JP2021022054A - Image forming apparatus and communication method - Google Patents

Abstract

To provide an image forming apparatus and a communication method that can reduce the time required for data communication.SOLUTION: An image forming apparatus 2 comprises: a processor 13 that can individually control a plurality of driving units 17 on the basis of each of a plurality of pieces of control data; a processor 12 that can acquire, from each of a plurality of sensors 16 corresponding to the plurality of driving units 17 controlled by the processor 13, detection data indicating a result of detection performed by the sensors 16; and a processor 4 that is communicably connected with the processor 13 and the processor 12 through a bus 8, and executes second communication processing of receiving, from the processor 12, the plurality of pieces of detection data acquired by the processor 12, and first communication processing of transmitting, to the processor 13, the plurality of pieces of control data based on the plurality of pieces of detection data received in the second communication processing.SELECTED DRAWING: Figure 1

Description

The present invention relates to an image forming apparatus and a communication method executed by the image forming apparatus.

A data communication device capable of switching a communication protocol in data communication via the serial bus for each slave device connected to the serial bus is known (see Patent Document 1).

Further, an image forming apparatus including a plurality of ASICs corresponding to a plurality of functional units such as an image forming unit and a paper feeding unit is known. A drive unit such as a motor included in the functional unit corresponding to the ASIC and a sensor corresponding to the drive unit are connected to the ASIC. The ASIC can acquire detection data indicating a detection result by the sensor from the sensor connected to the ASIC. Further, the ASIC can control the drive unit connected to the ASIC.

In the image forming apparatus, the CPU and each of the plurality of ASICs are communicably connected via a serial bus. The CPU communicates with the ASIC and receives the detection data acquired by the ASIC. Further, the CPU communicates with the ASIC and transmits control data used for controlling the drive unit based on the detection data to the ASIC.

For example, the CPU executes preprocessing such as assigning a command and a checksum to the data transferred by the communication before communicating with the ASIC. Further, after communicating with the ASIC, the CPU executes post-processing such as confirmation of consistency of data transferred in the communication.

Japanese Unexamined Patent Publication No. 2005-196486

By the way, in the image forming apparatus, for example, two detection data acquired by the two sensors connected to the ASIC corresponding to the paper feeding unit may be requested at the same timing. In this case, the CPU can acquire the two detection data by performing one communication with the ASIC corresponding to the paper feeding unit.

Further, in the image forming apparatus, the detection data acquired by the sensor connected to the ASIC corresponding to the image forming unit and the sensor connected to the ASIC corresponding to the paper feeding unit are acquired. The detection data may be requested at the same timing. In this case, in order to acquire the two detection data, the CPU needs to perform one communication with each of the ASIC corresponding to the image forming unit and the ASIC corresponding to the paper feeding unit. is there. Therefore, as compared with the case where the two sensors corresponding to the two detection data to be acquired are connected to one ASIC, the pre-processing and the post-processing are performed one more time each. , The time required for communication becomes longer accordingly. Further, even when the two control data based on the two acquired detection data are transmitted, it is necessary to perform one communication with each of the two ASICs.

An object of the present invention is to provide an image forming apparatus and a communication method capable of shortening the time required for data communication.

The image forming apparatus according to one aspect of the present invention includes a first processor, a second processor, and a third processor. The first processor can individually control a plurality of drive units based on each of the plurality of control data. The second processor can acquire detection data indicating a detection result by the sensor from each of the plurality of sensors corresponding to the plurality of driving units controlled by the first processor. The third processor is communicably connected to the first processor and the second processor via a bus, and receives a plurality of the detection data acquired by the second processor from the second processor. The two communication processes and the first communication process of transmitting the plurality of control data based on each of the plurality of detected data received by the second communication process to the first processor are executed.

