JP2014085990A - Sensor system, sensor and control device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a sensor system that decreases the number of ports in a control device in order to serially transmit measurement data from a plurality of sensors to the control device and enables an increase or decrease in the number of sensors without altering software and hardware.SOLUTION: A control device and an n number of sensors from the first to the n-th are serially connected so that full-duplex communication can be carried out. The n-th sensor transmits sensor start mark data, dummy measurement data, own measurement data, and end mark data in that order to the (n-1)th sensor. The (n-1)th sensor receives transmission data from the n-th sensor and transmits start mark data, dummy measurement data, the measurement data of the sensor n, the own measurement data, and end mark data in that order. Thereafter, each of the (n-2)th and first sensors inserts own measurement data before the end mark data of received data and transmits the data to the subsequent sensor and the control device.

Description

  The present invention relates to a sensor system in which a plurality of sensors are connected to a control device.

Conventionally, it comprises a plurality of sensors such as a magnetic sensor or an electric field sensor installed at an appropriate measurement location for measuring magnetism, electric field, and the like, and a control device for controlling these sensors and capturing sensor measurement data. A sensor system is used.
In this type of sensor system, it is easy to use serial communication such as RS-232C and RS-422 to capture and collect sensor measurement data in a control device such as a personal computer in real time. .
When using this type of communication method, it is necessary to prepare multiple ports in order to acquire data from a large number of sensors at the same time. In some cases, it is necessary to install multiple computers in the control device. is there.
However, in recent years, the RS-232C port is disappearing in personal computers and the like, and when adopting serial communication, it is common to use a USB-RS-232C converter.

  As a communication unit that can improve the processing efficiency of the control device, which is the host device, and the expandability of the connected sensor, a plurality of sensor units connected to the communication unit and the host device are connected. The sensor units are automatically addressed in the order of connection. The memory of the communication unit stores the sensor address automatically set in each sensor unit and the frame data transmitted to the host device. Address correspondence information indicating correspondence with a transmission address indicating one (bit) for storing the detection result of the unit is stored, and the communication unit detects the detection result of the sensor unit based on the address correspondence information stored in the memory. Is disclosed in which a frame data is transmitted by storing the frame at a corresponding transmission address (for example, Patent Document 1). Irradiation).

JP 2009-110372 A

  In a sensor system including a plurality of sensors and a control device that exchanges data with the plurality of sensors, in order to collect sensor measurement data in real time, RS-232C, RS-422, etc. If only serial communication is used, as the number of sensors increases, it is necessary to prepare a plurality of ports or use a plurality of personal computers.

  Further, in the sensor system described in Patent Document 1, it is possible to improve the processing efficiency in the host device and improve the expandability of the sensor, but the complexity such as storing the setting address of each sensor unit in the communication unit is possible. There is a problem that remains.

  The present invention has been made in view of the above-described circumstances, and includes a sensor system and sensor data that can eliminate the above-described hardware limitations, multiple ports, or the complexity of integrating measurement data obtained from a plurality of personal computers. An object is to provide a transmission / reception method.

In order to achieve the above object, a sensor system of the present invention includes a plurality of sensors each connected so as to be capable of serial full-duplex communication, and a control device that exchanges data transmitted from the plurality of sensors. The first sensor that first transmits data among the plurality of sensors first transmits start mark data indicating the start of data to the subsequent sensor, and after transmitting the start mark data, the first sensor itself A first sensor transmission unit that transmits the data of the first sensor to the subsequent sensor, and one or a plurality of second sensors other than the first sensor among the plurality of sensors are connected to the first sensor. Alternatively, the second sensor receiver that sequentially receives the start mark data and the data of each sensor connected in the previous stage from the second sensor, and the received scan. The start mark data and the data of each sensor connected to the previous stage are transmitted to the second sensor or the control device connected to the subsequent stage in the order received, and after transmission, the data of the second sensor itself is transmitted. Is connected to the second sensor or the control device connected to the subsequent stage, and the control device sequentially receives the start mark data and the data of each sensor. An apparatus receiving unit is provided.

