JP2019130184A - Washing machine and control device - Google Patents

Abstract

To provide a technology capable of reducing a load on laundry in a washing machine.SOLUTION: A washing machine 10 includes: a washing tub 3 for storing laundry; an agitating blade 2 which is one example of an agitating part for agitating the laundry stored in the washing tub 3; a motor 4 for rotating the agitating blade 2 and the washing tub 3 directly or indirectly; and a control device 7 for at least controlling the motor 4. The control device 7 acquires load force information showing a load force generating in the motor 4 when rotating the washing tub by the motor 4, and controls the motor 4 according to the acquired load force information.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a washing machine for washing laundry such as clothes and a control device for controlling the washing machine.

  A washing machine having various functions has been proposed (see, for example, Patent Document 1). The washing machine described in Patent Document 1 includes a separation unit that operates to grasp clothing in a washing tub and separate another clothing associated with the grasped clothing from the grasped clothing. This eliminates the need for the user to separate multiple garments into individual garments before folding the garments.

International Publication No. 2017/037986

  As described in Patent Document 1, the laundry may get tangled in the washing tub during washing or dehydration. When the laundry is tangled in the washing tub during washing or dehydration, if the washing or dehydration is continued as it is, a load is applied to the laundry, and the fabric is stretched, damaged, or deformed. It was recognized as a problem that wrinkles may occur.

  This invention solves the said conventional subject, and it aims at providing the technique which reduces the load concerning a laundry in a washing machine.

  In order to solve the above-described problems, a washing machine according to an aspect of the present invention includes a washing tub for storing laundry, a stirring unit for stirring the laundry stored in the washing tub, and a stirring unit directly or indirectly. A motor to be rotated; and at least a control device for controlling the motor. The control device acquires load force information indicating a load force generated in the motor when the stirring unit is rotated by the motor, and controls the motor according to the acquired load force information.

  According to this aspect, since the motor can be appropriately controlled according to the load force generated in the motor, the load on the laundry can be reduced.

  Another aspect of the present invention is a control device. This device obtains load force information indicating load force generated in a motor when the agitator is rotated by a motor for rotating the agitator for agitating the laundry stored in the washing tub of the washing machine. A force information acquisition unit; and a process control unit that controls at least the motor according to the load force information acquired by the load force information acquisition unit.

  According to this aspect, since the motor can be appropriately controlled according to the load force generated in the motor, the load on the laundry can be reduced.

  ADVANTAGE OF THE INVENTION According to this invention, the technique which reduces the load concerning a laundry in a washing machine can be provided.

It is a schematic sectional drawing of the washing machine which concerns on embodiment. It is a figure which shows the structure of the control apparatus which concerns on embodiment.

  A washing machine according to a first aspect of the present invention includes a washing tub for storing laundry, a stirring unit for stirring laundry stored in the washing tub, a motor for directly or indirectly rotating the stirring unit, and at least controlling the motor A control device. The control device acquires load force information indicating a load force generated in the motor when the stirring unit is rotated by the motor, and controls the motor according to the acquired load force information. According to this aspect, the motor can be appropriately controlled according to the load force generated in the motor. If a higher load force than usual is generated in the motor, it is presumed that the load is also applied to the laundry due to tangling of the laundry, etc., so that the load applied to the laundry is reduced. By performing appropriate control, it is possible to reduce the load applied to the laundry during the rotation of the stirring unit, and to suppress elongation, damage, shape loss, wrinkles, and the like due to entanglement of the laundry.

  In a second aspect based on the first aspect, the control device further acquires laundry state information indicating the state of the laundry in the washing tub when rotating the stirring unit by the motor, and the load force information and the laundry The motor is configured to be controlled in accordance with the object state information. According to this aspect, since it is possible to perform appropriate control while estimating the state of the laundry more accurately, it is possible to further reduce the load applied to the laundry during the rotation of the stirring unit.

  According to a third aspect, in the second aspect, the camera further includes a camera that images the laundry in the laundry tub, and the laundry state information includes an image of the laundry in the laundry tub imaged by the camera. It has been done. According to this aspect, since the state and type of the laundry can be estimated from the image, more appropriate control can be performed according to the state and type of the laundry.

