JP2002304201A - Sensor processing unit, controller, sensor and sensor processing system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To easily deal with a change of a sensor configuration or a purpose. SOLUTION: This sensor processing unit 100 executes a process according to a detection value of a sensor 200 detected through a first sensor interface 103. The sensor processing unit 100 has at least a variable processing module 150 executing signal processing to the detection value of the sensor 200.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a sensor, a sensor processing unit for performing processing in accordance with a detected value of a sensor, a controller for controlling the sensor processing unit, and a sensor processing system including the same.

[0002]

2. Description of the Related Art The state of a controlled object is monitored using sensors, such as a sensor signal processing device, a measuring device, a process control device, a servo control device, a sequence control device, and a motion control device. Needs to perform some kind of signal processing on the sensor signal. If this sensor signal processing is executed in an existing controller, the amount of calculation processing is increased by the amount of the sensor signal processing, so that a processing cycle is increased, a large-capacity memory or CPU is required, and cost is increased. There is a risk of causing problems such as rising.

In order to solve such a problem, the sensor signal processing is performed by another unit, and this unit is added only to a system requiring a sensor. It is desirable to ensure the performance of the system that requires the following.

Conventional techniques of this kind include, for example, JP-A-11-33960, JP-A-9-62332, JP-A-6-226480 and JP-A-5-226480.
Japanese Unexamined Patent Publication No. 185263/1985. In these prior arts, the monitoring and control of the state are performed by executing the sensor signal processing by a dedicated unit (or controller). Therefore, the processing cycle is increased, and a memory or CPU having a large capacity is used. This eliminates the possibility of causing a problem such as an increase in cost due to the necessity.

[0005]

Generally, when a sensor is replaced with another sensor, a signal processing method,
It is necessary to simultaneously change the parameter setting method and the type of data output to the external display device or controller. Also, even when applying the same sensor,
It is necessary to use different signal processing methods or change signal processing parameters depending on the purpose of monitoring and control.

However, the sensor signal processing units described in the above-mentioned prior art are all dedicated units for performing a specific process that is set in advance, and are completely considered in terms of processing contents and sensor changes. It has not been. For this reason, in the conventional sensor processing unit, it is not possible to respond to changes in the sensor configuration or purpose in the field, and a problem arises in that the system must be recreated each time.

Further, when a control target is monitored using a sensor to control the control target, it is necessary to process the sensor signal in synchronization with the operation of the controller controlling the control target. is there. For example, when the controller is performing the operation A, the sensor A is used to monitor and control the phenomenon A, the sensor signal processing method A is used, the data A is fed back to the controller, and the data A is displayed. When the controller is performing another operation B, in order to monitor and control the phenomenon B, the sensor B may be used to display the data B by feeding back the data B to the controller using the sensor signal processing method B. is there. Also, for example, to measure at the end of operation, or to measure the phenomenon when an abnormality occurs, such as,
Only when a specific event occurs, there is a case where it is desired to perform specific signal processing using a specific sensor, output specific data to a controller, and display the data.

[0008] However, in the above-mentioned prior art, it is also difficult to execute such a synchronous operation between the controller and the sensor processing unit.

[0009] The present invention has been made in view of the above,
An object of the present invention is to provide a sensor processing unit, a controller, a sensor, and a system that can easily respond to changes in the sensor configuration and purpose. Still another object is to obtain a sensor processing unit and a controller whose processing can be changed in synchronization with the controller.

[0010]

In order to achieve the above object, a sensor processing unit according to the present invention is a sensor processing unit for performing processing in accordance with a detection value of a sensor detected through a first sensor interface, Performing signal processing on at least the detection value of the sensor,
And a processing module that can be changed.

According to the present invention, the processing module can be changed according to the sensor configuration and purpose.

A sensor processing unit according to the next invention is characterized in that, in the above invention, a plurality of the processing modules are provided in advance.

According to the present invention, a corresponding module can be selected from a plurality of processing modules according to the sensor configuration and purpose.

A sensor processing unit according to the next invention is characterized in that, in the above-mentioned invention, the processing module comprises software and / or hardware.

According to the present invention, the configuration of the processing module can be selectively used between software and hardware according to the purpose.

A sensor processing unit according to the next invention is characterized in that, in the above-mentioned invention, a second sensor interface for giving a sensor control command to the sensor is provided.

According to the present invention, a sensor control command can be given to the sensor through the second sensor interface.

The sensor processing unit according to the next invention is characterized in that, in the above-mentioned invention, a third sensor interface for acquiring a sensor state from the sensor is provided.

According to the present invention, sensor information can be obtained from the sensor through the third sensor interface.

The sensor processing unit according to the next invention is characterized in that, in the above-mentioned invention, a fourth sensor interface for reading sensor identification information is provided.

According to the present invention, the identification information of the sensor can be read through the fourth sensor interface.

A sensor processing unit according to the next invention is characterized in that, in the above-mentioned invention, a fifth sensor interface for supplying an operating power of the sensor is provided.

According to the present invention, it is possible to supply operating power to the sensor through the fifth sensor interface.

A sensor processing unit according to the next invention is characterized in that, in the above-mentioned invention, a storage device for storing past internal data is provided.

According to the present invention, the past internal data stored in the storage device can be referred to.

A sensor processing unit according to the next invention is characterized in that, in the above invention, signal processing is performed on a detection value of the sensor using past internal data stored in the storage device.

According to the present invention, sensor signal processing using past internal data can be performed.

The sensor processing unit according to the next invention is characterized in that, in the above-mentioned invention, a sensor communication unit for connecting to a host controller is provided.

According to the present invention, it is possible to communicate with the host controller through the host communication interface.

A sensor processing unit according to the next invention is characterized in that, in the above invention, the processing module software is obtained from the upper controller via the upper communication interface.

According to the present invention, when the sensor configuration or purpose is changed, a processing module corresponding to the change can be obtained from the upper controller.

The sensor processing unit according to the next invention is characterized in that, in the above invention, the processing module software acquired from the higher-level controller is converted into an executable form by a compiler or an interpreter provided therein and executed. .

According to the present invention, the processing module software can be described in a system-independent language.

A sensor processing unit according to the next invention is characterized in that, in the above invention, when an internal data acquisition request is given from the higher-level controller, corresponding internal data is output to the higher-level controller.

According to the present invention, internal data can be output in response to a request from a host controller.

