JP2005234990A - Driving shaft monitoring system - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a driving shaft monitoring system capable of surely preventing interference of detection data from a plurality of sensors without causing a trouble such as limitation of the setting number of sensors or an increase in cost. <P>SOLUTION: This system comprises a plurality of sensors 151-154 and 17 for detecting a physical quantity changed resulted from a damage of a driving shaft provided on the driving shaft, and a plurality of slave machines 1-5 with different identifiers assigned thereto connected to the sensors 151-154, and 17. When transmission of detection data of the sensor connected to one slave machine is requested to the one slave machine, a master machine 6 creates and transmits a request signal containing the identifier of the slave machine concerned. <P>COPYRIGHT: (C)2005,JPO&NCIPI

Description

  The present invention relates to a drive shaft monitoring system that includes a master unit and a slave unit capable of wireless data transmission / reception and monitors a drive shaft used in rolling equipment.

The drive shaft of the steel rolling equipment is connected between the rolling roller and the drive motor, and plays a role of transmitting the rotational force of the drive motor to the rolling roller. A cross shaft joint that enables rocking by rolling is interposed in the middle of the drive shaft. When rolling steel, a large load due to impact or the like is applied to the cross joint, so that it is difficult to avoid damage due to long-term use. Therefore, it is necessary to monitor the progress of damage and replace the cross shaft joint as soon as possible. More specifically, the cross shaft joint is provided with a bearing cup for each of the four trunnions of the cross shaft, and a drive shaft portion and a driven shaft respectively disposed on the drive motor side and the rolling roller side of the drive shaft. The joint is assembled to the drive shaft by connecting each end of the part to two different bearing cups. However, the load applied to the trunnion and each bearing cup from the rolling roller side during steel rolling is extremely large, and the trunnion surface was easily peeled off depending on the usage time. In addition, the degree of surface peeling sometimes differs between the four trunnions. Therefore, in rolling equipment, the cross shaft joint is periodically removed from the drive shaft, and the trunnion and bearing cup are separated to completely disassemble the cross shaft joint, thereby reducing the degree of surface peeling at each trunnion. It was required to visually check and replace the cross joint etc. as necessary, and this periodic inspection work required a lot of labor and time.
On the other hand, in recent years, in order to detect the degree of progress of damage to a member in mechanical equipment, a sensor and a transmitter are provided on the member, and the output of the sensor is wirelessly transmitted from the transmitter and monitored at a remote receiver side. (For example, refer to Patent Document 1). Accordingly, the inventors of the present application have examined the application of the above-described conventional system to the cross shaft joint of the drive shaft.

Japanese Patent Laid-Open No. 10-217964 (pages 2 and 3, FIGS. 1 and 2)

  However, in the conventional system as described above, the same radio frequency is used between the receiver and each of the plurality of transmitters, and sensor signals wirelessly transmitted from the plurality of transmitters are mixed and received. The machine may not be able to receive normally. Such interference can be eliminated if the frequency to be transmitted is different for each transmitter, but in this case, there is a problem that the number of transmitters installed in the transmittable / receivable area is limited. In addition, it is possible to eliminate the interference by providing one-to-one transceivers, but in this case, a plurality of receivers are required, which is not preferable because the cost is increased.

  In view of the conventional problems as described above, the present invention provides a drive shaft monitoring system that reliably prevents interference of detection data from a plurality of sensors without causing adverse effects such as limitations on the number of installed units and cost increase. The purpose is to do.

The present invention is a system for monitoring a drive shaft of a rolling equipment,
A plurality of sensors that are mounted on the drive shaft and detect physical quantities that change due to damage to the drive shaft; and a plurality of slave devices that are respectively connected to the plurality of sensors and that are assigned different identifiers. When each of the plurality of slave units is configured to be capable of bidirectional wireless communication and requests one of the slave units to transmit detection data of the sensor connected to the slave unit, And a master device for generating and transmitting a request signal including the device identifier.

  When the master unit in the drive axis monitoring system configured as described above acquires the detection data from the sensor, the master unit transmits the request signal including the identifier of the slave unit to which the sensor is connected. Can operate only the slave unit designated by the signal, and the slave unit can transmit data from the corresponding sensor. As a result, it is possible to prevent the detection data of the plurality of sensors from being simultaneously transmitted to the parent device from the corresponding plurality of child devices.

