 5 reduces the number of sensors 1 to be used and redetermines the priority. . In this case, an operator or an external device may be instructed to reduce the number of sensors 1 to be used.

When the sensors 1 to be used, the number thereof, and the priority are re-determined, the allocation determining means 6 again determines the number of processing means 2 to be allocated to each sensor 1 in a similar procedure.
That is, after equally allocating the number of processing means 2 to the sensor 1 determined to be used, it is checked whether there is an excess or deficiency in the number of allocated processing means 2, and the processing means 2 is excessively allocated. The number of the processing means 2 assigned to the sensor 1 is reduced, and the number of the processing means 2 to be assigned is added to the sensor 1 in which the number of the allocated processing means 2 is insufficient.

The allocation deciding means 6 performs the processing for all the sensors 1 finally decided to be used as described above.
The number of processing means 2 assigned to each sensor 1 is determined so that the number of assigned processing means 2 is not insufficient.

Here, even if there is a processing unit 2 not assigned to any of the sensors 1, the allocation determining unit 6 immediately determines the number of the processing units 2 to be assigned to each sensor 1. You may have. Alternatively, the number of the processing units 2 to be allocated may be added as necessary from the unallocated processing units 2 in order from the sensor 1 with the highest priority. Alternatively, the number of processing units 2 assigned to each sensor 1 may be adjusted so that the number of processing units 2 not assigned to any of the sensors 1 is minimized.

When the number of processing means 2 to be assigned to each sensor 1 is determined in this way, the processing content of each sensor 1 is determined by the processing selection means 7, and the control means 3 controls the sensor 1 and the processing based on these. Control means 2.

As described above, in the multi-sensor processing apparatus according to the fourth embodiment, more effective use of as many sensors 1 as possible is possible without exceeding the processing capacity of the processing means 2 which is always provided. Processing means 2 can be used.

Embodiment 5 FIG. Embodiment 5 A multi-sensor processing apparatus according to Embodiment 5 of the present invention will be described with reference to the drawings. FIG. 4 is a diagram showing a configuration of a control unit of the multi-sensor processing device according to Embodiment 5 of the present invention.

In FIG. 4, reference numeral 9 denotes processing information (processing information storage means) in which additional information such as processing time and calculation accuracy relating to a plurality of processing methods prepared to achieve the same object in each processing means 2 is stored. ), And the rest is the same as the second embodiment.

Next, the operation of the multi-sensor processing device according to the fifth embodiment will be described with reference to the drawings.

A series of basic operations of the entire multi-sensor processing apparatus are the same as those of the multi-sensor processing apparatus according to another embodiment.

That is, the control means 3 determines the sensor 1 to be used by the sensor selection means 5 and its priority based on the instruction of the operator, information from an external device, the processing results of each sensor processed in the past, and the like. After the number of processing means 2 to be allocated to each sensor 1 is determined by the allocation determining means 6 and the processing content of each sensor 1 is determined by the processing selecting means 7, the sensors 1 and the processing means 2 are controlled based on these. In addition, as soon as any situation change occurs, the number of sensors 1 to be used and the number of processing means 2 assigned to each sensor 1 and the processing content are determined again.
Control.

Here, in the multi-sensor processing device according to the fifth embodiment, the processing selection means 7 refers to the processing information 9 prepared in advance, and the plurality of processing methods prepared in each processing means 2 are prepared. Is adopted, a method of selecting an optimum processing method from among the above and determining the processing method of each sensor 1 is adopted.

In each of the processing means 2, a plurality of types of processing methods are prepared in advance as a processing method for achieving a desired purpose, that is, for obtaining desired information from data acquired by the sensor 1.

[0125] These processing methods differ in processing time, calculation accuracy, and the like. For example, whether a series of processing is performed by fixed-point arithmetic or floating-point arithmetic, whether the latter floating-point arithmetic uses single-precision floating-point arithmetic, or uses double-precision floating-point arithmetic It is clear that even with such a difference, the processing time and the calculation accuracy change. Alternatively, the processing procedure or algorithm applied fundamentally may be different. In general, a simple processing method requires a short processing time, but the calculation accuracy and the accuracy of the processing result are rough, and a more complicated processing method requires a longer processing time, but the calculation accuracy and the processing result accuracy will be better. .

The additional information such as the processing time and the calculation accuracy for all the processing methods of all the sensors 1 prepared by the respective processing means 2 is stored in the processing information 9. These additional information may be determined when building the multi-sensor processing device. Alternatively, it may be calculated and determined at a process setting stage such as when the power is turned on or before the operation is started. Further, it may be determined based on an instruction from an operator or an external device.

When the number of processing means 2 allocated to each sensor 1 is determined by the allocation determining means 6, the processing selection means 7 determines the number of processing means 2 assigned to each sensor 1 determined to be used. The processing content of the sensor is determined according to the number.

Here, the processing selection means 7 refers to the processing information 9 and extracts a processing method corresponding to the sensor 1 whose processing content is to be determined from the additional information held in the processing information 9, From the extracted processing methods, it is checked in order from the one with the highest calculation accuracy whether the processing can be performed within the range of the number of processing means 2 assigned to the sensor 1. If the processing can be performed within the range of the number of processing means 2 assigned to the sensor 1, the processing method is immediately determined as the processing content of the sensor 1. If there is no processing method that can be processed within the range of the number of allocated processing means 2 among the extracted processing methods, it is determined that the processing cannot be selected for the sensor 1 and the sensor selection means 5 The sensor 1 for which processing cannot be selected is notified.