A sensor processing unit according to the next invention is characterized in that, in the above invention, when a processing instruction is given from the upper controller, the processing is changed according to the processing instruction.

According to the present invention, the process can be changed from the host controller.

A sensor processing unit according to the next invention is characterized in that, in the above-mentioned invention, the sensor processing unit includes a storage device holding unique identification information.

According to the present invention, the sensor processing unit can be specified based on the unique identification information.

A sensor processing unit according to the next invention is characterized in that, in the above invention, transmission and reception are performed by adding identification information indicating a destination of the data to a processing command or sensor processing state data.

According to the present invention, commands and data can be transmitted and received between the sensor processing units.

[0042] The sensor processing unit according to the next invention is characterized in that, in the above invention, a lower communication interface for hierarchically connecting to a lower sensor processing unit is provided.

According to the present invention, it is possible to connect hierarchically to a lower-level sensor processing unit through a lower-level communication interface.

The sensor processing unit according to the next invention is characterized in that, in the above invention, a display device interface for outputting internal data is provided.

According to the present invention, internal data can be output to a display device such as a display through the display device interface.

A sensor processing unit according to the next invention is characterized in that, in the above invention, an input device interface for inputting processing command data from an input device is provided.

According to the present invention, the operator can directly input a command from the input device through the input device interface.

The sensor processing unit according to the next invention is characterized in that, in the above-mentioned invention, an automatic sensor exchange device interface for outputting a sensor exchange command to the automatic sensor exchange device is provided.

According to the present invention, it is possible to output a sensor exchange command to the automatic sensor exchange device through the automatic sensor exchange device interface.

The sensor processing unit according to the next invention is characterized in that, in the above invention, when a target work is given, a sensor replacement command for automatically selecting a sensor corresponding to the work is sent to the automatic sensor replacement unit. The data is output to the automatic sensor exchange device through a device interface.

According to the present invention, a sensor is automatically selected according to a target operation.

The sensor processing unit according to the next invention is characterized in that, in the above invention, when a failure of the sensor is detected, a sensor replacement instruction for automatically replacing the failed sensor with a spare sensor is sent to the automatic sensor replacement device. The data is output to the automatic sensor exchange device through an interface.

According to the present invention, when a sensor fails, the failed sensor is automatically replaced with a spare sensor.

The sensor processing unit according to the next invention is characterized in that, in the above invention, the sensor replacement command is output to the previously provided automatic device replacement device through the automatic sensor replacement device interface.

According to the present invention, it is possible to replace a sensor using an automatic device replacement device provided in advance.

A sensor processing unit according to the next invention is characterized in that, in the above invention, an actuator interface for connecting to the actuator is provided, and the actuator is controlled according to the processing command data and the processing state data.

According to the present invention, the actuator can be controlled through the actuator interface.

A sensor processing unit according to the next invention is characterized in that, in the above-mentioned invention, the sensor interface is configured to be connectable to a plurality of sensors.

According to the present invention, a plurality of sensors can be connected to the sensor interface.

A sensor processing unit according to the next invention is characterized in that, in the above invention, at least two of the plurality of interfaces have the same specifications.

According to the present invention, components can be shared by interfaces having the same specification.

A sensor processing unit according to the next invention is characterized in that, in the above invention, at least two of the plurality of interfaces are shared.

According to the present invention, one interface can be shared by a plurality of devices.

The controller according to the next invention has a sensor processing unit interface for connecting to the sensor processing unit, and communicates with the sensor processing unit through the sensor processing unit interface to monitor and control the sensor processing unit. When executing a program describing a processing instruction for controlling the sensor processing unit and / or an internal data acquisition instruction for acquiring internal data from the sensor processing unit, the sensor through the sensor processing unit interface. Outputting the processing instruction and / or the internal data acquisition instruction to a processing unit.

According to the present invention, a command can be given to the sensor processing unit in synchronization with the execution of the program.

The sensor according to the next invention is characterized in that it has an interface capable of outputting sensor identification information to an external device.

According to the present invention, sensor identification information can be output to an external device through the interface.

A sensor processing system according to the next invention comprises at least one sensor processing unit according to any one of claims 1 to 27, and at least one connected to the sensor processing unit via a sensor interface. It is characterized by comprising one sensor.

According to the present invention, a sensor processing system including the above-described sensor processing unit and sensor can be configured.

The sensor processing system according to the next invention is characterized in that, in the above invention, at least one of a display device, an input device, a host controller, an automatic sensor exchange device, and an actuator is provided.

According to the present invention, it is possible to configure a sensor system further provided with at least one of a display device, an input device, a host controller, an automatic sensor exchange device, and an actuator.

[0072]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Preferred embodiments of a sensor processing unit, a controller, a sensor and a sensor processing system according to the present invention will be described below in detail with reference to the accompanying drawings. In the drawings, the interface is described as I / F for convenience.

Embodiment 1 FIG. 1 is a block diagram showing a configuration of the sensor processing unit according to the first embodiment of the present invention. In FIG. 1, the sensor processing unit 100
Is one or more CPUs 101 and one or more storage devices 1
02 and a first for acquiring a detection value from the sensor 200.
And one or more processing modules 150 that can be changed.

The processing module 150 is for executing signal processing on at least the detected value of the sensor 200. According to the sensor processing unit 100 in which the processing module 150 can be changed, flexible sensor signal processing can be performed. Specific processing module 15
0 means software or hardware (AS
(IC: Application Specific Integrated Circuit, gate array, etc.), or both. Processing module 1 by software
When 50 is configured, modification and function addition are easy. If it is only necessary to select from among several fixed processes, the use of hardware can be expected to speed up the process. It is also effective to combine the advantages of both by realizing routine processing that is frequently used by hardware, and by implementing the flexible processing using the processing by software. As described above, by properly using software and hardware according to the purpose of the configuration of the processing module 150, flexibility, low cost, or high performance of sensor signal processing can be realized in a well-balanced manner.

If the processing module 150 is software, it is stored in the storage device 102 of the sensor processing unit 100. The processing module 150 may send this from outside, but if it is stored in the storage device 102, the sensor processing unit 100 can be operated standalone.