  In the sensor system of the present invention, as a more specific configuration, the first sensor transmission unit transmits the data of the first sensor itself to the downstream sensor, and further transmits end mark data to the downstream sensor. The second sensor receiving unit receives the start mark data, the data of each sensor connected to the previous stage, and the end mark data from the first sensor or the second sensor connected to the previous stage. The second sensor transmission unit receives the start mark data received and the data of each sensor connected to the previous stage in the order received, or the second sensor or the When the second sensor receiver receives the end mark data, and the data of the second sensor itself and the previous The end mark data, in this order, and transmits to the second sensor or the control device is connected to the subsequent stage may be so.

  Further, in the sensor system of the present invention, as a more specific configuration, each of the sensors is based on the number of data of each sensor received after the start mark data in a series of received data. You may make it further have a sensor discrimination | determination part which discriminate | determines whether it is this sensor.

  Further, in the sensor system of the present invention, as a more specific configuration, the control device includes a number of each sensor based on the number of data of each sensor received after the start mark data in a series of received data. And a control data transmission unit that transmits control data to a sensor having a desired number.

  In the sensor system of the present invention, as a more specific configuration, the second sensor further includes a time determination unit that determines whether or not a predetermined time has elapsed without receiving data from the preceding sensor, When it is determined that the predetermined time has elapsed, the second sensor transmission unit first displays start mark data indicating the start of data at the predetermined time interval, as long as there is no reception thereafter. After transmitting the start mark data, the data may be transmitted to the second sensor or the control device in the subsequent stage after transmitting the start mark data.

  In addition, as a more specific sensor used in the sensor system of the present invention, a plurality of sensors each connected so as to be capable of serial full-duplex communication, and a control device that exchanges data transmitted from the plurality of sensors The sensor system comprising: a sensor receiver that sequentially receives start mark data and data of each sensor connected to the preceding stage from the sensor connected to the preceding stage; The start mark data and the data of each sensor connected to the previous stage are transmitted to the sensor or the control device connected to the subsequent stage in the order received, and after transmission, the data of the sensor itself is connected to the subsequent stage. It is good also as a thing provided with the sensor transmission part which transmits to the said sensor or the said control apparatus.

  Further, as a more specific control device used in the sensor system of the present invention, a plurality of sensors each connected so as to be capable of serial full-duplex communication, and a control device that exchanges data transmitted from the plurality of sensors The control device in a sensor system comprising: a control device receiving unit that sequentially receives start mark data and data of each sensor from the sensor; and the start mark data in a series of received data. A control device discriminating unit that discriminates the number of each sensor may be provided based on the number of data of each subsequent sensor.

  According to the present invention (the invention described in claim 1), a personal computer used as a control device can receive measurement data from a plurality of sensors in real time by serial communication using one reception port of one computer. In addition, the number of sensors to be used can be easily increased or decreased, and the connection positions of the sensors to be further increased or decreased are not limited. Further, as the number of sensors is increased or decreased, it is not necessary to change the hardware or software of each sensor, so that the number of sensors can be easily increased or decreased.

  According to the second aspect of the present invention, when receiving the data from the previous sensor and transmitting it to the next sensor, after receiving the end mark data and before transmitting the end mark data, Since data is inserted, it is not necessary to manage and set the address of the sensor itself.

  According to the invention described in claim 3, each sensor can determine which sensor it is based on the number of data between the start mark data and end mark data of the received data. In addition, when control data specifying a number is transmitted from the control device, processing and setting based on the control data can be executed.

  According to the invention described in claim 4, the control device can determine the number of sensors and the number of each sensor based on the number of data between the start mark data and the end mark data of the received data. Control data can be transmitted to the sensor.

  According to the fifth aspect of the present invention, when data from the preceding sensor is received, the reception activation type transmission function that starts transmission of the received data and the data of the own sensor that follows the received data, Since either of the fixed-cycle activation transmission functions that start data transmission can be selected, even if an error occurs in the communication system of the previous sensor and measurement data cannot be received from the previous sensor, Data can be sent periodically.

  According to the invention described in claim 6, when each sensor receives start mark data and each sensor data from each sensor connected to the preceding stage, it transmits the received data to the next succeeding sensor. At the same time, since its own data can be transmitted, it is possible to freely connect anywhere in the already connected sensor array without any need for its own control program.