  According to a fourth invention, in any one of the first to third inventions, the controller further includes a force detector for detecting a load force generated in the motor, and the control device receives the information output from the force detector as the load force information. Is configured to obtain as According to this aspect, since a highly accurate load force can be easily detected by the force detector, more appropriate control can be performed according to the state or type of the laundry.

  According to a fifth invention, in any one of the first to fourth inventions, the motor includes a rotor that rotationally drives the stirring unit, and a position detector that detects position information in the rotation direction of the rotor, The control device is configured to acquire information calculated from the position information of the rotor output from the position detector as load force information. Also according to this aspect, the load force generated in the motor can be detected with a simple configuration, so that the size and price of the washing machine can be reduced.

  In a sixth aspect based on the fifth aspect, the position detector is configured to output position estimation information calculated from a motor current value supplied to the motor as position information. Also according to this aspect, the load force generated in the motor can be detected with a simple configuration, so that the size and price of the washing machine can be reduced.

  According to a seventh aspect of the present invention, there is provided a control device, comprising: a load force indicating a load force generated in a motor when the agitation unit is rotated by a motor for rotating the agitation unit for agitating the laundry stored in the washing tub of the washing machine. A load force information acquisition unit that acquires information, and a process control unit that controls at least the motor according to the load force information acquired by the load force information acquisition unit. According to this aspect, the motor can be appropriately controlled according to the load force generated in the motor. If a higher load force than usual is generated in the motor, it is presumed that the load is also applied to the laundry due to tangling of the laundry, etc., so that the load applied to the laundry is reduced. By performing appropriate control, it is possible to reduce the load applied to the laundry during the rotation of the stirring unit, and to suppress elongation, damage, shape loss, wrinkles, and the like due to entanglement of the laundry.

  8th invention is further equipped with the laundry state information acquisition part which acquires the laundry state information which shows the state of the laundry in a washing tub, when rotating a stirring part with a motor in 7th invention, The control unit is configured to control at least the motor in accordance with the load force information and the laundry state information. According to this aspect, since it is possible to perform appropriate control while estimating the state of the laundry more accurately, it is possible to further reduce the load applied to the laundry during the rotation of the stirring unit.

  Each of the washing machines recommended for reducing the load applied to the laundry in the state indicated by the load force information and the laundry state information and the information in the eighth invention is the ninth invention. A control method storage unit that associates and stores the control method of the configuration; a control method determination unit that determines the control method with reference to the control method storage unit when load force information and laundry state information are acquired; The process control unit is configured to control each component of the washing machine according to the control method determined by the control method determination unit. According to this aspect, according to the load force information and the laundry state information, it is possible to appropriately select and execute the control method for each configuration of the washing machine recommended for reducing the load on the laundry. It is possible to suppress elongation, damage, shape loss, wrinkles and the like due to entanglement of the laundry.

  According to a tenth aspect of the present invention, there is provided a computer program for applying a load force generated in a motor when the washing tub is rotated by a motor for rotating a stirring unit that stirs the laundry stored in the washing tub of the washing machine. The load force information acquisition unit that acquires the load force information to be displayed, and the process control unit that controls at least the motor according to the load force information acquired by the load force information acquisition unit. According to this aspect, the motor can be appropriately controlled according to the load force generated in the motor. If a higher load force than usual is generated in the motor, it is presumed that the load is also applied to the laundry due to tangling of the laundry, etc., so that the load applied to the laundry is reduced. By performing appropriate control, it is possible to reduce the load applied to the laundry during the rotation of the stirring unit, and to suppress elongation, damage, shape loss, wrinkles, and the like due to entanglement of the laundry.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings. Note that the present invention is not limited to the embodiments. Further, the contents described in the plurality of embodiments may be combined in a possible range.