Here, in the additional information held in the processing information 9, the number of processing means 2 capable of performing the processing may be added for each processing method. In this case, by comparing the number of processing units 2 assigned to each sensor 1 with the number of processing units 2 added to the processing method extracted from the processing information 9, the number of allocated processing units 2 can be reduced. It can be checked whether processing is possible within the range.

Furthermore, the processing method may be extracted from the processing information 9 based on the number of processing means 2.
In this case, the configuration may be such that a processing method with the largest number of processing units 2 that is less than or equal to the specified number of processing units 2 can be extracted. From the number of processing means 2 assigned to each sensor 1, processing contents that can be processed immediately can be determined.

As described above, in the multi-sensor processing device according to the fifth embodiment, a plurality of types of processing methods for achieving the same object are prepared in advance, and the number of processing methods assigned to each sensor 1 is determined. Since the processing method that can be processed is determined as the processing content of each sensor 1 from among these processing methods, it is possible to select an appropriate processing content within a range that does not exceed the processing capability of the processing unit 2 that is always provided. .

Embodiment 6 FIG. Embodiment 6 A multi-sensor processing apparatus according to Embodiment 6 of the present invention will be described with reference to the drawings. The configuration of the multi-sensor processing apparatus according to Embodiment 6 of the present invention is the same as that of Embodiment 5 shown in FIG.

A series of basic operations of the entire multi-sensor processing device are based on the multi-sensor processing device according to the fifth embodiment.

That is, the control means 3 determines the sensor 1 to be used by the sensor selection means 5 and its priority based on the instruction of the operator, information from an external device, the processing results of each sensor processed in the past, and the like. After the number of processing means 2 to be allocated to each sensor 1 is determined by the allocation determining means 6 and the processing content of each sensor 1 is determined by the processing selecting means 7, the sensors 1 and the processing means 2 are controlled based on these. In addition, as soon as any situation change occurs, the number of sensors 1 to be used and the number of processing means 2 assigned to each sensor 1 and the processing content are determined again.
Control. Here, the processing selection means 7 refers to the processing information 9, selects an optimum processing method from a plurality of processing methods prepared in advance in each processing means 2, and determines the processing method of each sensor 1.

In the multi-sensor processing apparatus according to the sixth embodiment, the allocation determining means 6 uses the processing time and calculation accuracy of the processing method of each sensor 1 selected by the processing selecting means 7 to allocate the processing to each sensor. A method of determining the number 2 is adopted.

When the sensors 1 to be used and their priorities are determined by the sensor selecting means 5, the allocation determining means 6 determines the number of processing means to be allocated to each sensor 1 determined to be used.

Here, similarly to the multi-sensor processing device described in the third embodiment or the fourth embodiment, when it is determined by the sensor selecting means 5 that two or more sensors 1 are used, The assignment determination means 6 determines the number of processing means to be assigned to each sensor 1 within a range not exceeding the total number of processing means 2 provided, but the processing cannot be selected once depending on the number of processing means 2 assigned to each sensor 1. If there is a sensor 1, the sensor selecting unit 5 notifies that the number of processing units 2 to be assigned to each sensor 1 is determined again. Even if the processing can be selected for all of the sensors 1 determined to be used, if there is an unallocated processing unit 2 or the allocation of the processing unit 2 to each sensor 1 at that time is optimal. If it is determined that the number of processing units 2 to be assigned to each sensor 1 is not determined again, the sensor selection unit 5 may again notify the number of processing units 2 to be assigned to each sensor 1.

In such a case, the allocation determining means 6 reduces the number of the processing means 2 assigned to the sensor 1 to which the processing means 2 is excessively assigned or the sensor 1 with a low priority, and The operation is performed so as to add the number of the processing means 2 assigned to the sensor 1 having a shortage of the means 2 or the sensor 1 having a high priority. In addition to this, the assignment determining means 6 in the sixth embodiment is added. Is different from the other embodiments in that the number of processing means 2 assigned to each sensor 1 is adjusted in consideration of the processing time and calculation accuracy of the processing method of each sensor 1 selected by the processing selection means 7. Different from the described multi-sensor processing device.

When the allocation determining means 6 is notified from the sensor selecting means 5 to determine again the number of processing means 2 to be allocated to each sensor 1, the allocation determining means 6 determines the number of processing means 2 allocated to each sensor 1 which has been determined immediately before. The processing time and calculation accuracy of the processing method of each sensor 1 selected by the processing selection means 7 according to the number and the assignment are examined. Further, the processing time and calculation accuracy of the processing method of each sensor 1 when the number of processing means 2 allocated to each sensor 1 is changed are examined.

The allocation determining means 6 determines the allocation based on the processing time and the calculation accuracy of each sensor 1 previously checked together with the priority of each sensor 1 and whether the number of allocated processing means 2 is excessive or insufficient. Processing means 2 for determining the number of sensors 1 for reducing the number of assigned processing means 2 and the number of sensors 1 for adding the number of assigned processing means 2 and assigning them to each sensor 1
Readjust the number of.

In order to add the number of processing means 2 to be allocated to another sensor 1, the allocation determining means 6 selects the processing means 2 to reduce the number of allocated processing means 2. Alternatively, it may be determined that the number of the processing means 2 of the sensor 1 having the least effect on the processing time, the calculation accuracy, and the like when the number is reduced is reduced.

Alternatively, the allocation determining means 6 selects the sensor 1 to which the number of processing means 2 to be allocated is added,
The determination may be made such that the number of the processing units 2 of the sensor 1 having the greatest effect on the processing time and the calculation accuracy when the number of the processing units 2 is added is added.