In the drive shaft monitoring system, the master unit is connected to a data processing device that performs predetermined processing on detection data from the plurality of sensors, and a request signal from the data processing device is received. Therefore, the base unit may create and send the request signal.
In this case, it becomes possible for the data processing device to request only the sensor detection data at a necessary location, and the drive shaft can be monitored efficiently and optimally.

In the drive shaft monitoring system, it is preferable that the plurality of sensors include a plurality of types of sensors having different methods for detecting the physical quantity.
In this case, since the physical quantity is detected by a plurality of types of sensors, the monitoring accuracy of the drive shaft can be improved.

Further, in the drive shaft monitoring system, when each of the plurality of slave units transmits detection data of the connected sensor to the master unit, an identifier capable of specifying a sensor type is included in a header portion of transmission data. May be transmitted.
In this case, it becomes possible for the master unit to immediately determine the content of the received data based on the identifier included in the header part, and even if the data length of the detected data differs depending on the sensor type, Subsequent data processing such as data reception processing can be easily performed.

  According to the present invention, it is possible to surely prevent sensor detection data from a plurality of slave units to which sensors are respectively connected from being transmitted to the master unit at the same time, so that a system using the same radio frequency is used. Even when the system is constructed, it is possible to reliably prevent interference between a plurality of detection data without causing adverse effects such as a limitation on the number of units installed in the system and an increase in cost.

Hereinafter, a preferred embodiment of a drive shaft monitoring system of the present invention will be described with reference to the drawings.
FIG. 1 is a perspective view showing a drive shaft used in rolling equipment of a steel manufacturer, and FIG. 2 is a view of a main part of a cross joint from the axial direction of the drive shaft (including a partial cross section). . In the figure, a cross joint 11 is used in the vicinity of both ends of the drive shaft 10, and a drive motor (not shown) is provided on one end side and the other end side of the drive shaft 10 with the joint 11 interposed therebetween. Steel rolling rollers are connected to each other. Further, in the rolling equipment, two drive shafts 10 are arranged in parallel to each other, and a cast product subjected to a rolling process by passing a slab or the like between the two rollers connected to each drive shaft 10 is used. It is configured to manufacture. In the rolling process, each cross joint 11 transmits the rotational force of the drive motor to the rolling roller in a state where the connected drive shaft 10 is allowed to tilt from the axial direction. Furthermore, in this rolling equipment, the operating state of each driving shaft 10 is monitored by the driving shaft monitoring system of the present invention, and the degree of progress of damage accompanying the operating time is determined.

The cross shaft joint 11 includes a cross shaft 12 and four bearing cups 13. Each bearing cup 13 includes a cup portion 131 and a plurality of rollers 132 that are held inside and are in rolling contact with the trunnion 12a of the cross shaft 12, and the inner peripheral surface of the cup portion 131 and the outer periphery of the trunnion 12a. The surfaces are an outer ring track and an inner ring track, respectively. Further, the pair of upper and lower bearing cups 13 in FIG. 2 are connected to the drive shaft 10 on one side in the axial direction when viewed from the cross joint 11, and the pair of left and right bearing cups 13 are connected to the drive shaft 10 on the other side in the axial direction. ing.
At the center in the circumferential direction of the cup portion 131, a hole 131a for injecting grease is formed. A hole 12b is formed around the central axis of the trunnion 12a coaxially with the hole 131a. The support member 14 is attached to the hole 131a of the cup part 131 by screwing. The support member 14 has a flat bottom saddle-shaped attachment portion 14a and a round bar-like support portion 14b extending from the bottom portion in the axial direction of the trunnion 12a. The support portion 14b is inserted into the hole 12b. Yes. For example, an eddy current displacement sensor 151 is attached near the tip of the inserted support portion 14b so as to face the wall surface of the hole 12b.