The storage device 102 can be HD, FD, RAM, SRAM, M
O, CD-RW and the like. These are suitable for storing data to be written at all times. Those that do not need to be changed, such as identification information, fixed processing module software, and basic software, which will be described later, are electronically non-rewritable storage devices 102, for example, ROMs, bar codes, magnetic patterns, rotary switches, dips. What is necessary is just to store with a switch, a jumper, etc. The latter is electronically unalterable, which in turn helps to avoid unauthorized changes. Even in the latter case, it is possible to deal with rewriting by setting by an operator when necessary or by replacing each part. Of course, by combining both, it is also possible to construct a system that has both advantages.

It is preferable that the sensor processing unit 100 stores the past internal data in the storage device 102. Here, the internal data stored in the storage device 102 generally indicates data handled inside the sensor processing unit 100, and is specifically divided into processing state data and processing instruction data. The processing state data includes, for example, a sensor signal value, a signal processed value, a sensor state, a measurement state (during measurement,
Number of measured points, measurement cycle, number of measurement channels), upper controller output status (during output, number of output points, output cycle), etc.
This is data indicating the state of the sensor processing unit 100.
The processing command data is a control command for the sensor 200,
This is data indicating a command externally given to the sensor processing unit 100, such as processing module software and its parameters, a type and a transfer cycle of a signal to be transferred to the host controller 400, and a command to the actuator 300.

As described above, the sensor processing unit 1 that stores the past internal data in the storage device 102
According to 00, signal processing including the past internal data, display, and file output can be performed. In addition, by storing past internal data in the storage device 102, various kinds of signal processing such as sensor signal processing using the past internal data, for example, statistical processing, filtering, and frequency analysis can be performed. Furthermore, it is also possible to compare a past state or command with a current state or command, and detect an event such as a change in state or command.

The sensor processing unit 100 includes, in addition to the above-described first sensor interface 103, a second sensor interface 104 for giving a sensor control command to the sensor 200, and a second sensor interface 104 for acquiring a sensor state from the sensor 200. 3 sensor interface 10
5. It is preferable to provide a fourth sensor interface 106 for acquiring identification information from the sensor 200, and a fifth sensor interface 107 for supplying operating power to the sensor 200.

In the ordinary sensor 200, setting for control is necessary, and the state changes according to each situation. Therefore, it is desirable to monitor these states and settings or change the settings according to the purpose. The above-described second sensor interface 104 transmits a sensor control command including these pieces of information to the sensor processing unit 10.
0 is an interface for giving to the sensor 200. The sensor control command referred to here means power ON /
These are commands for controlling the setting or state of the sensor 200, such as OFF, reset, zero point setting, error cancellation, gain setting, offset setting, AC / DC switching, filter selection, and filter time constant setting. The third
The sensor interface 105 is an interface for the sensor processing unit 100 to acquire a sensor state from the sensor 200. Here, the sensor state refers to a state of the sensor 200 such as an alarm, an overload, and power ON / OFF.

According to the sensor processing unit 100 having the second sensor interface 104 as described above,
By giving a sensor control command to the sensor 200,
Not only sensor signal processing but also flexible sensor signal processing including control of the sensor 200 can be performed. Further, according to the sensor processing unit 100 including the third sensor interface 105, the state of the sensor 200 can be monitored, and sensor control and sensor signal processing can be performed according to the sensor state.

The fourth sensor interface 106 is
This is an interface for the sensor processing unit 100 to read the identification information of the sensor 200. According to the sensor processing unit 100 that has acquired the sensor identification information through the fourth sensor interface 106, the sensor signal processing can be switched according to the sensor identification information. Here, the identification information of the sensor 200 may be set to include at least one of the manufacturer, type, model number, and serial number. For example, it can be set as follows including all of them. Manufacturer name Model No.Manufacturing number User setting code ○○○○ − Quick sensor − MA12345 − 12345678 − ABCDEFGH

What identification information should be used depends on what the primary key is in the database of the processing contents corresponding to the sensor identification information.

As the fourth sensor interface 106, analog, serial bus, parallel, motion network, field network, sensor network, bar code reader, magnetic reader, CCD
Either a camera or a character recognition device is used. The sensor processing unit 100 either searches the database of the processing content corresponding to the sensor identification information stored in the storage device 102 in advance, or searches for the sensor identification information held internally by each processing module 150. Even so, the processing content corresponding to the sensor 200 can be found. Further, the sensor signal processing corresponding to the sensor identification information may be inquired to the host controller 400. The processing content includes at least one of a method, a parameter, and a processing cycle relating to at least one or more of unit conversion of a sensor signal, signal processing, and data transfer to the host controller 400. Accordingly, even when the sensor 200 is replaced or a new sensor 200 is added, it is not necessary to perform the setting for each sensor 200, and it is possible to save labor and prevent a setting error.

FIG. 2 shows an example of a database of the processing contents corresponding to the sensor identification information. In this database, ON / O of each process is performed for each sensor identification information.
FF (valid / invalid), its execution order, processing cycle, and parameters are given. For example, the processing 1 is effective in the unit conversion processing of the measured value, the execution order is 1, the processing cycle is 0.5 ms, the parameter 1 is offset, and the parameter 2 is
Is the gain. Process 2 is invalid. Processing 3
Is effective in the filtering processing, the execution order is 2, the processing cycle is 0.5 ms, the parameter 1 is the filter type, and the low-pass filter is selected. Parameter 2 is a second order filter order, and parameter 3 is a filter cutoff frequency of 5.0 Hz. As for the other processes, ON / OFF (valid / invalid), their execution order, processing cycle, and parameters are set in the same manner as described above.

In FIG. 2, the processing content for each sensor identification information is used as a database, but the data in the database must be distinguished by each sensor, and the manufacturer name / type / model number / A database may be constructed by distinguishing data that may be commonly set for each serial number. In general, the type of sensor determines the type of physical quantity measured by the sensor, and the model number determines its characteristics such as its measurement range, sensitivity, and frequency range. Therefore, if a database is constructed for each of these elements, it is not necessary to hold data for each sensor, so the capacity of the database is reduced, and the required capacity of the storage device 102 is reduced (low cost, space saving), and search is performed. Shortening of time and labor saving of setting work can be expected. On the other hand, when performing higher-accuracy measurement, for example, when calibrating the sensitivity for each sensor and shipping the sensor, it is desirable to set the sensitivity separately for each sensor. Also, the usage history (time, number of times of use, etc.) of the sensor, and data (for example, A
In the case of connection to a / D converter, channel numbers and their sensitivities must also be set individually.

The fifth sensor interface 107
This is an interface through which the sensor processing unit 100 supplies operating power to the sensor 200. If the sensor processing unit 100 including the fifth sensor interface 107 is applied, it is not necessary to separately secure a power supply for the sensor 200, and space saving, wiring saving, and low cost can be expected.