Further, the allocation determining means 6 determines whether the processing time of the sensor 1 for adding the number of processing means 2 to be allocated and the effect on the calculation accuracy are different from the processing time and the calculation time of the sensor 1 for reducing the number of processing means 2 to be allocated. Only when the influence on the accuracy or the like is greater, the number of processing means 2 assigned to another sensor 1 may be reduced and the number of processing means 2 for a desired sensor 1 may be determined to be increased.

When the number of processing means 2 to be allocated to each sensor 1 is re-determined by the allocation determining means 6, the processing content of each sensor 1 is determined by the processing selecting means 7,
Based on these, the control unit 3 controls the sensor 1 and the processing unit 2
Control.

As described above, in the multi-sensor processing apparatus according to the sixth embodiment, when the number of processing means 2 allocated to each sensor 1 is adjusted, a change in the processing time of the processing content of each sensor 1 and a change in calculation accuracy are considered. Since the consideration is taken into consideration, the processing means 2 can be used more effectively within a range not exceeding the processing capacity of the processing means 2 which is always provided.

Embodiment 7 FIG. Embodiment 7 A multi-sensor processing device according to Embodiment 7 of the present invention will be described with reference to the drawings. FIG. 5 is a diagram showing a configuration of a control unit of the multi-sensor processing device according to Embodiment 7 of the present invention.

In FIG. 5, reference numeral 10 denotes additional information such as processing time and calculation accuracy for a plurality of processing methods prepared to achieve the same purpose in each processing means 2 and the minimum information for executing the processing. This is a processing information table in which the required number of processing means 2 is stored, and the other is the same as the fifth embodiment.

Next, the operation of the multi-sensor processing apparatus according to the seventh embodiment will be described with reference to the drawings.

The multi-sensor processing apparatus according to the seventh embodiment includes a processing information table 10 that can be referred to by the allocation determining means 6 and the processing selecting means 7. A method using the same processing information table 10 is adopted for the determination of the number and the determination of the processing content of each sensor 1 in the processing selection means 7.

When the allocation determining means 6 is notified from the sensor selecting means 5 to determine again the number of processing means 2 to be allocated to each sensor 1, the allocation determining means 6
The processing time and calculation accuracy of the processing method of each sensor 1 selected by the processing selection means 7 in accordance with the number of the processing means 2 to be assigned to the sensor 1 are checked. Further, when the number of processing means 2 allocated to each sensor 1 is changed, each sensor 1
Check the processing time and calculation accuracy of the processing method.

The processing time and the calculation accuracy of the processing method of each sensor 1 are checked by referring to the processing information table 10. That is, from the processing information table 10, using the number of processing means 2 to be investigated as a keyword, additional information such as processing time and calculation accuracy of the corresponding processing method is extracted.

The allocation determining means 6 includes a processing information table 10
When the desired additional information is obtained from the processing information table 10, the priority of each sensor 1 and the number of allocated processing means 2 are determined, and the processing time and the calculation accuracy obtained from the processing information table 10. The sensor 1 for reducing the number of assigned processing means 2 and the sensor 1 for adding the number of assigned processing means 2 are determined based on the additional information of Re-adjust the number.

On the other hand, the processing selecting means 7 is
When the number of processing means 2 assigned to each sensor 1 is determined by the following, for each sensor 1 determined to be used,
The processing content of the sensor 1 is determined according to the number of the processing means 2 assigned.

The determination of the processing content for each sensor 1 is performed by referring to the processing information table 10 in the same manner as the allocation determining means 6. That is, the processing information table 1
A processing method corresponding to the sensor 1 whose processing content is to be determined is extracted from the additional information held in the processing information 0, and a processing method that can be processed within the range of the number of the allocated processing means 2 is extracted. Is determined as the processing content.

Here, the assignment determining means 6 and the processing selecting means 7
Since the same processing information table 10 is referred to by the above, there always exists a processing method corresponding to the number of processing means 2 allocated to each sensor 1 determined by the allocation determining means 6.

As described above, in the multi-sensor processing apparatus according to the seventh embodiment, since the same information is used for determining the number of processing means 2 to be assigned to each sensor 1 and for determining the processing content in accordance with the determination, contradiction arises. It is possible to use the processing means 2 more effectively, without taking extra steps or without taking extra steps, as long as the processing capacity of the processing means 2 which is always provided is not exceeded.

Embodiment 8 FIG. Embodiment 8 A multi-sensor processing apparatus according to Embodiment 8 of the present invention will be described with reference to the drawings. FIG. 6 is a diagram showing a configuration of a control unit of the multi-sensor processing device according to Embodiment 8 of the present invention.

In FIG. 6, reference numeral 11 denotes an evaluation value calculating means for calculating an evaluation value associated with a required processing time, obtained calculation accuracy, and the like based on the processing content of each sensor 1 determined by the processing selecting means 7. The other is the same as the other embodiments. The evaluation value calculation means 11 is constituted by, for example, a processor, software, or the like.

Next, the operation of the multi-sensor processing apparatus according to the eighth embodiment will be described with reference to the drawings.

In the multi-sensor processing apparatus according to the eighth embodiment, a method is used in which the number of processing means 2 assigned to each sensor 1 is determined using the evaluation value calculated by the evaluation value calculation means 11.

In the same manner as in the other embodiments, the sensor 1 to be used by the sensor selecting means 5 and its priority based on the operator's instruction, information from an external device, the processing result of each sensor 1 processed in the past, and the like. After the degree is determined, the number of processing means 2 to be allocated to each sensor 1 by the allocation determining means 6 is determined, and the processing content of each sensor 1 is determined by the processing selecting means 7, the evaluation value calculating means 11 For all of the determined sensors 1, the evaluation value of each sensor 1 is calculated based on the processing content of each sensor 1.