  According to the seventh aspect of the present invention, the control device sequentially receives the start mark data from the preceding sensor and the measurement data of each sensor, whereby the data of each sensor following the start mark data is received. Since the number of each sensor can be determined by the number, control data can be individually transmitted to a desired sensor.

It is a block diagram which shows the structure of the sensor system of Embodiment 1 of this invention. It is a block diagram which shows the circuit structure of each sensor of the sensor system of Embodiment 1. 4 is a time chart showing a transmission data configuration of each sensor from a sensor n that outputs transmission data first to a sensor 1 that outputs transmission data last, in the sensor system of the first embodiment. In the sensor system of Embodiment 1, it is a time chart for explaining transmission data for each measurement cycle from each sensor when the number of sensors is three. It is a figure which shows the control flow explaining operation | movement in the case of transmitting measurement data from each sensor in the sensor system of Embodiment 1. It is a flowchart explaining the processing operation at the time of transmitting the data from the control apparatus in the sensor system of Embodiment 2 of this invention to a sensor. It is a flowchart explaining the processing operation at the time of receiving data from the control apparatus of each sensor in the sensor system of Embodiment 2. In the sensor system of Embodiment 3 of this invention, it is a control flowchart explaining operation | movement in the case of transmitting the measurement data of each sensor at the time of reception starting. It is a control flow figure explaining fixed period type transmission processing operation in the sensor system of the embodiment 3.

  Hereinafter, the present invention will be described in more detail with reference to embodiments.

<Embodiment 1>
FIG. 1 is a block diagram showing a circuit configuration of a sensor system according to Embodiment 1 of the present invention.

  The sensor system of the present embodiment includes a plurality of sensors 1- (1), 1- (2),..., 1- (n-1), 1- (n), and a control device 2. Yes.

  Sensors 1- (1), 1- (2), ..., 1- (n-1), 1- (n) are connected to the sensor 1- (n) whose connection position is farthest from the control device 2. The sensor 1- (1) having the closest connection position is connected in series with the full-duplex serial signal line 3 so that the transmission data from the sensor 1- (1) is input to the reception port of the control device 2. It is connected. Further, a signal line 4 for transmitting dummy measurement data and / or control data is provided from the control device 2 to the sensor 1- (n) as necessary.

  Although not shown, for example, a general-purpose computer is applied to the control device 2 and includes a memory such as a CPU, a ROM, and a RAM, an HDD, and various interfaces. The CPU handles each process described later by expanding a program installed in the ROM or HDD into the RAM and executing the program.

  As shown in FIG. 2, each sensor 1- (i) [1 ≦ i ≦ n] sends data to the serial reception interface 11 that receives data from the preceding sensor, the MPU 12, and the next (following) sensor. A serial transmission interface 13 for transmission, a sensor element 14, a sensor element electronic circuit 15, and an A / D conversion circuit 16 are provided. The MPU 12 reads out and executes a sensor operation program stored in a memory (not shown) to execute each process described later.

  The sensor element 14 is, for example, a magnetic sensor element in the case of magnetic field measurement, and an electric field sensor element in the case of electric field measurement. Under the analog control by the sensor element electronic circuit 15, a magnetic signal, an electric field signal, etc. The analog measurement value is measured and converted into digital data by the A / D conversion circuit 16 and stored in the MPU 12 as measurement data of the sensor 1- (i).

  The MPU 12 of the sensor 1- (i) determines whether transmission data has been received from the control device 2 or the sensor 1- (i + 1) before the own sensor via the reception interface 11 at an appropriate timing. The first sensor 1- (n) (defined as a first sensor for convenience) that receives data directly from the control device 2 receives the transmission data from the control device 2 and transmits the transmission data via the serial transmission interface 13. To the next sensor.

  As shown in (n) of FIG. 3, the transmission data of the first sensor 1- (n) is the start mark data at the head, then the dummy measurement data, then its own measurement data, and finally the end mark. Send out data with data. Note that when the next start mark data is transmitted immediately, the next start mark data also serves as the end mark data, and therefore transmission of the end mark data is not essential.