The contacts for wiring the first to fifth sensor interfaces 103 to 107 and the sensor 200 are provided in the form of, for example, a terminal block, a connector, a wireless communication, or the like. The position where the contact is arranged is, for example, a working position such as a spindle end, a hand, a torch, a tool post, a stationary member such as a base, a movable member such as a table, an operation panel, a switchboard, or the position of the actuator 300 or its vicinity. . Specifically, when detecting a state related to work, the sensor 200 is often installed near the work position. Therefore, it is preferable to arrange a contact at or near the work position. When detecting a state that is not directly related to the operation, such as room noise and humidity, the sensor 200 is often installed on a stationary member, and therefore it is preferable to arrange the contact near the sensor.
When detecting the state of operation such as the speed of the movable member, the sensor 200 is often installed on the movable member. Therefore, it is preferable to arrange a contact on the movable member. When the wiring of the sensor 200 is changed by a human operation,
It is desirable to arrange the contacts near the operation panel with good workability. Since other devices and their wirings are concentrated inside the switchboard, providing contacts inside the switchboard improves the connectivity with other devices. When a state mainly related to a specific actuator 300 is detected, the sensor 200 is often installed near the actuator 300. Therefore, a contact may be integrated with the actuator 300 or arranged near the actuator 300. . In general, the actuator 300 often has a wiring between itself and its controller, so that it is possible to share a wiring routing path, and to expect the wiring itself to be shared.
Very useful.

The sensor processing unit 100 includes the host controller 400 or the sensor processing unit 10
0 communication interface 108 for connecting to
A lower communication interface 109 for connecting to the lower sensor processing unit 100;
Display device interface 11 for connecting to
0, an input device interface 111 for connecting to the input device 600, and an actuator interface 112 for connecting to the actuator 300.
And an automatic sensor exchange device interface 113 for connecting to the automatic sensor exchange device 700. And through these interfaces
The above sensor 200, upper controller 400, lower one or more sensor processing units 100, display device 50
0, input device 600, one or more actuators 30
0, it is preferable to connect the automatic sensor exchange device 700 to the outside and arrange the sensor stocker 800 to configure the sensor processing system 1000 as a whole.

According to the sensor processing unit 100 having the upper communication interface 108, the transfer of the processing module software from the upper controller 400 through the upper communication interface 108, the control of the sensor processing unit 100 from the upper controller 400, and the upper controller 400 Output of sensor measurement data and the like. When transferring the processing module software from the host controller 400 to the sensor processing unit 100, the sensor processing unit 100
It can be expected that the capacity of the storage device 102 in the inside can be reduced, and the cost can be reduced. Further, the sensor processing unit 100
Is provided with a compiler or an interpreter, when a program of processing module software is transferred from the host controller 400, the program can be converted into a format executable by the compiler or the interpreter and executed. Therefore, the source code described in a language independent of the system can be used as the processing module software, and the versatility is improved.

The sensor processing unit 100 communicates with the host controller 400 through the host communication interface 108.
, The corresponding internal data is output to the host controller 400 (see FIG. 3A and FIG. 3B). At this time, the sensor processing unit 100 outputs a completion notification of the internal data output process to the upper controller 400 after completing the operation of outputting the corresponding internal data to the upper controller 400 according to the internal data acquisition request. The upper controller 400 that has received the completion notification can confirm the completion of the output operation. As a result, the host controller 400
The internal controller can browse, process, and display necessary internal data while maintaining synchronization of operations between the host controller 400 and the sensor processing unit 100. Upper controller 40
The internal data to be output with respect to 0 include internal data that is always transmitted, internal data that is output when a specific condition is satisfied in the sensor processing unit 100, and internal data that is output in response to a request from the host controller 400. The three cases of data are used properly. If these “always transmit”, “transmit by condition”, and “transmit on request” are selected according to the application, even if the data transfer efficiency of the upper Transfer becomes possible.

When a processing command is given from the host controller 400 through the host communication interface 108, the sensor processing unit 100 changes the contents of the processing (see FIGS. 4A and 4B). After the processing corresponding to the processing command is completed, the sensor processing unit 100 outputs a processing completion notification to the upper controller 400. Upper controller 400 that has received the processing completion notification
Can confirm the completion of the change. As a result of these,
Synchronization of work between the host controller 400 and the sensor processing unit 100 becomes possible.

It is preferable that the sensor processing unit 100 retains unique identification information capable of identifying itself in the storage device 102. A case where a plurality of sensor processing units 100 are connected to the host controller 400 or a case where the sensor processing units 100 are arranged hierarchically will be considered. In these cases, first, unique identification information that does not overlap is given to each sensor processing unit 100 in advance. When sending processing module software, its program, and processing command from the host controller 400, the sensor processing unit 10
0 identification information is added. Sensor processing unit 100
Indicates that the identification information indicating the destination is the storage device 1 of its own.
If it matches the one stored in 02, it is possible to determine that the processing module software, its program, and the processing instruction are for itself, and to change the processing software or perform processing corresponding to the processing instruction. Accordingly, there is no problem even if a plurality of sensor processing units 100 are connected to the host controller 400, and information can be transmitted from the host controller 400 to the sensor processing units 100.

The sensor processing unit 100 includes a lower communication interface 109 for connecting to the lower sensor processing unit 100.
It is preferable to use 0 hierarchically. When the sensor processing unit 100 receives a processing command from the higher-level controller 400 or the higher-level sensor processing unit 100 connected via the higher-level communication interface 108, based on the above-described sensor identification information, the sensor processing unit 100 performs its own lower-level sensor processing. It can be determined that the command is for the unit 100, and furthermore,
The processing command data can be transferred to the lower-level sensor processing unit 100 via the. Thereby, even when the sensor processing units 100 are hierarchically connected, a command to the lower-order sensor processing units 100 can be issued. Conversely, when the sensor processing state data is output from the lower-level sensor processing unit 100 connected via the lower-level communication interface 109, the sensor processing unit 100, based on the above-described sensor identification information, transmits the data to its own upper-level controller. 400 or the sensor processing state data to be transferred to the upper sensor processing unit 100. Further, the processing state data is transmitted to the upper controller 400 or the upper sensor processing unit 100 through the upper communication interface 108. Can be transferred. Thus, even when the sensor processing units 100 are hierarchically connected, the host controller 400 and the host sensor processing unit 10
Data transfer to 0 becomes possible. As a result, according to the sensor processing unit 100, more various types of sensor signal processing can be performed.