The evaluation value of each sensor 1 calculated by the evaluation value calculating means 11 is associated with the processing time required for the processing content of each sensor 1, the calculation accuracy obtained by the selected processing content, and the like. It is. The evaluation value is determined so that the superiority of the prepared plural types of processing methods can be relatively compared for each sensor 1 and between the sensors 1. The determination may be made in consideration of the priority of each sensor 1 determined by the sensor selection unit 5.

When the evaluation value of each sensor 1 is calculated by the evaluation value calculation means 11, the sensor selection means 5 checks whether the evaluation value of each sensor 1 exceeds a predetermined standard, and exceeds the standard. If there is a sensor 1 that is not
The allocation determining means 6 is notified again to determine the number of processing means 2 allocated to each sensor 1 again.

When the allocation determining means 6 is notified from the sensor selecting means 5 again to determine the number of processing means 2 to be allocated to each sensor 1, the evaluation value calculating means 11 calculates the evaluation value of each sensor 1. Look up the value.

The operation of the allocation determining means 6 is such that the evaluation value of each sensor 1 calculated by the evaluation value calculating means 11 is determined according to the number of processing means 2 allocated to each sensor 1 which has been determined immediately before. Also, since it is related to the processing time and the calculation accuracy of the processing method of each sensor 1, the number of processing means 2 allocated to each sensor 1 determined immediately before described in the sixth embodiment is described. This corresponds to the operation of checking the processing time and calculation accuracy of the processing method of each sensor 1 selected by the processing selection means 7 according to the assignment.

Further, the assignment determining means 6 determines the number of the processing means 2 assigned to each sensor 1 when the number of processing means 2 is changed.
In order to obtain the evaluation value, the processing selection means 7 is requested to select the processing content with the desired number of processing means 2, and the evaluation value calculation means 11 is requested to calculate the evaluation value in the processing content determined here. . This operation is described in the sixth embodiment.
This corresponds to an operation of examining the processing time and calculation accuracy of the processing method of each sensor 1 when the number of processing means 2 allocated to each sensor 1 is changed.

The assignment determining means 6 is assigned based on the evaluation value of each sensor 1 obtained in advance, together with the priority of each sensor 1 and the excess or deficiency of the number of assigned processing means 2. A sensor 1 for reducing the number of processing units 2 and a sensor 1 for adding the number of allocated processing units 2 are determined, and the number of processing units 2 allocated to each sensor 1 is readjusted.

In order to add the number of processing means 2 to be allocated to another sensor 1, the allocation determining means 6 selects the processing means 2 to reduce the number of allocated processing means 2. May be determined so as to reduce the number of the processing means 2 of the sensor 1 in which the decrease in the evaluation value of the sensor 1 when the number of the sensors 1 is reduced.

Alternatively, the assignment determining means 6 selects the sensor 1 to which the number of processing means 2 to be added is added,
It may be determined that the number of the processing means 2 of the sensor 1 in which the increase of the evaluation value of the sensor 1 when the number of the processing means 2 is added is the largest is added.

Further, the allocation determining means 6 determines that the increase in the evaluation value of the sensor 1 for adding the number of processing means 2 to be allocated is larger than the decrease in the evaluation value of the sensor 1 for reducing the number of processing means 2 to be allocated. Alternatively, the number of processing units 2 assigned to another sensor 1 may be reduced, and the number of processing units 2 of a desired sensor 1 may be determined to be increased.

When the number of processing means 2 to be allocated to each sensor 1 is re-determined by the allocation determining means 6, the processing content of each sensor 1 is determined by the processing selecting means 7,
Based on these, the control unit 3 controls the sensor 1 and the processing unit 2
Control.

As described above, in the multi-sensor processing apparatus according to the eighth embodiment, when the number of processing means 2 allocated to each sensor 1 is adjusted, the evaluation contents can be relatively compared with each other. Since the change in the value is considered, the processing unit 2 can be used more effectively within a range that does not exceed the processing capability of the processing unit 2 that is always provided.

Embodiment 9 FIG. Embodiment 9 A multi-sensor processing apparatus according to Embodiment 9 of the present invention will be described with reference to the drawings. FIG. 7 is a diagram showing a configuration of a control unit of a multi-sensor processing device according to Embodiment 9 of the present invention.

In FIG. 7, reference numeral 12 denotes processing information correction means for correcting the additional information in the processing information 9 based on the actual processing time and the calculation accuracy of the obtained processing result. Are identical. The processing information correction means 12
Is composed of, for example, a processor and software.

Next, the operation of the multi-sensor processing apparatus according to the ninth embodiment will be described with reference to the drawings.

A series of basic operations of the entire multi-sensor processing device are based on the multi-sensor processing device according to the fifth embodiment.

That is, the control means 3 determines the sensor 1 to be used by the sensor selection means 5 and its priority based on the instruction of the operator, information from an external device, the processing result of each sensor processed in the past, and the like. The number of the processing means 2 to be allocated to each sensor 1 is determined by the allocation determining means 6, and the processing content of each sensor 1 is determined by the processing selecting means 7 with reference to the processing information 9. The processing means 2 is controlled. In addition, as soon as any situation change occurs, the sensor 1 to be used and the number and processing contents of the processing means 2 assigned to each sensor 1 are determined again, and the sensors 1 and the processing means 2 are controlled.

Here, in the multi-sensor processing apparatus according to the ninth embodiment, the additional information in the processing information 9 is updated by the processing information correcting means 12 from the processing time actually required and the calculation accuracy of the obtained processing result. (Correction) method.