The communication method according to another aspect of the present invention corresponds to a first processor capable of individually controlling a plurality of drive units based on each of the plurality of control data, and the plurality of drive units controlled by the first processor. A second processor capable of acquiring detection data indicating a detection result by the sensor from each of the plurality of sensors, and a third processor communicatively connected to the first processor and the second processor via a bus. The third processor executes the following second communication step and the first communication step. In the second communication step, a second communication process of receiving the plurality of detection data acquired by the second processor from the second processor is executed. In the first communication step, a first communication process is executed in which the plurality of control data based on each of the plurality of detection data received by the second communication step is transmitted to the first processor.

According to the present invention, it is possible to reduce the time required for data communication.

FIG. 1 is a diagram showing a configuration of an image forming apparatus according to an embodiment of the present invention. FIG. 2 is a diagram showing a configuration of an image forming apparatus according to an embodiment of the present invention. FIG. 3 is a diagram showing a processing procedure of serial communication executed by the image forming apparatus according to the embodiment of the present invention. FIG. 4 is a flowchart showing an example of communication control processing executed by the image forming apparatus according to the embodiment of the present invention.

Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings. The following embodiments are examples that embody the present invention, and do not limit the technical scope of the present invention.

First, the configuration of the image forming apparatus 2 according to the embodiment of the present invention will be described with reference to FIGS. 1 and 2. FIG. 1 is a block diagram showing the configuration of the image forming apparatus 2. Further, FIG. 2 is a schematic cross-sectional view showing the configuration of the image forming apparatus 2.

As shown in FIG. 1, the image forming apparatus 2 includes a master processor 4 (an example of a third processor in the present invention), a DMA (Direct Memory Access) controller 5, a memory 6, and a serial data bus 8 (the present invention). An example of a bus in the above), a plurality of functional units 10, a slave processor 12 (an example of a second processor in the present invention), and a slave processor 13 (an example of a first processor in the present invention). The master processor 4, the DMA controller 5, the memory 6, the slave processor 12, and the slave processor 13 are communicably connected to each other via the serial data bus 8. In FIG. 1, each of the functional units 10 is indicated by a broken line. A plurality of slave processors 12 and 13 slave processors may be provided.

Each of the plurality of functional units 10 executes any one of the plurality of functions included in the image forming apparatus 2. For example, the image forming apparatus 2 has an image forming function, and one of the plurality of functional units 10 is an image forming unit 43 (see FIG. 2). Further, the image forming apparatus 2 has a paper feeding function, and one of the plurality of functional units 10 is a paper feeding unit 44 (see FIG. 2).

The image forming unit 43 can execute a function of forming an image on a sheet such as printing paper, that is, an image forming function by an electrophotographic method. As shown in FIG. 2, the image forming unit 43 includes a photoconductor drum 51, a charging device 52, an exposure device 53, a developing device 54, a transfer device 55, and a fixing device 56. The charging device 52 charges the surface of the photoconductor drum 51 to a predetermined potential. The exposure apparatus 53 irradiates the surface of the photoconductor drum 51 with a laser beam to expose the surface of the photoconductor drum 51 based on the image data. The developing device 54 develops an electrostatic latent image on the photoconductor drum 51 formed by the exposure device 53. The transfer device 55 transfers the toner image formed on the photoconductor drum 51 by the developing device 54 to the sheet. The fixing device 56 heats and pressurizes the sheet to fix the toner image transferred to the sheet to the sheet.

The paper feeding unit 44 can execute a function of feeding a sheet to the image forming unit 43, that is, a paper feeding function. As shown in FIG. 2, the paper feed unit 44 includes a paper feed cassette 61, a pickup roller 62, and a plurality of transport rollers 63. The paper cassette 61 accommodates a sheet used for printing and lifts the sheet to a contact position with the pickup roller 62. The pickup roller 62 conveys the sheet housed in the paper feed cassette 61 to a transfer path formed inside the image forming apparatus 2. Each of the plurality of transport rollers 63 is provided in the transport path, and transports the sheet along the transport path.