The sensor processing unit 100 has a display device interface 110, and through this display device interface 110, the sensor processing unit 10
It is preferable that the internal data of 0 can be output to the display device 500. Thereby, the sensor processing unit 10
This makes it possible to browse the internal data of “0”, which makes it easy to use in the field. The display device 500 is a display. For example, when the internal data is displayed as numerical values, waveforms, and animations (gauges, meters, buttons, switches, lamps, sliders, etc.), it becomes easier to understand visually. Furthermore, each of the sensors 2
The visibility is further enhanced by displaying the color in a different color for each 00 or in a different color according to the state. In addition to the colors, brightness, size, shape, blinking method, hatching, and line type (thickness, pattern) are distinguished. Alternatively, discrimination by using these in combination with color also contributes to improvement in visibility.

It is preferable that the sensor processing unit 100 has an input device interface 111, and that processing command data can be input from the input device 600 through the input device interface 111. Here, the input device 600 refers to a keyboard, a pointing device (a mouse, a touch pad, a joystick, or the like), a touch panel, a switch, a button, or the like. This makes it possible for the operator to directly instruct and use the device in the field.

FIGS. 5A and 5B show a display example by the display device 500, and FIG. 5C shows a display example of the input screen. These displays may be displayed on the display device 500 provided in the sensor processing unit 100, or when the host controller 400 has a display device (not shown), the host controller 40
0 may be displayed on a display device included in the device. Similarly, the input may be input from an input device 600 included in the sensor processing unit 100, or, when the host controller 400 includes an input device (not shown), may be input from an input device included in the host controller 400. May be. In each of these cases, it is necessary to exchange data between the sensor processing unit 100 and the host controller 400. When the sensor processing unit 100 is used alone, display and input need to be performed by the display device 500 and the input device 600 included in the sensor processing unit 100. On the other hand, when the host controller 400 includes a display device and an input device, by using them, the sensor processing unit 1
00 does not need to include the display device 500 and the input device 600, and has an effect of reducing cost and space. Of course, even if the host controller 400 has a display device and an input device, if the sensor processing unit 100 is located at a distance, or if it is desired to prepare separately from the display device and the input device of the host controller 400, Again the sensor processing unit 1
It is effective that 00 has the display device 500 and the input device 600 to improve monitoring and operation efficiency.

The sensor processing unit 100 has an automatic sensor exchanging device interface 113 for connecting to the automatic sensor exchanging device 700.
It is preferable that a sensor replacement command can be output to 0.
When the sensor replacement command is output, the identification information of the sensor 200 to be replaced is also output. This identification information is input device 600 or host controller 400
Specify more. The sensor 200 is a sensor stocker 800
To be stored. The automatic sensor exchange device 700 confirms the identification information of each sensor 200 stored in the sensor stocker 800, takes out the sensor 200 corresponding to the sensor identification information to be exchanged, and replaces the sensor 200. This makes it possible to automatically replace the designated sensor 200. In the above description, the term “replace” is used.
Similarly, when the sensor 200 is newly added from the state where 0 is not connected), or when the sensor 200 is removed (the connected sensor 200 is removed and the new sensor 200 is not disposed there). It is possible. Further, the automatic sensor exchange device 700 includes a sensor stocker 800
By preparing a map of sensor identification information corresponding to each of the positions inside, it is also possible to omit the operation of inquiring the sensor 200 for identification information each time.

Further, when the sensor processing unit 100 outputs the identification information of the sensor 200 corresponding to the target operation to the automatic sensor exchange device 700, the automatic sensor exchange device 700 automatically outputs the sensor information in accordance with the identification information. 200
Can be selected. The target work is input from the host controller 400 or the input device 600. The sensor processing unit 100 stores a map of sensor identification information corresponding to a target task in the storage device 102.
To memorize it. This makes it possible to automatically select the sensor 200 according to the target operation.

If a failure of the sensor 200 is detected,
It can be automatically replaced with the spare sensor 200. The spare sensor 200 is stored in the sensor stocker 800.
The identification information is read and replaced with a tool determined to be the same type of sensor 200 or a sensor 200 explicitly designated as the spare sensor 200. Spare sensor 200
When explicitly designated as the corresponding spare sensor 20
0 is a storage device of the sensor 200 itself (not shown)
Or a map of the spare sensor 200 corresponding to each sensor 200 is stored in the storage device 102 of the sensor processing unit 100. Sensor 200
Is determined by using another sensor that detects a sensor failure, based on a detection value output from the sensor 200 or a sensor state.
Any method of inputting from 0 or inputting from the upper controller 400 may be used. Thus, even if a failure occurs in the sensor 200, the operation can be continued by the automatic replacement, and the safety and operation rate of the sensor processing system 1000 can be improved. It is effective to automatically replace the sensor 200 in the case where the performance is degraded or the life is reached even if it is not a failure.

When the sensor processing system 1000 has an automatic tool changer 700 'as an automatic device changer in advance, a sensor for wiring the sensor 200 to the first to fifth sensor interfaces 103 to 107 is provided. By arranging the contact 201 on the processing unit 100 side near the tool mounting position, the automatic tool changing device 700 'can function as the automatic sensor changing device 700 (see FIGS. 6 and 7). That is, the automatic tool changer 700 ′ causes the tool 20
When 0 is mounted at the tool mounting position, the contact 202 on the sensor 200 side and the above-mentioned contact 201 on the sensor processing unit 100 side may be connected. As a result, in the sensor processing system 1000 including the automatic tool changing device 700 ', the automatic tool changing device 700' and the automatic sensor changing device 700 can be shared, and the cost can be reduced. In addition, as an automatic device exchange device,
It is not necessarily limited to tools to be replaced.
An apparatus for exchanging a torch, an electrode, and other devices used for work can be similarly used as the automatic sensor exchanging apparatus 700.