The control means 3 comprises the sensors 1 to be used, the number of processing means 2 assigned to each sensor 1 and each sensor 1
Is determined, the processing means 2 to be actually used as the processing of each sensor 1 is determined, and the processing contents of the sensor 1 to be processed and the processing contents of the same sensor 1 are determined. Of the processing means 2 is notified.

The processing means 2 determined to be used receives the instruction from the control means 3 and starts operating. Each processing means 2
When the acquisition data of the sensor 1 to be processed by itself is input, the processing starts based on the processing content instructed by the control means 3 in advance. At the same time, the control means 3
The start of processing by each processing means 2 is confirmed, and measurement of processing time is started.

Each processing means 2 advances the processing while appropriately performing data transfer with other processing means 2 performing the same sensor 1 processing, depending on the processing content. When the desired processing is completed, the control unit 3 is notified of the completion of the processing, and at the same time, transfers the processing result. The control unit 3 confirms the end of the processing of each processing unit 2 and ends the measurement of the processing time. Thus, the control means 3 obtains the processing time actually taken. Further, the control unit 3 confirms the calculation accuracy of the transferred processing result of each sensor 1.

The actual processing time and calculation accuracy obtained by the control means 3 are passed to the processing information correction means 12, which updates the additional information of the corresponding processing method in the processing information 9. .

Here, the processing information correction means 12 may update the additional information of the corresponding processing method in the processing information 9 only when a predetermined condition is satisfied.

For example, the processing information correction means 12 performs the processing in the processing information 9 only when the actual processing time and the calculation accuracy of the processing result are better than the values held in the processing information 9. The additional information of the processing method may be updated. Alternatively, only when the actual processing time or the calculation accuracy of the processing result cannot satisfy the value stored in the processing information 9 (worse than the stored value), the processing information 9 The additional information of the corresponding processing method may be updated. Alternatively, only when the actual processing time or the calculation accuracy of the processing result exceeds or falls below a predetermined threshold, the additional information of the corresponding processing method in the processing information 9 is updated. Is also good.

Further, the processing information correction means 12 determines whether or not the predetermined condition is satisfied, only when the predetermined number of consecutive occurrences occur, the corresponding processing method in the processing information 9 is not processed. The additional information may be updated.
Alternatively, the additional information of the corresponding processing method in the processing information 9 may be updated only when the predetermined condition is satisfied and the frequency exceeds a predetermined frequency.

The additional information in the processing information 9 updated by the processing information correction means 12 is applied to the determination of the processing content of each sensor 1 by the processing selection means 7 thereafter.

As described above, in the multi-sensor processing device according to the ninth embodiment, the processing information correcting means 12
Update the additional information in the processing information 9 based on the actual operation,
Since the correction is made, the processing means 2 can be used more effectively within a range not exceeding the processing capacity of the processing means 2 which is always provided.

Embodiment 10 FIG. Embodiment 1 of the present invention
The multi-sensor processing device according to No. 0 will be described with reference to the drawings. FIG. 8 is a diagram showing a configuration of a control unit of the multi-sensor processing device according to Embodiment 10 of the present invention.

In FIG. 8, reference numeral 13 denotes a failure detecting means for monitoring the operation status of each processing means 2 and detecting a failure such as a failure. The other components are the same as those of the first embodiment. Note that the failure detection unit 13 is configured by, for example, a processor, software, or the like.

Next, the operation of the multi-sensor processing apparatus according to the tenth embodiment will be described with reference to the drawings.

A series of basic operations of the entire multi-sensor processing apparatus are the same as those of the multi-sensor processing apparatus according to the other embodiments.

That is, the control means 3 determines the sensor 1 to be used by the sensor selection means 5 on the basis of an operator's instruction, information from an external device, the processing results of each sensor processed in the past, and the like, 6, the number of processing means 2 to be assigned to each sensor 1 is determined, and the processing content of each sensor 1 is determined by the processing selection means 7, and then the sensor 1 and the processing means 2 are controlled based on these. In addition, as soon as any situation change occurs, the sensor 1 to be used,
The number and processing contents of the processing means 2 assigned to each sensor 1 are determined again, and the sensors 1 and the processing means 2 are controlled.

Here, in the multi-sensor processing apparatus according to the tenth embodiment, the processing means 2 in which a failure is detected by the failure detection means 13 is excluded, and the processing means 2 which operates normally
In this range, the number of sensors 1 to be used and the number of processing means 2 assigned to each sensor 1 and the processing content are determined.

The control means 3 includes the sensors 1 to be used, the number of processing means 2 assigned to each sensor 1 and each sensor 1
Is determined, the processing means 2 to be actually used as the processing of each sensor 1 is determined, and the processing contents of the sensor 1 to be processed and the processing contents of the same sensor 1 are determined. Of the processing means 2 is notified. At the same time, the failure detection unit 13 starts monitoring the operation status of the processing unit 2.

The processing means 2 determined to be used receives the instruction from the control means 3 and starts operating. Each processing means 2
When the acquisition data of the sensor 1 to be processed by itself is input, the processing starts based on the processing content instructed by the control means 3 in advance. Depending on the processing content, the processing is advanced while performing data transfer with other processing means 2 performing the processing of the same sensor 1 as appropriate. In parallel with this, the failure detecting means 13 monitors the operation status of the processing means 2 and, when detecting a failure such as a failure, notifies the control means 3 immediately.

In particular, when the desired processing of each processing means 2 is completed without a failure being detected by the failure detecting means 13, each processing means 2 notifies the control means 3 of the completion of the processing and simultaneously executes the processing result. Also transfer. The control means 3 confirms the end of the processing of each processing means 2,
Check whether the processing is performed correctly from the processing result of.