A slave 1 capable of wireless data transmission / reception is attached in the attachment portion 14a. The slave sensor 1 is connected to the displacement sensor 151 by a cable 16 that passes through a groove provided in or on the surface of the support member 14. The displacement sensor 151 is attached to a predetermined reference position and detects a change in the distance of the hole 12b from the wall surface, thereby increasing the trunnion 12a and the bearing according to the degree of damage such as surface peeling occurring on the trunnion 12a. A displacement signal indicating relative displacement (positional deviation) with respect to the cup 13 is output to the child device 1.
Similarly, the support members 14 (not shown), the displacement sensors 152, 153, 154, and the slave units 2, 3, 4 are provided for the other three trunnions 12a, and a total of four slave units 1, Displacement signal data can be transmitted from 2, 3, 4 respectively. Further, the slave units 1 to 4 do not always transmit the displacement signal data, but form a handshake type data communication channel that transmits the signal data only when a request is received from the master unit described later. (Details will be described later).

In addition, a vibration sensor 17 using, for example, a piezoelectric acceleration pickup is attached to the concave portion at the center of the cross shaft 12 so as to face the surface of the concave portion. It connects with the subunit | mobile_unit 5 attached to the side surface of the cup 13 (left). The vibration sensor 17 detects the vibration of the cross shaft 12 that increases in accordance with the degree of damage such as surface peeling that has occurred in the trunnion 12a, and outputs the vibration signal to the slave unit 5. Moreover, this subunit | mobile_unit 5 has the function similar to the said subunit | mobile_unit 1-4, and transmits the vibration signal data from the vibration sensor 17 according to the request | requirement from a main | base station.
Moreover, the said subunit | mobile_unit 1-5, the displacement sensors 151-154 directly connected to these, and the vibration sensor 17 are contained in the said drive shaft monitoring system, respectively, and each subunit | mobile_unit 1-5 has each. Consecutive integer ID numbers 0, 1, 2, 3, and 4 are assigned as identifiers. And each subunit | mobile_unit 1-5, the displacement sensors 151-154, and the vibration sensor 17 can be specified within a drive-axis monitoring system. In addition, by assigning different ID numbers to each of the slave units 1 to 5 in this way, even if the sensor connected to the slave unit is changed, the trouble of changing the ID number of the slave unit can be omitted. .

  As shown in FIG. 3, the drive shaft monitoring system S includes the sensors (displacement sensors 151 to 154 and the vibration sensor 17), the slave units 1 to 5, and the slave units 1 to 5. And a personal computer (hereinafter abbreviated as “PC”) 7 connected to the parent device 6 via a communication line 8 compliant with, for example, RS232C. ing. In the drive shaft monitoring system S, the slave units 1 to 5 are attached to the four cross shaft joints 11 assembled to the two drive shafts 10, and the master unit 6 is included in the system S. Data communication is individually performed with all the slave units, and the drive shaft 10 can be monitored in units of the cross joint 11. However, in the following description, for simplification of description, the slave units 1 to 5 provided in one cross shaft joint 11 as illustrated in FIG. 3 will be described.

Each of the slave units 1 to 5 includes an A / D converter 31 that converts an analog detection signal from a connected sensor into digital detection data, and a PIC (Sequentially connected to the A / D converter 31). Peripheral Interface Controller) 32 and a transmission / reception module 33. Each of the slave units 1 to 5 includes a battery power source that supplies power to each unit, an antenna connected to the transmission / reception module 33, and the like. Each of the slave units 1 to 5 includes these components. A transceiver-type wireless transceiver that is unitized is constructed.
The PIC 32 constitutes a control unit that controls each part of the slave unit, and is constituted by a one-chip microcomputer.
The transmission / reception module 33 is provided with an oscillator that oscillates a transmission wave (carrier wave) of a predetermined frequency, a modulator that modulates sensor detection data to be transmitted on the transmission wave, and a demodulator that demodulates the transmission wave from the base unit 6. It has been. The transmission / reception module 33 is configured to selectively select a transmission mode or a reception mode in accordance with an instruction signal from the PIC 32, and has a predetermined number of bits for each transmission cycle (one period of the carrier wave). A data block is transmitted. Further, when transmitting / receiving the sensor detection data, the transmission / reception module 33 includes an ID code indicating the ID number assigned to the corresponding slave unit 1-5 in the header part of the transmission block, The data is serially transmitted to the base unit 6.