As shown in FIG. 1, each of the functional units 10 includes a plurality of drive units 17 and a plurality of sensors 16 corresponding to the plurality of drive units 17.

For example, the plurality of drive units 17 included in the image forming unit 43 are a drum motor for rotating the photoconductor drum 51 and a heater provided in the fixing device 56. Further, the plurality of sensors 16 included in the image forming unit 43 are a rotary encoder that detects the rotation speed of the drum motor and a temperature sensor that detects the temperature of the heater. The drive unit 17 provided in the image forming unit 43 is an example of the first drive unit in the present invention.

Further, the plurality of drive units 17 included in the paper feed unit 44 switch whether or not to supply rotational driving force to the lift motor for driving the lift plate provided on the bottom surface of the paper feed cassette 61 and the pickup roller 62. It is a clutch. Further, the plurality of sensors 16 included in the paper feeding unit 44 are a sensor capable of detecting the position of the lift plate and a sheet sensor capable of detecting the presence or absence of a sheet at a predetermined position in the transport path. The drive unit 17 provided in the paper feed unit 44 is an example of the second drive unit in the present invention.

Note that one of the plurality of functional units 10 may be an image reading unit 42 (see FIG. 2) capable of executing an image reading function for reading image data from a document. Further, one of the plurality of functional units 10 may be a document transport unit 41 (see FIG. 2) capable of executing a document transport function for transporting a document read by the image reading unit 42.

A plurality of drive units 17 are connected to the slave processor 13. Specifically, as shown in FIG. 1, a plurality of drive units 17 included in each of the plurality of functional units 10 are connected to the slave processor 13. The slave processor 13 can individually control a plurality of drive units 17 connected to the slave processor 13 under the control of the master processor 4. For example, the slave processor 13 is an ASIC (Application Specific Integrated Circuit).

Specifically, the slave processor 13 includes a plurality of registers 15. A register address is assigned to each of the plurality of registers 15. The plurality of registers 15 correspond to a plurality of drive units 17 connected to the slave processor 13. The register 15 stores control data used for controlling the drive unit 17 corresponding to the register 15. The slave processor 13 controls the drive unit 17 corresponding to the control data according to the control data stored in the register 15.

A plurality of sensors 16 are connected to the slave processor 12. Specifically, as shown in FIG. 1, a plurality of sensors 16 included in each of the plurality of functional units 10 are connected to the slave processor 12. Further, a plurality of sensors 16 corresponding to a plurality of drive units 17 controlled by the slave processor 13 are connected to the slave processor 12. The slave processor 12 can acquire detection data indicating a detection result by the sensor 16 from each of the plurality of sensors 16 connected to the slave processor 12. For example, the slave processor 12 is an ASIC.

Specifically, the slave processor 12 includes a plurality of registers 14. A register address is assigned to each of the plurality of registers 14. The plurality of registers 14 correspond to a plurality of sensors 16 connected to the slave processor 12. The detection data acquired by the sensor 16 corresponding to the register 14 is stored in the register 14. The slave processor 12 transmits the detection data stored in the register 14 to the master processor 4. The master processor 4 generates the control data used for controlling the drive unit 17 corresponding to the sensor 16 from which the detection data is acquired, based on the detection data received from the slave processor 12.

The memory 6 stores various data. For example, the memory 6 is a semiconductor memory such as a RAM (Random Access Memory) and a flash memory. The control data transmitted to the slave processor 13 is stored in the memory 6. Further, the detection data received from the slave processor 12 is stored in the memory 6.

The DMA controller 5 executes a data transfer process for transferring data between the memory 6 and the slave processor 12 or the slave processor 13 via the serial data bus 8 in response to an instruction from the master processor 4. The data transfer process includes a first transfer process of transferring the control data stored in the memory 6 to the slave processor 13. Further, the data transfer process includes a second transfer process of transferring the detected data stored in the register 14 of the slave processor 12 to the memory 6.