In particular, when no failure is detected by the failure detection means 13 and there is no abnormality in the processing result, the operation is continued as in the other embodiments.

On the other hand, even if the control means 3 is notified by the fault detecting means 13 that a fault has been detected, or if the fault detecting means 13 does not detect a fault, the control means 3 determines that there is an abnormality in the processing result. If it is determined, it is recognized that some trouble has occurred in the desired processing means 2, and this processing means 2 is excluded from the subsequent operations. In other words, the total number of the processing means 2 provided is the processing means 2 other than the processing means 2 which is determined to be abnormal and which is recognized as operating normally.
And the allocation determining means 6 determines that each sensor 1 is within this range.
The operation is performed to determine the number of processing means 2 to be assigned to. Further, the control unit 3 operates so as not to use the processing unit 2 in which a failure has occurred when determining the processing unit 2 actually used as the processing of each sensor.

The control means 3 controls the processing means 2 in which the fault has occurred.
May be notified to an operator or an external device when the information is newly recognized. Further, an instruction as to whether or not to continue the operation may be obtained from an operator or an external device.

The control means 3 controls the processing means 2 in which the fault has occurred.
Is newly recognized, if the operation is to be continued, an operation is immediately performed to redetermine the number of sensors 1 to be used and the number of processing means 2 assigned to each sensor 1 and the processing content. This procedure is the same as the other embodiments, except that the faulty processing unit 2 is excluded from the total number of processing units 2 provided.

If the processing of each sensor 1 cannot be performed within the range of the processing unit 2 that operates normally except for the processing unit 2 in which the failure has occurred, the control unit 3 sends an instruction to the operator or an external device. Notify that.

As described above, in the multi-sensor processing apparatus according to the tenth embodiment, even if some trouble occurs in the processing means 2, the remaining processing means 2 is used and the processing capacity is not exceeded. , More effectively processing means 2
Can be used.

[0203]

As described above, the multi-sensor processing apparatus according to claim 1 of the present invention has a plurality of sensors, a plurality of processing means for processing data obtained from the sensors, the plurality of sensors and the plurality of sensors. Control means for controlling a plurality of processing means, wherein the control means determines one or a plurality of sensors to be used based on predetermined information, and the sensor selection means determines that the sensor is to be used. An allocation determining unit that determines the number of processing units to be allocated to the processing of the sensor; and a processing selecting unit that determines the processing content of the sensor according to the number of processing units allocated to the sensor determined to be used. Therefore, there is an effect that the processing means can be used more effectively within a range not exceeding the processing capability of the processing means which is always provided.

As described above, in the multi-sensor processing device according to the second aspect of the present invention, when the sensor selecting means determines that there are a plurality of sensors to be used, the priority is determined according to the importance of the sensors. A priority calculating means for calculating, and the allocation determining means determines the number of processing means to be allocated with reference to the priority information. There is an effect that the processing means can be used more effectively according to the degree of importance.

As described above, in the multi-sensor processing device according to claim 3 of the present invention,
By allocating the number of processing units satisfying the processing of the sensor in order from the sensor having the highest priority, the number of processing units to be allocated to each sensor is determined. Within such a range, the higher the importance of each sensor, the more effectively the processing means can be used.

As described above, in the multi-sensor processing device according to claim 4 of the present invention, the allocation determining means
Once the number of processing means allocated to each sensor is once evenly distributed, it is checked whether the number of processing means of each sensor is excessive or insufficient, and the processing means of the low-priority sensor is replaced with the high-priority sensor. The number of processing means to be assigned to each sensor is determined by redistribution to the processing means, so that the processing means can be used more effectively so that as many sensors as possible can be used without exceeding the processing capacity of the processing means always provided. The effect that it can be used is produced.

As described above, in the multi-sensor processing apparatus according to claim 5 of the present invention, each processing means has a plurality of processing methods for achieving the same object in advance, and the processing selection means has Processing time for each of the processing methods,
With the processing information having the calculation accuracy stored therein, according to the number of processing means assigned to each sensor, by selecting an optimal processing method with reference to the processing information,
Since the processing content is determined for each sensor, it is possible to select an appropriate processing content within a range that does not exceed the processing capability of the processing means that is always provided.

As described above, in the multi-sensor processing apparatus according to claim 6 of the present invention,
In consideration of the processing time of each sensor that fluctuates according to the number of processing means to be allocated, and the calculation accuracy, the number of processing means to be allocated to each sensor is determined. There is an effect that the processing means can be used more effectively.

As described above, in the multi-sensor processing device according to claim 7 of the present invention, each processing means has a plurality of types of processing methods for achieving the same object in advance, and the control means A processing information table that stores processing information in which processing time and calculation accuracy for each processing method are stored and the minimum number of processing units required to execute each processing method in advance; Means are
By referring to the processing information table, the number of processing means to be assigned to each sensor is determined, and the processing selecting means, by referring to the processing information table,
Since the processing method is determined according to the number of processing means assigned to each sensor, the processing means can be more effectively processed without contradiction or without taking extra steps, as long as the processing capacity of the processing means is not always exceeded. The effect that it can be used is produced.