  FIG. 1 is a schematic cross-sectional view of a washing machine according to an embodiment. The washing machine 10 includes a washing tub 3 that is rotatably provided in an outer tub 1 that is elastically supported in the main body of the washing machine 10, a stirring blade 2 that is provided rotatably at the inner bottom of the washing tub 3, and a washing tub 3 and a motor 4 for driving the stirring blade 2, a water supply means 6 for supplying washing water into the washing tub 3, a draining means 5 for draining the washing water in the washing tub 3, and the laundry in the washing tub 3 The camera 8 that picks up the image and outputs the picked-up image as the laundry state information, the load generated in the motor 4 is detected, the detected force detector 9 and the object to be rotated by the motor 4 are only the washing tub 3, Only the stirring blade 2, the switching unit 11 for mechanical switching between the three types of both the washing tub 3 and the stirring blade 2, the water supply means 6, the motor 4, the drainage means 5, the switching unit 11, etc. are controlled. And a control device 7 for sequentially controlling a series of steps of washing, rinsing and dehydration. The camera 8 may be attached to the lower surface of a cover provided above the washing tub 3 or may be attached to the washing tub 3. An infrared camera capable of imaging in a dark place may be provided so that an image of the laundry can be captured even when the cover is closed. In addition, a lighting device or the like may be provided so that more effective image acquisition can be performed by shooting in a dark place. In addition, a camera having a waterproof function may be attached to the inner surface of the washing tub 3 so that an image of the laundry in the washing water can be taken. In the vertical washing machine 10 as shown in FIG. 1, the washing tub 3 and the stirring blade 2 function as a stirring unit that stirs the laundry stored in the washing tub 3. In the drum type washing machine, the washing tub 3 functions as a stirring unit.

  FIG. 2 shows a configuration of the control device according to the embodiment. The control device 7 includes a control unit 20 and a storage unit 30. The control unit 20 is realized by hardware such as a microcomputer, a microcontroller, and an integrated circuit. The storage unit 30 is realized by hardware such as a semiconductor memory or a hard disk.

  The control unit 20 includes a communication unit 21, a process control unit 22, a load force information acquisition unit 23, a laundry state information acquisition unit 24, a laundry state determination unit 25, a control method determination unit 26, a determination criterion update unit 27, and information. A transmission unit 28 is provided. These configurations are realized in terms of hardware by a CPU, memory, or other LSI of an arbitrary computer, and in terms of software by a program loaded in the memory. Depicts functional blocks realized by. Therefore, those skilled in the art will understand that these functional blocks can be realized in various forms such as hardware alone or a combination of hardware and software.

  The storage unit 30 includes a laundry condition determination criterion storage unit 31 and a control method determination criterion storage unit 32. The laundry state determination reference storage unit 31 is for the laundry state determination unit 25 to determine the state of the laundry in the laundry tub 3 based on the laundry state information acquired by the laundry state information acquisition unit 24. The criterion data to be used is stored. The control method determination criterion storage unit 32 includes the load force information acquired by the load method information acquisition unit 23 by the control method determination unit 26 and the state of the laundry in the laundry tub 3 determined by the laundry state determination unit 25. Based on the above, the criterion data used for determining the control method of each component of the washing machine 10 is stored.

  The communication unit 21 controls communication with other devices via a wired or wireless communication network. The communication unit 21 is used by the information providing server 100 that provides the washing machine 10 with the judgment reference data stored in the laundry condition judgment reference storage unit 31 and the control method determination reference storage unit 32 and the user of the washing machine 10. Controls communication with the user terminal 50 or the like.

  The load force information acquisition unit 23 acquires load force information indicating the load force generated in the motor 4 from the force detector 9. In the load force information acquisition unit 23, the force detector 9 may be a known arbitrary type sensor capable of detecting a load force generated in the motor 4. When the motor 4 includes a rotor that rotationally drives the washing tub 3 or the stirring blade 2 and a position detector that detects position information in the rotation direction of the rotor, the load force information acquisition unit 23 is connected to the position detector. Information calculated from the output rotor position information may be acquired as load force information. The position detector may output position estimation information calculated from a motor current value energized to the motor 4 as position information. The load force information acquisition unit 23 acquires load force information at a predetermined timing while the washing tub 3 or the stirring blade 2 is rotating. For example, load force information may be acquired continuously at predetermined intervals while the washing tub 3 or the stirring blade 2 is rotating.

  The laundry state information acquisition unit 24 acquires an image of the laundry in the laundry tub 3 captured by the camera 8 as the laundry state information. The laundry state information acquisition unit 24 acquires the laundry state information at a predetermined timing from the start to the end of the laundry. For example, immediately before or immediately after the laundry is stored in the washing tub 3 and immediately after the start of washing, immediately after water injection or water injection is completed, during washing, immediately after washing is finished and drained, during rinsing, and after rinsing is finished The laundry state information may be acquired at a timing such as during draining, immediately before or after the start of dehydration, or during dehydration, or may be acquired continuously at predetermined intervals. In the latter case, a moving image of the laundry in the washing tub 3 captured by the camera 8 may be acquired as the laundry state information.