As shown in FIG. 1, the memory 6 includes a buffer 24. The buffer 24 stores execution request data indicating an execution request for the data transfer process. For example, the execution request data includes transfer source information indicating a transfer source of transfer target data, transfer destination information indicating a transfer destination of transfer target data, data amount information indicating a data amount of transfer target data, and the like. The buffer 24 has a storage capacity capable of storing a plurality of the execution request data. In the image forming apparatus 2, the execution request data generated during the operation of the image forming apparatus 2 is accumulated in the buffer 24.

For example, the execution request data indicating the execution request of the first transfer process includes the transfer source information indicating the memory address in which the control data which is the transfer target data is stored, and the register address to which the control data is written. The transfer destination information to be shown and the data amount information to show the data amount of the control data are included.

Further, in the execution request data indicating the execution request of the second transfer process, the transfer source information indicating the register address in which the detection data which is the transfer target data is stored and the memory address to which the detection data is written are included. The transfer destination information to be shown and the data amount information to show the data amount of the detected data are included.

The execution request data may indicate an execution request of the data transfer process for continuously transferring a plurality of transfer target data. That is, the execution request data may include a plurality of the transfer source information, a plurality of the transfer destination information, and a plurality of the data amount information. Further, the buffer 24 may be provided outside the memory 6.

The master processor 4 executes serial communication with a communication device connected to the serial data bus 8. Here, serial communication is a communication method in which serial data is sequentially transmitted one bit at a time on a transmission path in telecommunications. The master processor 4 performs serial communication according to the communication protocol set in the image forming apparatus 2. For example, the master processor 4 is a CPU (Central Processing Unit).

Specifically, the master processor 4 executes serial communication with the slave processor 12 or the slave processor 13 via the DMA controller 5 based on the execution request data stored in the buffer 24. The master processor 4 may execute serial communication with the slave processor 12 or the slave processor 13 without going through the DMA controller 5.

Here, a procedure for processing serial communication executed by the image forming apparatus 2 will be described with reference to FIG. FIG. 3 is a diagram showing a processing procedure of serial communication executed by the image forming apparatus 2 together with a data processing subject and a clock 30.

The master processor 4 executes serial communication when the execution request data is stored in the buffer 24. As shown in FIG. 3, the master processor 4 executes the pre-processing corresponding to the serial communication before executing the serial communication. In the preprocessing, control information based on the communication protocol set in the image forming apparatus 2 is added to the transfer target data transferred by serial communication. For example, the control information includes commands, address information, and checksums. The command includes a command to the transfer destination device. The address information is information indicating a transfer destination of transfer target data. The checksum includes an error detection code and is used for error detection. That is, the checksum is used to confirm the consistency of communication. In serial communication, serial data 32 including the control information and transfer target data is transferred. The pre-processing may include a process of including the preamble and the post-amble in the serial data 32. For example, the preamble is a delimiter bit string arranged at the beginning of serial data 32 in serial communication. Further, the post amble is a delimiter bit string to be included at the end of the serial data 32.

After the completion of the preprocessing, the master processor 4 instructs the DMA controller 5 to execute the data transfer process based on the execution request data. As a result, as shown in FIG. 3, the DMA controller 5 executes the DMA transfer synchronized with the clock 30 generated by the master processor 4, that is, the data transfer process. Specifically, the DMA controller 5 that receives the instruction from the master processor 4 transfers the serial data 32 from the transfer source device to the transfer destination device.

As shown in FIG. 3, the master processor 4 executes post-processing corresponding to the data transfer processing after the data transfer processing by the DMA controller 5 is completed. In the post-processing, the consistency of communication is confirmed based on the communication protocol set in the image forming apparatus 2. For example, the consistency of communication is confirmed by executing the checksum comparison process included in the serial data 32. After the completion of the post-processing, the transfer destination device executes a process of writing the transfer target data to the designated address according to the command included in the received serial data 32.