As described above, in the multi-sensor processing apparatus according to claim 8 of the present invention, the control means determines the required processing time and time based on the processing contents of each sensor determined by the processing selection means. Evaluation value calculation means for calculating an evaluation value associated with the calculation accuracy to be calculated, wherein the evaluation value calculation means determines the number of processing means to be assigned to each sensor by the allocation determination means, and the processing selection means When the processing content of each sensor is determined, the evaluation value of each sensor is calculated, and the allocation determining means is based on the evaluation value of each sensor calculated by the evaluation value calculating means. Since the number is determined again, there is an effect that the processing means can be used more effectively within a range not exceeding the processing capacity of the processing means which is always provided.

As described above, in the multi-sensor processing device according to claim 9 of the present invention, after the control means performs the processing of the sensor to which each of the processing means is assigned,
It further includes processing information correction means for updating the processing information held in advance based on the actual processing time and the calculation accuracy of the obtained processing result, so that the processing capacity of the processing means always provided is not exceeded. Within the range, there is an effect that the processing means can be used more effectively.

According to a tenth aspect of the present invention, as described above, the control unit further includes a failure detection unit that monitors operation states of the plurality of processing units and detects a failure. The allocation determining unit excludes the processing unit in which the failure detected by the failure detecting unit has occurred, and determines the number of processing units to be allocated to the processing of the sensor determined to be used by the sensor selecting unit. Even if some trouble occurs in the processing means, the remaining processing means can be used and the processing means can be used more effectively within a range not exceeding their processing capability.

As described above, in the multi-sensor processing apparatus according to claim 11 of the present invention, the allocation determining means reduces the number of processing means in order to add the number of processing means to be allocated to another sensor. When selecting the sensor to be processed, the processing time when the number of processing units is reduced, and the number of processing units of the sensor that has the least effect on the calculation accuracy are determined to be reduced. There is an effect that the processing means can be used more effectively within a range not exceeding the ability.

According to a twelfth aspect of the present invention, as described above, when the allocation determining means selects a sensor to which the number of processing means is added,
Processing time when adding the number of processing means, it is determined to add the number of processing means of the sensor that has the greatest effect on the calculation accuracy, so that it does not exceed the processing capacity of the processing means always provided, There is an effect that the processing means can be used effectively.

As described above, in the multi-sensor processing device according to claim 13 of the present invention, the allocation determining means can process the desired sensor processing time by adding the number of processing means,
Only when the effect on the calculation accuracy is greater than the processing time of the other sensor for reducing the number of processing means and the effect on the calculation accuracy, reduce the number of processing means assigned to the other sensor, and Since it is determined that the number of processing means of the sensor is added, the processing means can be used more effectively as long as the processing capacity of the processing means which is always provided is not exceeded.

As described above, the multi-sensor processing device according to the fourteenth aspect of the present invention always includes the processing information correction means, since the processing information is updated only when a predetermined condition is satisfied. There is an effect that the processing means can be used more effectively within a range not exceeding the processing capacity of the processing means.

As described above, in the multi-sensor processing device according to claim 15 of the present invention, the processing information correction means determines that the actual processing time and the calculation accuracy of the processing result are higher than the values held as existing processing information. Only if
Since the processing information is updated, there is an effect that the processing means can be used more effectively within a range that does not exceed the processing capability of the processing means which is always provided.

As described above, in the multi-sensor processing apparatus according to claim 16 of the present invention, the processing information correction means determines that the actual processing time and the calculation accuracy of the processing result are the values held as existing processing information. Since the processing information is updated only when the condition is not satisfied, there is an effect that the processing means can be used more effectively without exceeding the processing capacity of the processing means which is always provided.

As described above, in the multi-sensor processing device according to claim 17 of the present invention, when the processing information correction means determines that the actual processing time and the calculation accuracy of the processing result exceed predetermined thresholds. Only the processing information is updated, so that the processing means can be used more effectively within a range that does not exceed the processing capability of the processing means that is always provided.

As described above, in the multi-sensor processing device according to claim 18 of the present invention, when the processing information correction means satisfies a predetermined condition, the predetermined number of consecutive occurrences occurs. Since the processing information is updated only for the processing means, the processing means can be used more effectively within a range that does not exceed the processing capacity of the processing means that is always provided.

As described above, in the multi-sensor processing device according to claim 19 of the present invention, when the processing information correction means satisfies the predetermined condition when the frequency exceeds a predetermined frequency. Only the processing information is updated, so that the processing means can be used more effectively within a range that does not exceed the processing capability of the processing means that is always provided.

[Brief description of the drawings]

FIG. 1 is a block diagram showing a configuration of a multi-sensor processing device according to Embodiment 1 of the present invention.

FIG. 2 is a diagram illustrating a configuration of a control unit of the multi-sensor processing device according to the first embodiment of the present invention.

FIG. 3 is a diagram showing a configuration of a control unit of a multi-sensor processing device according to Embodiments 2, 3, and 4 of the present invention.

FIG. 4 is a diagram showing a configuration of a control unit of a multi-sensor processing device according to Embodiments 5 and 6 of the present invention.

FIG. 5 is a diagram showing a configuration of a control unit of a multi-sensor processing device according to Embodiment 7 of the present invention.

FIG. 6 is a diagram showing a configuration of a control unit of a multi-sensor processing device according to Embodiment 8 of the present invention.

FIG. 7 is a diagram showing a configuration of a control unit of a multi-sensor processing device according to Embodiment 9 of the present invention.

FIG. 8 is a diagram showing a configuration of a control unit of a multi-sensor processing device according to Embodiment 10 of the present invention.