The parent device 6 includes a transmission / reception module 41 that performs wireless communication using a common frequency with the transmission / reception modules 33 of the child devices 1 to 5 and a PIC that configures a control unit that controls each unit of the parent device. 42 and an RS232C driver 43 connected to the PC 7 are provided. The master unit 6 constitutes a transceiver-type wireless transceiver similar to the slave units 1 to 5, and the master unit 6 includes a battery power source, an antenna, and the like. Similarly to the transmission / reception module 33, the transmission / reception module 41 includes an oscillator, a modulator, and a demodulator, and alternatively selects a transmission mode or a reception mode according to an instruction signal from the PIC 42. A data block having a predetermined number of bits is transmitted every transmission cycle.
In addition, in accordance with an instruction (request signal) from the PC 7, the base unit 6 requests that sensor detection data corresponding to each of the slave units 1 to 5 be transmitted, and the sensor received from each of the slave units 1 to 5 Transfer the detection data to the PC 7. Further, when the master unit 6 requests a single slave unit to transmit the detection data of the sensor connected to the slave unit, the master unit 6 creates a request signal including the identifier of the slave unit, and the created signal The data block containing is transmitted.
Instead of the PICs 32 and 42, each control unit of the slave unit and the master unit can be configured by using, for example, a DSP.

  The PC 7 is a data processing device that performs a predetermined process on the detection data from each of the sensors (the displacement sensors 151 to 154 and the vibration sensor 17). For each ID number assigned to each of the slave units 1 to 5, The corresponding sensor detection data is requested / processed / managed. In addition, the PC 7 has, as its computer function, a discrimination / diagnosis function for the degree of damage (degree of progress) in the trunnion 12a (drive shaft 10) based on detection data from each sensor, and a waveform of each detection data. Monitoring function for displaying predetermined history information on the display such as a change in the degree of progress and the like, start of sensing to each sensor, confirmation of remaining battery power at each battery power source of the slave units 1 to 5 and the master unit 6 The operation instruction function to be performed is given by software. Further, the PC 7 stores data such as input detection data and damage diagnosis results based on the detected data, or provides the stored data to other information processing terminals via a communication network such as the Internet. A server function that works as In addition to this description, a configuration in which two or more information processing terminals are connected to the system S and the computer function and the server function are realized by separate information processing terminals may be employed.

Here, the operation of the drive shaft monitoring system S configured as described above will be specifically described with reference to FIGS. In the following description, the operations of the parent device 6 and any one child device (for example, child device 1) for which data transmission is requested from the parent device 6 will be mainly described.
First, the operation of base unit 6 will be described with reference to FIG.
As shown in step S1 of FIG. 4, when the parent device 6 is set to the transmission mode, the parent device 6 waits until a request signal for detection data is notified from the PC 7 (step S2). When the master unit 6 confirms that the request signal from the PC 7 has been input, the ID number of the slave unit 1 included in the request signal is extracted, and a detection data request signal including the extracted ID number is extracted. Create and send (step S3). For example, as shown in FIG. 6A, the transmission data including this request signal is between a 1-bit start bit ST and a stop bit EN each indicated by a value of “0” or “1”. The 5-bit unique start code indicating the detection data transmission request and the 3-bit ID code indicating the ID number assigned to the requesting slave unit 1 are arranged. The master unit 6 has a total of 10 bits. A data block is transmitted to the slave units 1 to 5 as a transmission wave.

Next, the base unit 6 determines whether or not a predetermined time T1 seconds have elapsed since the transmission of the data block (step S4). If T1 seconds have not elapsed, the base unit 6 determines that the request signal is more In order to be surely received by the slave unit 1, the process returns to step 3 and data transmission of the request signal is repeated.
Further, when the T1 seconds have elapsed, the master unit 6 is set to the reception mode (step S5). Thereafter, the base unit 6 confirms reception of the transmission data from the designated slave unit 1 (step S6), and transmits the received detection data to the PC 7 (step S7). Subsequently, the base unit 6 determines whether or not a predetermined time T2 seconds have elapsed after transferring data to the PC 7 (step S8). If T2 seconds have not elapsed, the base unit 6 The operation of S7 is performed to prevent a detection data transfer error from the slave unit 1 to the PC 7.

When T2 seconds elapse, the base unit 6 is set to the transmission mode (step S9) and enters a standby (sleep) state.
In step S2, if the request signal from the PC 7 includes the ID numbers of a plurality of slave units, that is, the transmission request for the plurality of sensor detection data is sent from the PC 7 to the master unit 6 When the call is specified by the master unit 6, the master unit 6 performs the operations of the above steps S3 to S8 for each slave unit specified to be called, and completes transmission of a plurality of detection data from the slave unit at one time. To prevent.