By the way, an image forming apparatus including a plurality of ASICs corresponding to a plurality of functional units 10 such as an image forming unit 43 and a paper feeding unit 44 is known.

Here, in the conventional image forming apparatus, for example, the two detection data acquired by the two sensors 16 connected to the ASIC corresponding to the paper feeding unit 44 may be requested at the same timing. In this case, the master processor 4 can acquire the two detection data by performing one communication with the ASIC corresponding to the paper feeding unit 44.

Further, in the conventional image forming apparatus, the detection data acquired by the sensor 16 connected to the ASIC corresponding to the image forming unit 43 and the sensor 16 connected to the ASIC corresponding to the paper feeding unit 44 are used. The detected detection data to be acquired may be requested at the same timing. In this case, in order to acquire the two detection data, the master processor 4 needs to perform one communication with each of the ASIC corresponding to the image forming unit 43 and the ASIC corresponding to the paper feeding unit 44. There is. Therefore, as compared with the case where the two sensors 16 corresponding to the two detection data to be acquired are connected to one ASIC, the pre-processing and the post-processing are performed one more time each. , The time required for communication becomes longer accordingly. Further, even when the two control data based on the two acquired detection data are transmitted, it is necessary to perform one communication with each of the two ASICs.

On the other hand, in the image forming apparatus 2 according to the embodiment of the present invention, it is possible to shorten the time required for data communication as described below.

Specifically, in the image forming apparatus 2, as described above, the slave processor 12 to which the plurality of sensors 16 included in each of the plurality of functional units 10 are connected, and the plurality of slave processors 12 included in each of the plurality of functional units 10. A slave processor 13 to which the drive unit 17 is connected is provided.

Further, as shown in FIG. 1, the master processor 4 includes a first communication processing unit 25, a second communication processing unit 26, and a signal input unit 27. The master processor 4 executes a communication control program stored in a ROM (not shown). As a result, the master processor 4 functions as a first communication processing unit 25, a second communication processing unit 26, and a signal input unit 27. The communication control program is recorded on a computer-readable recording medium such as a CD, DVD, or flash memory, and is read from the recording medium and installed in a non-volatile storage device provided in the image forming apparatus 2. You may.

The second communication processing unit 26 executes the second communication processing for receiving the plurality of detection data acquired by the slave processor 12 from the slave processor 12.

For example, the second communication process is a process of receiving the detection data in excess of 2 and a predetermined reference number or more from the slave processor 12. The reference number may be an arbitrarily determined number. Further, the second communication process may be a process of receiving the two detection data from the slave processor 12.

For example, whether or not the second communication processing unit 26 is required to acquire the detection data of the reference number or more from the slave processor 12 based on the execution request data of one or more stored in the buffer 24. To judge. Here, the second communication processing unit 26 executes the second communication processing when it is determined that the slave processor 12 is required to acquire the detection data of the reference number or more.

Specifically, the second communication processing unit 26 executes the preprocessing before receiving the detection data of the reference number or more from the slave processor 12. Further, after the completion of the preprocessing, the second communication processing unit 26 transfers the detection data of the reference number or more stored in each of the registers 14 of the slave processor 12 to the memory 6 to the DMA controller 5. Instructs the execution of the second transfer process. Further, the second communication processing unit 26 executes the post-processing after the second transfer processing is executed by the DMA controller 5.

The first communication processing unit 25 executes the first communication process of transmitting the plurality of control data based on each of the plurality of detection data received by the second communication process to the slave processor 13.

For example, the first communication process is a process of transmitting the number of the control data received in the second communication process to the slave processor 13.