When the own sensor is a sensor subsequent to the first sensor (for convenience, it is defined as a second sensor), transmission data from the previous sensor is received. Transmission data is sequentially transmitted to the next sensor via the serial interface 13 and the end mark data is confirmed. When the end mark data is transmitted, that is, the measurement data of the immediately preceding sensor in the reception data, It inserts its own measurement data between the mark data and outputs transmission data.
In this way, each sensor 1- (i) receives transmission data from the previous sensor, adds measurement data of its own sensor to this reception data, and transmits to the next. Data transmitted from the sensor 1- (1) to the control device 2 has a data structure shown in FIG.
Next, the processing operation of each sensor in the sensor system configured as described above will be described with reference to the flowchart shown in FIG. In this example, dummy transmission data is sent from the control device 2 to the sensor 1- (n). The dummy transmission data includes start mark data, dummy measurement data, and end mark data in this order. When dummy measurement data following the start mark data for sending dummy transmission data from the controller is sent to the next sensor 1- (n-1), it is sent including the start mark.

  Otherwise, the measurement data is not a start mark, which causes inconvenience. Further, the 1- (n) sensor must include a special process, which is outside the aim of the present invention. Therefore, in this example, the modification of FIG. 3 is required. For example, referring to FIG. 3, the data of the sensor n becomes dummy measurement data of the controller.

In the sensor system in FIG. 1, when the transmission / reception control operation is started in the MPU 12 of the sensor 1- (n), first, in step ST1, it is determined whether or not data is received. In this case, when dummy transmission data is received from the control device 2 via the signal line 4, the process proceeds to step ST2 with a determination YES. In step ST2, it is determined whether or not there is start mark data in the received data. If the determination is YES, the process proceeds to step ST3, and the received start mark data is transmitted to the next sensor 1- (n-1). Subsequently, the process proceeds to step ST4, where the received transmission is performed. Subsequently, in step ST5, it is determined whether the received data following the received dummy measurement data is end mark data. Here, since the received data is end mark data, the process proceeds to step ST6 when the determination is YES, and the measurement data of the own sensor 1- (n) is added to the next sensor 1- (n- To 1). Then, it transfers to step ST7 and transmits end mark data. As a result of the above data transmission, the sensor 1- (n), in the order of start mark data, dummy measurement data, sensor 1- (n) measurement data, end mark data, as shown in FIG. The data is transmitted to the sensor 1- (n-1).
When the data transmission is performed from the sensor 1- (n), the transmission data is received by the next sensor 1- (n-1). When the sensor 1- (n-1) receives the transmission data from the sensor 1- (n), the MPU 12 of the sensor 1- (n-1) starts the processing shown in FIG. 5 and receives the data in step ST1. Since the transmission data from the sensor 1- (n) is received, the determination is YES, the process proceeds to step ST2, and it is determined whether or not the head of the received data is start mark data. If the determination is YES, the process proceeds to step ST3.
In step ST3, the received start mark data is transmitted to the next sensor 1- (n-2). Subsequently, the process proceeds to step ST4, where dummy measurement data following the received start mark data mark and measurement data of the sensor 1- (n) are transmitted. Subsequently, the process proceeds to step ST5.
In step ST5, it is determined whether the data received following the received measurement data is end mark data. Here, since the received data from the sensor 1- (n) is the end mark data next to the measurement data, the process proceeds to step ST6 with determination YES.

  In step ST6, the measurement data of the sensor 1- (n-1) is transmitted to the next sensor 1- (n-2) following the measurement data of the sensor 1- (n). Then, it transfers to step ST7 and transmits end mark data next to the measurement data of the own sensor 1- (n-1).

  With the above data transmission, from the sensor 1- (n-1), as shown in FIG. 3 (n-1), start mark data, dummy measurement data, sensor 1- (n) measurement data, sensor 1- ( Data is transmitted to the next sensor 1- (n-2) in the order of measurement data n-1) and end mark data.

  Subsequently, when transmission data from sensors preceding each sensor is sequentially received, start mark data of reception data, dummy measurement data, measurement data of the first sensor 1- (n), and subsequent sensor 1- (n ―1) Measurement data is sent to the next sensor in this order, and when the end mark data in the received data is confirmed, the measurement data of the sensor is inserted before the end mark data. And send end mark data.