Next, the operation | movement in the subunit | mobile_unit 1 is demonstrated with reference to FIG.
As shown in step S10 of FIG. 5, the slave unit 1 is set to the reception mode, and the slave unit 1 waits until a detection data request signal is received from the master unit 6 (step S11). And when the subunit | mobile_unit 1 receives the transmission wave from the main | base station 6, the subunit | mobile_unit 1 will check whether the transmission destination of the transmission wave is the said subunit | mobile_unit 1 based on ID code contained in the received transmission wave. If it is determined (step S12) and it is determined that the transmission wave is transmitted to different slave units 2 to 5, the slave unit 1 returns to step S11 and enters a standby (sleep) state.

In step S10, when the ID code matches the ID number of the slave unit 1, the slave unit 1 determines that the own station is called from the master unit 6 (PC 7) and sets the transmission mode. (Step S13). And the subunit | mobile_unit 1 performs A / D conversion to the displacement signal input from the displacement sensor 151, and produces | generates displacement signal data (step S14).
Then, the subunit | mobile_unit 1 converts the said displacement signal data into a predetermined transmission data block, and transmits the transmission wave addressed to the main | base station 6 (step S15). The transmission data block to the base unit 6 has, for example, as shown in FIG. 6B, a head header part and a detection data part subsequent thereto, and the first and last bits of each part include “ A 1-bit start bit ST and a stop bit EN indicated by a value of “0” or “1” are arranged. The header portion includes a 5-bit unique start code indicating that the detection data of the displacement sensor 151 is included in the subsequent data string (detection data portion) and a 3-bit indicating the ID number of the slave unit 1. The ID code is arranged, and the received master unit 6 receives the content of the received data based on the start code and ID code included in the header part (transmission source slave unit, sensor type, number of transmission cycles from the slave unit) Etc.) can be discriminated immediately. In the detection data portion, the transmission (detection) data of 8 bits is arranged between the start bit ST and the stop bit EN, and the slave unit 1 has a total of 20 bits including the header portion and the detection data portion. The serial data is transmitted in one transmission cycle. Further, the slave unit 1 is configured such that when the number of bits of detection data from the displacement sensor 151 exceeds the number of assigned bits (8 bits) in the detection data section, the detection data is, for example, 16 bits. Are divided into first and second detection data parts, the header part and the first detection data part are transmitted in the first transmission cycle, and the second detection data part is transmitted in the next transmission cycle.

Thereafter, the slave unit 1 determines whether or not a predetermined time T3 seconds have elapsed after data transmission to the master unit 6 (step S16). If T3 seconds have not elapsed, the slave unit 1 proceeds to step S13. Returning back and repeatedly transmitting the detection data from the displacement sensor 151, the slave unit 1 prevents a transmission error of the data to the master unit 6 from occurring.
In step S16, when the slave unit 1 determines that T3 seconds have elapsed, the slave unit 1 is set to the reception mode (step S17) and enters a standby state. As described above, the handset 1 is automatically switched to the reception mode, so that the handset 1 can surely respond to the data transfer request from the base unit 6 (PC 7).

  In the drive shaft monitoring system S of the present embodiment configured as described above, the master unit 6 transmits the detection data of the sensors (displacement sensors 151 to 154 and vibration sensor 17) from the corresponding slave units 1 to 5. Sometimes, a request signal including the ID number (identifier) of any one of the slave units 1 to 5 is created and transmitted. In the slave units 1 to 5, as shown in steps S12 and S13, only one slave unit specified by the request signal from the master unit 6 is switched from the reception mode to the transmission mode, and only the slave unit is Transmits data from the corresponding sensor. Therefore, when the system using the same radio frequency can be prevented, it is possible to prevent the detection data of a plurality of sensors from being transmitted from the corresponding plurality of slave units 1 to 5 to the base unit 6 at the same time. However, unlike the above-described conventional example, it is possible to reliably prevent a plurality of detection data from interfering without causing a limit on the number of installed units in the system and an increase in cost. As a result, it is possible to easily construct a system that does not cause deterioration in the monitoring accuracy of the drive shaft 10 due to data interference, and it is possible to prevent early deterioration in the quality of the cast product due to a decrease in the transmission performance of the drive shaft 10. . In addition, in this way, the data communication channel using the same radio frequency can be reliably prevented from interfering with a transmission wave including a plurality of detection data, so that the transmission frequency and amplitude of the spread spectrum method and the like are not modulated. The transmission / reception modules 33 and 41 can be configured, and the module can be prevented from increasing in size and the algorithm from becoming complicated. Furthermore, since it is possible to accurately grasp the degree of surface peeling at each trunnion 12a based on the detection data of the displacement sensors 151 to 154, it is possible to accurately determine when it is necessary to replace the cross joint 11 or the like. The implementation of the conventional periodic inspection work can be omitted.