It is preferable that the sensor processing unit 100 has an actuator interface 112 for connecting to the actuator 300 and can control the actuator 300 by transmitting and receiving processing command data and processing state data through the actuator interface 112 ( (See FIG. 7). 7, the control target 900 is driven by an actuator 300 connected to the sensor processing unit 100. The state of the control target 900 by driving the actuator 300 is as follows.
Detected by the sensor 200, and feedback control is performed using the detected value. The control target 900 is a control target 900 different from the control target (not shown) of the host controller 400 or a part of the control target of the host controller 400, and is particularly driven independently of the control target of the host controller 400. This is effective when For example,
In the machine tool, the movements of the X, Y, and Z axes, which are relative movements between the tool and the workpiece, are controlled by the host controller 400, and the peripheral axes, such as a tool magazine, an automatic tool changer 700 ', and an automatic pallet changer Are suitable for the case where the control target 900 of the sensor processing unit 100 is used. This allows local control by the actuator 300 without using the host controller 400.

In the above, each of the first to fifth sensor interfaces 103 to 107 has a plurality of sensors 2.
It is preferable to use one that can be connected to 00. An example of such a thing is an A / A with a multiplexer.
Examples include a D converter, parallel I / O including a large number of contacts, and serial communication. In these cases, since a plurality of sensors 200 can be connected to each sensor interface, the amount of signal processing is small.
This is extremely effective when the number of is large.

In the above description, the first to fifth sensor interfaces 103 to 107, the upper communication interface 108, the lower communication interface 109, the actuator interface 112, the display device interface 110, the input device interface 1
It is preferable that at least two of the 11 have the same specifications. In particular, if the upper communication interface 108 and the lower communication interface 109 have the same specification, the sensor processing units 100 can be used in a hierarchical manner, and the sensor processing units 100 can be shared. Cost reduction can be expected. Conversely, if high-speed communication is desired, high-reliability communication is desired, or if a connection to a sensor 200 or actuator 300 having a special specification interface is desired, a dedicated interface different from the others is used. It is desirable.

Further, the first to fifth sensor interfaces 103 to 107, the upper communication interface 10
8, at least two of the lower communication interface 109, the actuator interface 112, the display device interface 110, and the input device interface 111 may be unified to the same specification and shared. As long as a plurality of nodes can be connected on the same transmission line with the same specifications, they may be shared. In particular, if the first to fourth sensor interfaces 103 to 106 are shared, wiring between the sensor processing unit 100 and the sensor 200 can be simplified, and labor and space for wiring work can be saved, and cost can be reduced. Can be expected. Of course, this allows
On the other hand, when the communication capability of the transmission line is reduced, if it is desired to perform high-speed communication, to perform highly reliable communication, or to connect to a sensor 200 or an actuator 300 having an interface of a special specification, etc. It is desirable to have a dedicated interface different from the others. As an example of sharing, for example, a serial bus, a motion network, a field network, or a sensor network may be used as the digital first sensor interface 103. By sharing the interface, parts can be saved, wiring can be reduced, and costs can be reduced by using common parts.

Embodiment 2 In the second embodiment, the host controller 400 corresponding to the sensor processing unit 100 described in the first embodiment will be considered. FIG.
FIG. 3 is a block diagram illustrating a configuration example of such a higher-level controller 400. The upper controller 400 shown in FIG.
1 for connecting to one or more sensor processing units 100
One or more control unit interfaces 40 for providing connection to one or more control units 1100, preferably comprising one or more sensor processing unit interfaces 401
2. Further, display device 510, input device 610
Is provided. Processing instructions for controlling the sensor processing unit 100 in the program, the sensor processing unit 1
00, an internal data acquisition command for acquiring internal data, or both, is described.
0 outputs the command to the sensor processing unit 100 through the sensor processing unit interface 401 when the command is executed. When sending a processing command to the sensor processing unit 100, the host controller 400 waits for a completion notification of data change to be output from the sensor processing unit 100, and when sending an internal data acquisition command to the sensor processing unit 100, Sensor processing unit 10
From 0, it waits for the output completion notification of the internal data to be output, and then executes the next instruction in the program. This makes it possible to synchronize the execution of the program on the host controller 400 side with the sensor processing unit 100. This is particularly effective when it is necessary to strictly observe the execution order described in the program, and it takes time to execute the sensor processing unit 100. The programs include motion languages (NC language, robot language), ladders, flowcharts, state transition diagrams,
It is described by any one of block diagrams or a combination thereof. Thereby, the sensor processing unit 10
It is possible to provide the host controller 400 capable of giving a command to the CPU 0 in synchronization with the execution of the program. Further, monitoring control of the sensor processing unit 100 according to the state of the host controller 400, automation of the monitoring control procedure, and other control units (for example, position control units for each axis) 1100 controlled by the host controller 400
And synchronous control with the device.

When the host controller 400 has the display device 510, the sensor processing unit 10
The internal data acquired from 0 may be displayed on the display device 510. Similarly, when the host controller 400 includes the input device 610, the host controller 40
0 may be input from the input device 610 included in 0. Generally, the host controller 400 includes a display device 510
And the input device 610 in many cases. In this case, the display device 500 and the input device 600 of the sensor processing unit 100 can be omitted, and there is an effect of cost reduction and space saving.

Embodiment 3 In the third embodiment, a sensor 200 corresponding to the sensor processing unit 100 described in the first embodiment will be considered. FIG. 9 is a block diagram showing a configuration example of such a sensor 200. Sensor 2
Reference numeral 00 includes a storage device 203 storing identification information and an external interface 204 for connecting to the outside. The identification information can be output to the outside through the external interface 204. Thus, the sensor 200 can be identified from the external device.

The sensor 200 is connected to the storage device 203
It is also preferable that the identification information of the preliminary sensor 200 is also stored in the storage device 200, and the identification information of the preliminary sensor 200 can be output to the outside through the external interface 204. This allows
When the sensor 200 fails, the sensor processing unit 1
00 refers to the identification information of the spare sensor 200, so that the spare sensor 200 can be replaced with a corresponding one.

Although not explicitly shown in FIG.
Preferably has an input device interface for connecting to an input device, and can input the identification information and the identification information of the spare sensor 200 from outside. This makes it possible to change the identification information and the identification information of the spare sensor 200 in the field on site.

Although not explicitly shown in the figure, the sensor 2
00 includes a display device interface for connecting to a display device, and includes identification information and a spare sensor 20.
It is preferable that the identification information of 0 can be displayed outside.
Accordingly, it is possible to confirm the identification information and the identification information of the spare sensor 200 in the field on site.