  When data is transmitted from the sensor 1- (2) to the last sensor 1- (1), the sensor 1- (1) receives a start mark of received data as shown in FIG. Data, dummy measurement data, sensor 1- (n) measurement data, sensor 1- (n-1) measurement data, ..., sensor 1- (2) measurement data are received in this order. When data is transmitted to the control device 2 and reception of the end mark data is confirmed, the measurement data of the sensor 1- (1) is inserted and transmitted before the end mark data, and then the end mark data is transmitted.

  FIG. 4 shows an example of data transmission when n = 3 (three sensors) sensors are connected in series in the sensor system of the first embodiment. The first sensor 1-3 transmits data D3. Next, the sensor 1-2 receives the data D3 of the sensor 1-3 and transmits the data D2. Finally, the sensor 1-1 receives the data D2 of the sensor 1-2 and transmits the data D1.

  Here, the transmission start time of data D2 is delayed with respect to the transmission start time of data D3. The transmission start time of data D1 is delayed with respect to the transmission start time of data D2. This is a delay corresponding to the time required to recognize the start mark. Also, the reason why the smaller number of sensors, that is, the sensors in the subsequent stage, transmit a larger amount of data is that they are transmitted with their own measurement data added.

  According to the sensor system of this embodiment, measurement data from a plurality of sensors can be received in real time by serial communication using one reception port of one computer such as a personal computer as a control device. In addition, even if the number of sensors used is increased or decreased, measurement data can be transmitted and received in the order of the connected sensors without requiring resetting of the address of each sensor, and each sensor can be increased or decreased at any position. Can do. In addition, the number of sensors can be increased or decreased without changing each sensor in terms of hardware and software. Note that dummy measurement data may not be included in the transmitted data. In this case, only start mark data and end mark data may be transmitted from the control device to the sensor 1- (n).

<Embodiment 2>
As the sensor system of the second embodiment, in the sensor system of the first embodiment, each sensor determines the number of the sensor itself based on the number of data between the start mark data and the end mark data. The control device 2 is provided with a function capable of discriminating the number of sensors and each sensor number based on the number of data between the start mark data and the end mark data of the received data. A sensor system that uses a function to transmit control data to a sensor that requires control from the control device 2 and that can easily correct a set value by the sensor that has received the control data. Will be described.

  The circuit connection between the control device 2 and the sensors 1- (1),..., 1- (n) and the circuit configuration of each sensor in the sensor system of the second embodiment are the same as the circuits used in the first embodiment. Things are used. This also applies to the third embodiment described later.

  For example, referring to FIG. 3, the sensor that has received the data of (n-1) includes two measurement data except for the dummy measurement data between the start mark data and the end mark data. The second sensor is counted from the front side. Further, for example, the control device that has received the data (n-1) includes two measurement data except for the dummy measurement data between the start mark data and the end mark data. Identify that it is connected. Then, when there is an error in the second measurement data except for the dummy measurement data, it is specified that a defect has occurred in the second sensor counted from the previous stage side. The identification of the defect may be performed automatically by the control device 2 or may be identified by visual inspection of the user.

  The control processing operations of the control device 2 and the sensors 1- (1),..., 1- (n) in the sensor system of the second embodiment will be described with reference to flowcharts shown in FIGS. The control device 2 determines whether or not the measurement data from the sensor 1- (1) shown in FIG. 1 has been received in step ST21 in FIG. For example, when the measurement data shown in (1) of FIG. 3 is received, the determination is YES, the process proceeds to step ST22, and the received measurement data is stored in the memory.

  Next, the process proceeds to step ST23, where the stored data is referred to and it is determined whether there is a sensor requiring correction setting. For example, when the sensitivity / amplification degree of a sensor element or electronic circuit of a sensor deteriorates and the value of measurement data is below a predetermined value, control for correcting the sensitivity and amplification degree of that sensor is required. If there is a sensor that needs to be corrected, the determination in step ST23 is YES, and the process proceeds to step ST24. In step ST24, control data including a sensor number (for example, a number counted from the previous stage) requiring control is transmitted to the sensor 1- (n) through the signal line 4.

  The control data is received by the sensor 1- (n), and the received control data is the following sensor order 1- (n), similarly to the measurement data in the sensor system of the first and second embodiments. -1),..., 1- (2), 1- (1), and the processing shown in FIG.