  The laundry state determination unit 25 determines the state of the laundry in the laundry tub 3 based on the laundry state information acquired by the laundry state information acquisition unit 24. The laundry state determination unit 25 analyzes the image of the laundry imaged by the camera 8, and includes, for example, the degree of bias and entanglement of the laundry, the amount of laundry that is out of the water surface, the height, the position, The type, color and size of the laundry, the type of dirt attached to the laundry, color, degree, amount of washing water, color, transparency, flow rate, etc. are determined. In the present embodiment, the laundry state determination reference storage unit 31 has a plurality of images obtained by imaging the laundry in the laundry tub 3 as determination reference data serving as a reference for determining the state of the laundry, and at that time The laundry state determination unit 25 stores the laundry image acquired by the laundry state information acquisition unit 24 in the laundry state determination reference storage unit. The image closest to the image stored in the image 31 is determined using an image matching technique or the like, and information associated with the image determined to be closest is acquired. The determination reference data may be received by the determination reference update unit 27 from the information providing server 100, registered in the laundry condition determination reference storage unit 31, and updated as needed. Details of the information providing server 100 will be described later.

  The laundry state determination reference storage unit 31 receives and stores an image of the clothing imaged by the user from the user terminal 50 as information indicating a new state when the user purchases clothing or the like. Also good. Further, an image of a catalog posted on a website accessible via the Internet may be acquired and stored as information indicating a new state. The state of the laundry may be determined by comparing the image indicating the new state with the image of the laundry stored in the washing tub 3. In addition, information on the laundry imaged by the camera 8 may be stored in the laundry condition determination criterion storage unit 31 as history information. In this case, the laundry state determination unit 25 searches the laundry state determination criterion storage unit 31 for an image obtained when the same laundry as the laundry shown in the laundry image captured by the camera 8 was previously washed. Then, the state of the laundry may be determined by comparing the previous image and the current image.

  The laundry state information acquisition unit 24 may acquire information other than the laundry image as the laundry state information. For example, the flow rate of the wash water in the wash tub 3 may be acquired from a flow rate sensor, the water level of the wash water may be acquired from the water level sensor, and the temperature of the wash water in the wash tub 3 may be acquired from the temperature sensor. You may get it. The laundry state information acquisition unit 24 may acquire arbitrary information as long as it is information indicating the state of the laundry in the laundry tub 3. In this case, the laundry state determination reference storage unit 31 stores these pieces of information in association with information indicating the state of the laundry at that time, and the laundry state determination unit 25 further stores these pieces of information. Use to determine the condition of the laundry.

  The control method determination unit 26 controls each configuration of the washing machine 10 based on the load force information acquired by the load force information acquisition unit 23 and the laundry state determined by the laundry state determination unit 25. Determine the method. When the control method determination unit 26 acquires load force information indicating that a load force of a predetermined value or more is generated in the motor 4 or when it is determined that the laundry is entangled beyond a predetermined degree In addition, a control method that can reduce the load on the laundry by untangling the laundry is implemented.

  For example, if the laundry is tangled during washing or dehydration and an excessive load is generated, the washing or dehydration is stopped once, and the washing tub 3 or the stirring blade 2 is rotated in the opposite direction. Rotating the washing tub 3 and the agitating blade 2 in the opposite directions, or if dehydrating, once watering and untangling the laundry, dewatering again, or even during washing If the water level of the washing water does not reach the maximum water level, water may be further supplied to untangle the laundry. As a result, it is possible to prevent the laundry from being forced to continue to rotate at high speed while the washing tub 3 or the stirring blade 2 continues to be loaded even though the laundry is entangled. It is possible to reduce the damage, the shape loss, the wrinkles and the like.