The storage device 203 can be an electronically rewritable device such as HD, FD, RAM, or SRA.
M, MO, CD-RW and the like. They are suitable for storing data that may change externally. Data that does not need to be changed is stored in an electronically non-rewritable storage device 203 such as a ROM, a barcode, a magnetic pattern,
The information may be stored as a rotary switch, a dip switch, a jumper, a bar code, a printed or stamped character or numerical value, or the like. The latter is electronically unalterable, which in turn helps to avoid unauthorized changes. Also, the latter can be dealt with by setting by a human or by replacing each part when necessary. Of course, by combining the two, a sensor 200 having both advantages can be constructed.

[0113]

As described above, according to the present invention, since the processing module can be changed according to the sensor configuration and purpose, flexible sensor signal processing becomes possible.

According to the next invention, a corresponding module can be selected from a plurality of processing modules according to the sensor configuration and purpose, so that a wider range of flexible sensor signal processing becomes possible.

According to the next invention, since the configuration of the processing module can be selectively used between software and hardware according to the purpose, flexibility of sensor signal processing, low cost, or high performance can be realized in a well-balanced manner. can do.

According to the next invention, since a sensor control command can be given to the sensor through the second sensor interface, not only sensor signal processing but also flexible sensor signal processing including sensor control can be performed. . Further, the processing related to the sensor control command can be changed.

According to the next invention, since sensor information can be obtained from the sensor through the third sensor interface, not only sensor signal processing and sensor control, but also monitoring of the state of the sensor, and furthermore, In addition, sensor control and sensor signal processing can be performed. Further, the processing related to the sensor control state can be changed.

According to the next invention, since the identification information of the sensor can be read through the fourth sensor interface, it is possible to switch the signal processing for the detection value of the sensor according to the read identification information.

According to the next invention, since the operating power can be supplied to the sensor through the fifth sensor interface, there is no need to secure a separate power supply for the sensor, and space and wiring savings and low cost are expected. It is possible to do.

According to the next invention, the past internal data stored in the storage device can be referred to.
Sensor signal processing including past internal data, display, and file output are possible.

According to the next invention, since sensor signal processing using past internal data can be performed, various signal processing such as statistical processing, filtering, and frequency analysis can be performed by using, for example, past sensor measurement data. become. It is also possible to compare a past state or command with a current state or command, and detect an event such as a change in state or command.

According to the next invention, since communication with the higher-level controller can be performed through the higher-level communication interface, transfer of processing module software from the higher-level controller, control of the sensor processing unit from the higher-level controller, It is possible to output sensor measurement data and the like to the controller.

According to the next invention, when the sensor configuration or the purpose is changed, a processing module corresponding to the change can be obtained from the upper controller. Therefore, by transferring the processing module software from the upper controller, the sensor processing can be performed. A reduction in the capacity of the storage device in the unit can be expected, and cost reduction can be achieved.

According to the next invention, since the processing module software can be described in a language independent of the system, the versatility is remarkably enhanced by using the source code described in the language independent of the system.

According to the next invention, the internal data can be output in response to a request from the higher-level controller, so that the higher-level controller can browse, process, and display the necessary internal data.

According to the next invention, the processing can be changed from the host controller, so that the operability is improved.

According to the next invention, since the sensor processing unit can be specified based on the unique identification information, a plurality of sensor processing units can be connected to the host controller.

According to the next invention, since commands and data can be transmitted and received between the sensor processing units, commands to the lower sensor processing units and outputs from the lower sensor processing units become possible. .

According to the next invention, since it is possible to connect hierarchically to a lower-level sensor processing unit through a lower-level communication interface, various sensor signal processings can be performed.

According to the next invention, the internal data can be output to a display device such as a display through the display device interface, so that the internal data of the sensor processing unit can be browsed and the operability in the field can be significantly improved. I do.

According to the next invention, since the operator can directly input a command from the input device through the input device interface, the operability in the field field is significantly improved.

According to the next invention, a sensor replacement command can be output to the automatic sensor replacement device through the automatic sensor replacement device interface, so that when a sensor is designated, the sensor can be replaced automatically.

According to the next invention, a sensor is automatically selected according to a target operation, so that automatic selection and replacement of the sensor according to the target operation can be performed.

According to the next invention, when a sensor fails, the failed sensor is automatically replaced with a spare sensor, so that subsequent work can be continued and the safety and operation rate of the system can be reduced. Can be enhanced.

According to the next invention, since the sensor can be replaced using an automatic device changing device such as an automatic tool changing device provided in advance, it is not necessary to provide a separate automatic sensor changing device, and the cost can be reduced. Realization.

According to the next invention, since the actuator can be controlled through the actuator interface, the actuator can be locally controlled without using the host controller.

According to the next invention, a plurality of sensors can be connected to the sensor interface, which is very effective when the amount of signal processing is small and the number of sensors is large.

According to the next invention, parts can be shared by interfaces having the same specification, so that cost can be reduced.

According to the next invention, one device is used for a plurality of devices.
Since one interface can be shared, a plurality of types of nodes can be connected on the same transmission line, and cost reduction can be achieved by saving parts, wiring, and sharing parts.

According to the next invention, since a command can be given to the sensor processing unit in synchronization with the execution of the program, monitoring control of the sensor processing unit according to the state of the controller, automation of the monitoring control procedure, and control of the controller can be performed. Synchronous control with another control unit to be controlled becomes possible.

According to the next invention, the sensor identification information can be output to the external device through the interface, so that the sensor can be identified from the external device.

According to the next invention, a sensor processing system including the above-described sensor processing unit and sensor can be configured, so that the processing module can be changed according to the sensor configuration and purpose, and the like. Sensor signal processing can be performed.

According to the next invention, a sensor system further including at least one of a display device, an input device, a host controller, an automatic sensor exchange device, and an actuator can be configured, so that more flexible sensor signal processing can be performed. It is possible to do.

[Brief description of the drawings]

FIG. 1 is a block diagram illustrating configurations of a sensor processing unit, a controller, a sensor, and a sensor processing system according to a first embodiment of the present invention.

FIG. 2 is a schematic diagram showing an example of a database of processing contents corresponding to sensor identification information.

FIG. 3A is a schematic diagram showing a program example of an internal data acquisition request given from a host controller, and FIG.
6 is a timing chart showing processing executed by the host controller and the sensor processing unit when the internal data acquisition request shown in FIG.

4A is a schematic diagram illustrating a program example of a processing instruction given from a higher-order controller, and FIG. 4B is a diagram illustrating an example in which the higher-order controller and a sensor processing unit execute when the processing instruction shown in FIG. 6 is a timing chart showing a process to be performed.