In the present embodiment, since the base unit 6 creates and transmits the request signal in accordance with the request signal from the PC 7, the PC 7 can request only the sensor detection data at a necessary location. The drive shaft 10 can be monitored efficiently and optimally.
Further, in the present embodiment, as shown in FIG. 6B, the header data of the transmission data block from each of the slave units 1 to 5 is stored in the subsequent detection data portion such as the sensor type. Since the start code (identifier) indicating the data content is included, when the data length (data amount) of the detection data differs depending on the type of sensor, that is, the number of cycles required for transmission data from the slave units 1 to 5 differs. Even in this case, the data reception process in the base unit 6 and the subsequent data process in the PC 7 can be easily performed.

In the above description, the case where four displacement sensors and one vibration sensor are attached to each cross joint of the drive shaft has been described. However, the present invention is given a master unit and a unique identifier. A plurality of slave units and a plurality of sensors connected to each slave unit on a one-to-one basis, and the master unit requests transmission of detection data of the sensor connected to the slave unit to the one slave unit. The number of sensors installed and the type (type) of the sensor are not limited to those described above as long as the request signal including the identifier of the slave is generated and transmitted. In other words, the sensor only needs to detect a physical quantity that changes due to damage to the drive shaft, and may acquire detection data such as force and temperature. However, as described above, the case where a plurality of types of sensors having different sensor types is installed is preferable in that the drive shaft can be monitored with higher accuracy.
In the above description, the case where the parent device and the PC as the data processing device are separately configured has been described. However, the present invention is not limited to this, and for example, the transmission / reception module is attached to the PC and the parent device is installed. The machine and the data processing device may be configured integrally.

It is a perspective view which shows the drive shaft used for the rolling equipment of a steel maker. It is the figure which looked at the principal part of the cross shaft coupling from the axial direction of the drive shaft (including a partial cross section). It is a block diagram which shows the structural example of the drive-axis monitoring system which concerns on one Embodiment of this invention. It is a flowchart which shows the processing operation in the main | base station of the said drive shaft monitoring system. It is a flowchart which shows the processing operation in the subunit | mobile_unit of the said drive shaft monitoring system. (A) is a block diagram illustrating a specific data configuration example of a request signal from the parent device, and (b) is a block diagram illustrating a specific example of transmission data from the child device.

Explanation of symbols

1-5 Slave unit 6 Master unit 7 PC (data processing device)
DESCRIPTION OF SYMBOLS 10 Drive shaft 17 Vibration sensor 151-154 Displacement sensor S Drive shaft monitoring system

Claims (4)

A system for monitoring the drive shaft of a rolling facility,
A plurality of sensors that are mounted on the drive shaft and detect physical quantities that change due to damage to the drive shaft;
A plurality of slave units connected to the plurality of sensors and provided with different identifiers;
When it is configured to be capable of bidirectional wireless communication with each of the plurality of slave units, and when requesting transmission of detection data of the sensor connected to the slave unit to the one slave unit, the slave unit A drive axis monitoring system comprising: a master unit that generates and transmits a request signal including the identifier of   The master unit is connected to a data processing device that performs predetermined processing on detection data from each of the plurality of sensors, and the master unit transmits the request signal according to a request signal from the data processing device. The drive shaft monitoring system according to claim 1, wherein the drive shaft monitoring system is generated and transmitted.   3. The drive shaft monitoring system according to claim 1, wherein the plurality of sensors include a plurality of types of sensors having different methods for detecting the physical quantity. 4.   When each of the plurality of slave units transmits detection data of the connected sensor to the master unit, the plurality of slave units include an identifier capable of specifying a sensor type in a header portion of transmission data. Item 4. The drive shaft monitoring system according to item 3.

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