  Also, an appropriate control method may be selected according to the type and amount of laundry, the amount and temperature of washing water, the degree of dirt, and the like. For example, in the case of clothes made of perishable fabrics or laundry that is easily entangled, the rotational speed of the washing tub 3 or the stirring blade 2 in the washing process, the rinsing process, or the dehydrating process may be kept low, You may shorten the time of a washing process, a rinse process, or a dehydration process. Also, in the case of clothes made of fabric that is difficult to dry, laundry that is difficult to get entangled, or when there is a kind or amount of dirt that is difficult to remove, washing in the washing process, rinsing process, or dehydration process The rotation speed of the tank 3 or the stirring blade 2 may be increased, and the time for the washing process, the rinsing process, or the dehydration process may be increased. As a result, it is possible to obtain a high cleaning effect while suppressing the elongation, damage, shape loss, wrinkles and the like of the laundry.

  The information transmission unit 28 includes the load force information acquired by the load force information acquisition unit 23, the laundry state information acquired by the laundry state information acquisition unit 24, and the laundry determined by the laundry state determination unit 25. The information indicating the status of the information and the control method determined by the control method determination unit 26 are transmitted to the information providing server 100. The information providing server 100 analyzes these pieces of information collected from a large number of washing machines 10 to thereby determine the judgment standard data for judging the state of the laundry and the judgment standards for controlling each configuration of the washing machine 10. Data is generated and provided to the washing machine 10. These criteria data may be input to the information providing server 100 from the person in charge of analyzing the collected information, or the data collected by the information providing server 100 may be statistically processed or machine learning using artificial intelligence (AI). Etc. may be automatically generated. In addition to the above information, information indicating the finish of the laundry washed by the washing machine 10 being controlled based on the above information may be transmitted to the information providing server 100 and used for statistical processing and machine learning. Good. Information indicating the finish of the laundry may be received from the user terminal 50 by the information transmission unit 28. The determination reference update unit 27 acquires new determination reference data provided from the information providing server 100 as needed, and updates the determination reference data in the laundry condition determination reference storage unit 31 and the control method determination reference storage unit 32. Thus, by collecting and analyzing a large number of states actually generated in the washing machine 10 and results of the control method of the washing machine 10, the appropriate washing machine 10 according to the load force information and the laundry state information can be analyzed. Since the accuracy of the determination reference data for determining the control method can be further reflected in each washing machine 10, the convenience for the user can be improved.

  As described above, in the washing machine 10, when the control method is determined using only the load force information, the technique of the present embodiment can be realized by adding a relatively simple configuration. The price and size can be suppressed. In addition, when the control method is determined by further using the laundry state information, the laundry state can be grasped more accurately and an appropriate control method can be selected. Can be reduced.

  For example, even when a large load force is generated in the motor 4, the load on the laundry itself is simply increased because the amount of laundry is heavy, heavy, or difficult to rotate. If it is not, there is no problem even if the washing tub 3 or the stirring blade 2 is continuously rotated. Therefore, when the control method is determined by further using the laundry state information such as the laundry image in addition to the load force information, the cause that the load force larger than usual is generated in the motor 4 is the laundry. Determine whether it is a cause that requires unusual control, such as tangled items, or a large amount of laundry, etc. A method may be selected. Thereby, the state of the laundry can be grasped more accurately and an appropriate control method can be selected.

  If the laundry is a type of laundry where wrinkles or wrinkles are not a problem, or if you want to wash or dewater strongly even if wrinkles or wrinkles occur, the load is greater than usual. Even if it exists, you may continue rotating the washing tub 3 or the stirring blade 2 as it is. For example, if it is determined that the laundry is of a type such as a towel or underwear, it is possible to generate a greater load force than if the type of laundry is a type of blouse or shirt that wants to suppress stretch and wrinkles. Then, the rotation of the high-speed washing tub 3 or the stirring blade 2 may be continued. Further, when it is determined that the laundry is of a type that is difficult to dry, such as thick clothes, even if a large load force is generated in order to prioritize the dewatering effect, the washing tub 3 or the stirring blade 2 is rapidly operated. May be dehydrated by rotating.

  Such a criterion for the control method for each type of laundry may be set by the user. For example, the determination criterion update unit 27 may accept setting of the determination criterion from the user terminal 50 and store it in the control method determination criterion storage unit 32. Thereby, a user's convenience can further be improved. When the laundry state determination unit 25 automatically determines the type of laundry being washed, even if the user does not set a laundry course each time, the user automatically selects an appropriate method and performs laundry. Since rinsing and dehydration can be controlled, user convenience can be further improved.

  In the above, this invention was demonstrated based on the Example. This embodiment is an exemplification, and it will be understood by those skilled in the art that various modifications can be made to the combination of each component and each processing process, and such modifications are also within the scope of the present invention. .