FIGS. 5A and 5B are conceptual diagrams showing a display example by a display device, and FIG. 5C is a conceptual diagram showing a display example of an input screen.

FIG. 6 is a conceptual diagram showing a state in which the automatic tool changing device is shared with the automatic sensor changing device.

FIG. 7 is a block diagram illustrating a configuration in which a control target is feedback-controlled by an actuator in the sensor processing unit, controller, sensor, and sensor processing system illustrated in FIG. 1;

FIG. 8 is a block diagram illustrating a configuration example of a higher-level controller according to the second embodiment of the present invention;

FIG. 9 is a block diagram illustrating a configuration example of a sensor according to a third embodiment of the present invention;

[Explanation of symbols]

100 sensor processing unit, 102 storage device,
103 to 107 sensor interface, 108 upper communication interface, 109 lower communication interface, 110 display device interface, 11
1 input device interface, 112 actuator interface, 113 automatic sensor exchange device interface, 150 processing module, 200
Sensor, 201, 202 contacts, 203 storage device, 204 external interface, 300 actuator, 400 host controller, 401 sensor processing unit interface, 402 control unit interface, 500 display device, 510 display device, 600 input device, 610 input device, 700 Automatic sensor changer, 700 'Automatic tool changer, 800 sensor stocker, 800' tool magazine, 900 controlled objects, 1000 sensor processing system, 1100 control unit.

 ──────────────────────────────────────────────────続 き Continuing on the front page (72) Inventor Takashi Iwasaki 2-3-2 Marunouchi, Chiyoda-ku, Tokyo Mitsui Electric Co., Ltd. (72) Inventor Kiyoshi Okada 2-3-2 Marunouchi, Chiyoda-ku, Tokyo 3 Rishi Electric Co., Ltd. F term (reference) 2F073 AA12 AB07 AB12 BB05 BC01 CC01 CC05 DD06 EE01 GG01 5H004 GA21 GA33 JB10 LB01 LB03 MA06 MA38

Claims (31)

[Claims] 1. A sensor processing unit for performing processing in accordance with a detection value of a sensor detected through a first sensor interface, comprising a processing module capable of changing at least signal processing for the detection value of the sensor. Characteristic sensor processing unit. 2. The sensor processing unit according to claim 1, wherein a plurality of the processing modules are provided in advance. 3. The sensor processing unit according to claim 1, wherein the processing module comprises software and / or hardware. 4. The sensor processing unit according to claim 1, further comprising a second sensor interface for giving a sensor control command to the sensor. 5. The sensor processing unit according to claim 1, further comprising a third sensor interface for acquiring a sensor state from a sensor. 6. A fourth sensor for reading identification information of a sensor.
The sensor processing unit according to any one of claims 1 to 5, further comprising: 7. A fifth power supply for supplying operating power to the sensor.
The sensor processing unit according to any one of claims 1 to 6, further comprising: 8. The sensor processing unit according to claim 1, further comprising a storage device for storing past internal data. 9. The sensor processing unit according to claim 8, wherein signal processing is performed on a detection value of a sensor using past internal data stored in the storage device. 10. The sensor processing unit according to claim 1, further comprising a higher-level communication interface for connecting to a higher-level controller. 11. The sensor processing unit according to claim 10, wherein processing module software is obtained from the upper controller through the upper communication interface. 12. The sensor processing unit according to claim 11, wherein the processing module software acquired from the higher-level controller is converted into an executable form by a compiler or an interpreter provided therein and executed. 13. The sensor according to claim 10, wherein when an internal data acquisition request is given from the upper controller, corresponding internal data is output to the upper controller. Processing unit. 14. The sensor processing unit according to claim 10, wherein, when a processing instruction is given from the upper controller, the processing is changed according to the processing instruction. 15. The sensor processing unit according to claim 1, further comprising a storage device holding unique identification information. 16. The sensor processing unit according to claim 15, wherein transmission / reception is performed by adding a processing command or sensor processing state data to identification information indicating a destination of the data. 17. The sensor processing unit according to claim 1, further comprising a lower communication interface for hierarchically connecting to a lower sensor processing unit. 18. The sensor processing unit according to claim 1, further comprising a display device interface for outputting internal data. 19. The sensor processing unit according to claim 1, further comprising an input device interface for inputting processing command data from the input device. 20. The sensor processing unit according to claim 1, further comprising an automatic sensor exchange device interface for outputting a sensor exchange command to the automatic sensor exchange device. 21. When a target task is given,
21. The sensor processing unit according to claim 20, wherein a sensor replacement command for automatically selecting a sensor corresponding to the work is output to the automatic sensor replacement device through the automatic sensor replacement device interface. 22. When a failure of a sensor is detected, a sensor replacement command for automatically replacing the failed sensor with a spare sensor is output to the automatic sensor replacement device through the automatic sensor replacement device interface. The sensor processing unit according to any one of claims 20 to 21. 23. The sensor according to claim 20, wherein the sensor exchange command is output to an automatic device exchange device provided in advance through the automatic sensor exchange device interface. Processing unit. 24. The sensor processing according to claim 1, further comprising an actuator interface for connecting to the actuator, wherein the actuator is controlled according to the processing command data and the processing state data. unit. 25. The sensor processing unit according to claim 1, wherein the sensor interface is configured to be connectable to a plurality of sensors. 26. The system according to claim 4, wherein at least two of the plurality of interfaces have the same specification.
6. The sensor processing unit according to any one of 5. 27. The sensor processing unit according to claim 4, wherein at least two of the plurality of interfaces are shared. 28. A controller comprising a sensor processing unit interface for connecting to the sensor processing unit, and communicating with the sensor processing unit through the sensor processing unit interface to monitor and control the sensor processing unit. When executing a program describing a processing instruction for controlling the unit and / or an internal data acquisition instruction for acquiring internal data from the sensor processing unit, the processing instruction is sent to the sensor processing unit through the sensor processing unit interface. And / or a controller that outputs the internal data acquisition command. 29. A sensor comprising an interface capable of outputting sensor identification information to an external device. 30. At least one sensor processing unit according to any one of claims 1 to 27, and at least one sensor connected to the sensor processing unit via a sensor interface. A sensor processing system characterized by the following. 31. The sensor processing system according to claim 30, further comprising at least one of a display device, an input device, a host controller, an automatic sensor exchange device, and an actuator.