  As shown in FIG. 7, each sensor 1- (i) determines whether or not data has been received in step ST31. If data has been received, the process proceeds to step ST32 and whether there is control data in the received data. Judge whether or not. In step ST32, if the determination is YES, the process proceeds to step ST33, and if the determination is NO, the process proceeds to step 35.

  In step ST33, it is determined whether or not the sensor number included in the control data matches its own number (for example, its own number counted from the preceding stage). If the determination is YES, the process proceeds to step ST34, and the determination is NO. In this case, the process proceeds to step ST35. In step ST34, a part of the electronic circuit of the own sensor is corrected and restarted. Next, the routine proceeds to step 35. In step 35, the received data from the previous sensor is transmitted to the next sensor if there is data related to the correction.

  In the sensor system according to the present embodiment, it is possible to determine the number of the sensor itself based on the number of measurement data excluding dummy measurement data between start mark data and end mark data of data received by each sensor. . Further, in the control device, by determining the number of sensors and the number of each sensor based on the number of measurement data excluding dummy measurement data between the start mark data and end mark data of the data received from the sensor, a desired sensor can be obtained. Control data can be transmitted.

  If the end mark data is not included, each sensor may determine which sensor it is based on the number of data between the start mark data of the received data and the next start mark data. . In other words, each sensor counts the number of sensor measurement data in the series of data it receives (data from start mark data to end mark data, or data from start mark data to the one before the next start mark data). Based on this, it is determined what number sensor it is. Similarly, the control device 2 may determine the number of sensors and each sensor number based on the number of measurement data of the sensor between the start mark data of the received data and the next start mark. That is, the control device determines the number of sensors and each sensor number based on the number of sensor measurement data in a series of received data. In the above example, when dummy measurement data is not included in the transmitted data, the sensor number or number is simply determined by the number of data between the star mark data and the end mark data.

<Embodiment 3>
As in the sensor system of the third embodiment, each sensor adds its own data to the received data when receiving sensor data from other sensors at an arbitrary timing, as in the sensor system of the first embodiment. In addition, it has a reception activation type transmission function that transmits to the next sensor, and when there is no reception within a certain period of time, after that, if there is no reception, it will automatically transmit its own data at a constant cycle. It also has functions.

  The processing operation of each sensor in the sensor system of Embodiment 3 will be described with reference to the flowchart shown in FIG. When the operation is started by the sensor 1- (i), when there is no reception, the operation is performed with a fixed period activation type transmission, and when there is reception, the operation is performed with a reception activation type transmission. If it is reception start type transmission, in step ST101, the time measuring operation is started by itself, and then the process proceeds to step ST102. In step ST102, it is determined whether data is received. If the determination is YES, the process proceeds to step ST2, and in step ST2, it is determined whether the received data includes start mark data. If the determination is YES, the process proceeds to step ST3. Thereafter, in steps ST3 to ST7, start mark data, own sensor measurement data, and end mark data are sequentially transmitted.

  Also, if there is dummy transmission data from the controller, sensor 1- (n), if not, if any sensor from sensor 1- (n-1) to sensor 1- (1) receives data ( Similarly, in ST102), next, it is determined whether there is start mark data in the received data (ST2), further, start mark data and subsequent reception sensor data are transmitted (ST3, ST4), and the subsequent reception end mark data is confirmed. The own measurement data is inserted before and the own sensor measurement data and end mark data are transmitted (ST5 to ST7). The above processing is the same processing as that of the sensor system of the first embodiment.

  On the other hand, if the determination is NO in step ST102, the process proceeds to step ST103 to determine whether or not a predetermined time has elapsed. If the determination is NO, the process returns to step ST102, but if the determination is YES, If a certain period of time has elapsed since the start of timing, the routine jumps to a fixed-cycle activation type transmission process. In the constant cycle activation type transmission, the processing of steps ST41 to ST44 in the flowchart shown in FIG. 9 is repeated, so that the start mark data, the own sensor measurement data, and the end mark data are sequentially transmitted at a constant cycle.

  If a reception interrupt occurs in any step, the operation is switched to reception activated transmission. The time measuring means repeats time measurement for a predetermined time after the start of time measurement.