  In the above embodiment, an example in which the technology of the present embodiment is applied to a vertical washing machine has been described, but the technology of the present embodiment can also be applied to a drum type washing machine. Also in this case, it is possible to acquire the load force information indicating the load force generated in the motor for rotating the drum, and appropriately control the rotation of the drum according to the load force information. If the laundry state information indicating the state of the laundry in the drum is further used, the state of the laundry can be grasped more accurately and a more appropriate control method can be selected.

  In the above embodiment, the laundry condition determination criterion storage unit 31 and the control method determination criterion storage unit 32 are provided separately, but they may be integrated. That is, the laundry state information and the control method of each component of the washing machine 10 are associated with each other and stored in the control method determination criterion storage unit 32, and the control method determination unit 26 is acquired by the laundry state information acquisition unit 24. Based on the laundry state information, the control method may be determined with reference to the control method determination criterion storage unit 32. In this case, the laundry state determination unit 25 may not be provided.

  DESCRIPTION OF SYMBOLS 1 Outer tank, 2 Stirring blade, 3 Washing tank, 4 Motor, 5 Drainage means, 6 Water supply means, 7 Control device, 8 Camera, 9 Force detector, 10 Washing machine, 11 Switching part, 20 Control unit, 21 Communication part , 22 Process control unit, 23 Load force information acquisition unit, 24 Laundry state information acquisition unit, 25 Laundry state determination unit, 26 Control method determination unit, 27 Determination criterion update unit, 28 Information transmission unit, 30 Storage unit, 31 Laundry condition determination reference storage unit, 32 control method determination reference storage unit, 50 user terminal, 100 information providing server.

Claims (10)

A laundry tub for storing laundry;
An agitation unit for agitating the laundry stored in the washing tub;
A motor for directly or indirectly rotating the stirring unit;
A control device for controlling at least the motor;
With
The control device acquires load force information indicating a load force generated in the motor when the stirring unit is rotated by the motor, and controls the motor according to the acquired load force information. And a washing machine.   The control device further acquires laundry state information indicating a state of the laundry in the washing tub when the stirring unit is rotated by the motor, and according to the load force information and the laundry state information The washing machine according to claim 1, wherein the motor is controlled. A camera for imaging the laundry in the washing tub;
The washing machine according to claim 2, wherein the laundry state information includes an image of the laundry in the laundry tub imaged by the camera. A force detector for detecting a load force generated in the motor;
The said control apparatus acquires the information output from the said force detector as the said load force information, The washing machine in any one of Claim 1 to 3 characterized by the above-mentioned. The motor is
A rotor for rotationally driving the stirring unit;
A position detector for detecting position information in a rotation direction of the rotor;
With
The washing machine according to any one of claims 1 to 4, wherein the control device acquires information calculated from position information of the rotor output from the position detector as the load force information. .   The washing machine according to claim 5, wherein the position detector outputs position estimation information calculated from a motor current value energized to the motor as the position information. Load force information for obtaining load force information indicating a load force generated in the motor when the agitation unit is rotated by a motor for rotating the agitation unit for agitating the laundry stored in the washing tub of the washing machine An acquisition unit;
A process control unit that controls at least the motor in accordance with the load force information acquired by the load force information acquisition unit;
A control device comprising: A laundry state information acquisition unit for acquiring laundry state information indicating a state of the laundry in the washing tub when the stirring unit is rotated by the motor;
The control device according to claim 7, wherein the process control unit controls at least the motor according to the load force information and the laundry state information. The load force information and the laundry state information are stored in association with a method of controlling the configuration of the washing machine recommended for reducing the load on the laundry when the laundry is in the state indicated by the information. A control method storage unit
A control method determination unit that determines a control method with reference to the control method storage unit when the load force information and the laundry state information are acquired;
Further comprising
The control device according to claim 8, wherein the process control unit controls the configuration of the washing machine according to the control method determined by the control method determination unit. Computer
Load force information for obtaining load force information indicating a load force generated in the motor when the agitation unit is rotated by a motor for rotating the agitation unit for agitating the laundry stored in the washing tub of the washing machine Acquisition department,
A process control unit that controls at least the motor according to the load force information acquired by the load force information acquisition unit;
Computer program to function as.

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