[Explanation of symbols]

DESCRIPTION OF SYMBOLS 1 sensor, 2 processing means, 3 control means, 4 data transfer means, 5 sensor selection means, 6 assignment determination means, 7
Processing selection means, 8 priority calculation means, 9 processing information,
10 processing information table, 11 evaluation value calculation means, 12
Processing information correction means, 13 failure detection means;

Claims (19)

[Claims] A plurality of sensors; a plurality of processing means for processing data obtained from the sensors; and a control means for controlling the plurality of sensors and the plurality of processing means. Sensor selection means for determining one or a plurality of sensors to be used based on the information of the above; allocation determination means for determining the number of processing means to be allocated to the processing of the sensor determined to be used by the sensor selection means; And a processing selecting means for determining the processing content of the sensor according to the number of processing means assigned to the determined sensor. 2. The method according to claim 1, wherein the sensor selecting unit includes a priority calculating unit that calculates a priority according to the importance of the sensor when a plurality of sensors are determined to be used. 2. The multi-sensor processing device according to claim 1, wherein the number of processing means to be assigned is determined with reference to degree information. 3. The allocation determining means determines the number of processing means to be assigned to each sensor by allocating the number of processing means satisfying the processing of the sensor in order from the sensor having the highest priority. 3. The multi-sensor processing device according to claim 2, wherein: 4. The method according to claim 1, wherein the assignment determining unit distributes the number of processing units to be assigned to each sensor once, and then checks whether the number of processing units of each sensor is sufficient or not. 3. The multi-sensor processing apparatus according to claim 2, wherein the number of processing means allocated to each sensor is determined by redistributing the processing means to the high-priority sensors. 5. Each processing means has a plurality of types of processing methods for achieving the same object in advance, and the processing selection means outputs processing information in which processing time and calculation accuracy for each processing method are stored. Have
The processing content is determined for each sensor by selecting an optimum processing method with reference to the processing information according to the number of processing means assigned to each sensor. 5. The multi-sensor processing device according to any one of 4 to 4. 6. The allocation determining means determines the number of processing means to be assigned to each sensor, taking into account the processing time and calculation accuracy of each sensor which varies according to the number of processing means to be assigned. The multi-sensor processing device according to claim 5. 7. Each processing means has a plurality of types of processing methods for achieving the same object in advance, and the control means includes processing information storing processing time and calculation accuracy for each of the processing methods, and A processing information table that stores in advance a minimum number of processing units required to execute each processing method; and the allocation determining unit allocates to each sensor by referring to the processing information table. The method according to claim 1, wherein the number of processing units is determined, and the processing selection unit determines a processing method according to the number of processing units allocated to each sensor by referring to the processing information table. Item 5. The multi-sensor processing device according to any one of items 4. 8. An evaluation value calculation unit that calculates an evaluation value associated with a required processing time and an obtained calculation accuracy based on the processing content of each sensor determined by the processing selection unit. The evaluation value calculation unit further includes: when the number of processing units to be assigned to each sensor is determined by the allocation determination unit, and when the processing content of each sensor is determined by the processing selection unit, the evaluation value of each sensor is determined. 5. The method according to claim 1, wherein the assignment determining unit re-determines the number of processing units assigned to each sensor based on the evaluation value of each sensor calculated by the evaluation value calculating unit. 6. The multi-sensor processing device according to any one of the above. 9. The control means, after each of the processing means has performed the processing of the assigned sensor, based on the processing time actually taken and the calculation accuracy of the obtained processing result, and holds the data in advance. 8. The multi-sensor processing apparatus according to claim 7, further comprising processing information correction means for updating the processing information. 10. The control unit further includes a failure detection unit that monitors operation states of the plurality of processing units to detect a failure, and the allocation determination unit determines a failure detected by the failure detection unit. 2. The multi-sensor processing device according to claim 1, wherein the number of processing units to be allocated to the processing of the sensor determined to be used by the sensor selection unit is determined, excluding the generated processing unit. 11. The method according to claim 1, wherein the assigning unit determines a number of processing units to be assigned to another sensor. 8. The multi-sensor processing apparatus according to claim 6, wherein the number of processing units of the sensor having the least influence on processing time and calculation accuracy is determined to be reduced. 12. When selecting a sensor to which the number of processing means is added, the allocation determining means determines a processing time and a processing effect of the sensor having the greatest effect on the calculation accuracy when the number of processing means is added. 8. The multi-sensor processing device according to claim 6, wherein a decision is made to add a number. 13. The method according to claim 1, wherein the effect on the processing time and calculation accuracy of the desired sensor that adds the number of processing means is different from the processing time and calculation accuracy of another sensor that reduces the number of processing means. 8. The method according to claim 6, wherein the number of processing units assigned to the other sensors is reduced and the number of processing units of the desired sensor is added only when the influence is larger than the influence. Multi-sensor processing device. 14. The multi-sensor processing apparatus according to claim 9, wherein said processing information correction means updates the processing information only when a predetermined condition is satisfied. 15. The processing information correction means updates the processing information only when the actual processing time and the calculation accuracy of the processing result are better than the values held as the existing processing information. The multi-sensor processing device according to claim 14. 16. The processing information correction means updates processing information only when the actual processing time and the calculation accuracy of the processing result cannot satisfy the values held as existing processing information. The multi-sensor processing device according to claim 14. 17. The processing information correction unit according to claim 14, wherein the processing information correction unit updates the processing information only when the actual processing time and the calculation accuracy of the processing result exceed a predetermined threshold. Multi-sensor processing device. 18. The processing information correction unit according to claim 14, wherein the processing information correction means updates the processing information only when a predetermined condition is satisfied, and the processing information is continuously generated a predetermined number of times. Multi-sensor processing device. 19. The processing information correction means according to claim 14, wherein said processing information correction means updates the processing information only when a predetermined condition is satisfied and the frequency exceeds a predetermined frequency. Multi-sensor processing device.