  The sensor system of this embodiment has a reception activation type transmission function that adds its own measurement data to the received data and transmits it to the next sensor when receiving transmission data from the previous sensor in this way, and its own data is constant. Because it has a fixed-cycle activation type transmission function that automatically transmits at periodic intervals, even if there is an abnormality in the communication system of the sensor prior to itself (large number), and measurement data etc. are not received from the previous sensor, You can send your own measurement data regularly.

  The present invention can be provided in the form of a program for causing a computer to execute each operation of the control device and the sensor, or a storage medium storing the program.

1- (1), ..., 1- (n) Sensor 2 Control device 3 Sensor signal line 4 Control device signal line 11 Serial reception interface 12 MPU
13 Serial Transmission Interface 14 Sensor Element 15 Electronic Circuit for Sensor Element 16 A / D Conversion Circuit

Claims (7)

A plurality of sensors each connected to enable serial full-duplex communication;
A controller that exchanges data transmitted from the plurality of sensors,
The first sensor that transmits data first among the plurality of sensors,
First, there is provided a first sensor transmission unit that transmits start mark data indicating the start of data to the subsequent sensor, and transmits the start sensor data to the subsequent sensor after transmitting the start mark data. And
Among the plurality of sensors, one or more second sensors other than the first sensor are:
A second sensor receiver that sequentially receives the start mark data and the data of each sensor connected to the previous stage from the first sensor or the second sensor connected to the previous stage;
The received start mark data and data of each sensor connected to the previous stage are transmitted to the second sensor or the control device connected to the subsequent stage in the order received, and after the transmission, the second sensor A second sensor transmission unit that transmits its own data to the second sensor or the control device connected to a subsequent stage;
The control device includes a control device receiving unit that sequentially receives the start mark data and data of each sensor. The first sensor transmission unit transmits the data of the first sensor itself to the downstream sensor, and further transmits end mark data to the downstream sensor.
The second sensor receiving unit sequentially receives the start mark data, the data of each sensor connected to the preceding stage, and the end mark data from the first sensor or the second sensor connected to the preceding stage. Receive
The second sensor transmission unit transmits the received start mark data and data of each sensor connected to the preceding stage to the second sensor or the control device connected to the succeeding stage in the order received. And, when the second sensor receiver receives the end mark data, the second sensor itself, and the end mark data, in this order, the second sensor or the The sensor system according to claim 1, wherein the sensor system is transmitted to a control device.   Each of the sensors further includes a sensor determination unit that determines which sensor it is based on the number of data of each sensor received after the start mark data in a series of received data. The sensor system according to claim 1 or 2. The control device includes a control device determination unit that determines the number of each sensor based on the number of data of each sensor received after the start mark data in a series of received data;
The sensor system according to any one of claims 1 to 3, further comprising a control data transmission unit configured to transmit control data to a sensor having a desired number. The second sensor is
If it is determined that a predetermined time has elapsed without receiving data from the sensor in the previous stage, and if it is determined that the predetermined time has elapsed, then the second sensor transmitter Transmits a start mark data indicating the start of data to the second sensor or the control device in the subsequent stage at a predetermined time interval, and transmits the start mark data to the second sensor in the subsequent stage after transmitting the start mark data. The sensor system according to claim 1, wherein the sensor system is transmitted to a sensor or the control device. A sensor in a sensor system comprising a plurality of sensors each connected so as to be capable of serial full-duplex communication, and a control device that exchanges data transmitted from the plurality of sensors,
From the sensor connected to the preceding stage, start mark data, and a sensor receiving unit that sequentially receives data of each sensor connected to the preceding stage, and
The received start mark data and the data of each sensor connected to the previous stage are transmitted to the sensor or the control device connected to the subsequent stage in the order received, and after transmission, the data of the sensor itself is transmitted. A sensor, comprising: a sensor transmission unit that transmits to the sensor or the control device connected to a subsequent stage. The control device in a sensor system comprising a plurality of sensors each connected so as to be capable of serial full-duplex communication, and a control device that exchanges data transmitted from the plurality of sensors,
From the sensor, the start mark data, and a control device receiver that sequentially receives the data of each sensor,
A control apparatus comprising: a control device determination unit that determines the number of each sensor based on the number of data of each sensor following the start mark data in a series of received data.