Specifically, the first communication processing unit 25 executes the preprocessing before transmitting the plurality of control data to the slave processor 13. Further, the first communication processing unit 25 transfers the plurality of control data stored in the memory 6 to each of the registers 15 of the slave processor 13 to the DMA controller 5 after the completion of the preprocessing. Instructs the execution of processing. Further, the first communication processing unit 25 executes the post-processing after executing the first transfer processing by the DMA controller 5.

When either of the first communication process and the second communication process is executed, the signal input unit 27 sends a chip select signal for notifying the communication partner of the communication process of the start of serial communication. input.

By using the chip select signal, it is not necessary to include information for designating a communication partner in the serial data 32 transmitted and received by serial communication via the serial data bus 8. Therefore, it is possible to reduce the amount of serial data 32.

Here, in the image forming apparatus 2, the ports connected to the serial data bus 8 in each of the slave processor 12 and the slave processor 13 are configured so that the chip select signal has high impedance when negating. As a result, the signal blunting (waveform collapse) of the serial data 32 due to the speeding up of serial communication is suppressed.

Specifically, the signal input unit 27 inputs the chip select signal CS1 (see FIG. 1) to the slave processor 13 when the first communication process is executed. On the other hand, the signal input unit 27 inputs the chip select signal CS2 (see FIG. 1) to the slave processor 12 when the second communication process is executed.

[Communication control processing]
Hereinafter, the communication method in the present invention will be described together with the procedure of the communication control process executed by the master processor 4 in the image forming apparatus 2 with reference to FIG. Here, steps S11, S12 ... Represent the number of the processing procedure (step) executed by the master processor 4. The communication control process is executed, for example, when the image forming function and the feeding function are executed in the image forming apparatus 2.

<Step S11>
First, in step S11, is the master processor 4 required to acquire the detection data of the reference number or more from the slave processor 12 based on one or more of the execution request data stored in the buffer 24? Judge whether or not.

Here, when the master processor 4 determines that it is required to acquire the detection data equal to or greater than the reference number from the slave processor 12 (Yes side of S11), the master processor 4 shifts the process to step S12. Further, unless it is required to acquire the detection data of the reference number or more from the slave processor 12 (No side of S11), the master processor 4 detects the detection of the reference number or more from the slave processor 12 in step S11. Wait for the request to acquire the data.

<Step S12>
In step S12, the master processor 4 inputs the chip select signal CS2 (see FIG. 1) to the slave processor 12. Here, the process of step S12 is executed by the signal input unit 27 of the master processor 4.

<Step S13>
In step S13, the master processor 4 executes the second communication process. Here, the process of step S13 is an example of the second communication step in the present invention, and is executed by the second communication processing unit 26 of the master processor 4.

For example, the master processor 4 executes the preprocessing before receiving the detection data of the reference number or more from the slave processor 12. Further, after the completion of the preprocessing, the master processor 4 transfers the detection data of the reference number or more stored in each of the registers 14 of the slave processor 12 to the memory 6 to the DMA controller 5. Instructs the execution of processing. Further, the master processor 4 executes the post-processing after the second transfer processing is executed by the DMA controller 5.

<Step S14>
In step S14, the master processor 4 inputs the chip select signal CS1 (see FIG. 1) to the slave processor 13. Here, the process of step S14 is executed by the signal input unit 27 of the master processor 4.

<Step S15>
In step S15, the master processor 4 executes the first communication process. Here, the process of step S15 is an example of the first communication step in the present invention, and is executed by the first communication processing unit 25 of the master processor 4.

For example, the master processor 4 executes the preprocessing before transmitting the plurality of control data to the slave processor 13. Further, after the completion of the preprocessing, the master processor 4 executes the first transfer processing for transferring the plurality of control data stored in the memory 6 to each of the registers 15 of the slave processor 13 to the DMA controller 5. To instruct. Further, the master processor 4 executes the post-processing after the DMA controller 5 executes the first transfer processing.

<Step S16>
In step S16, the master processor 4 determines whether or not the execution of the image forming function and the paper feeding function has been completed.

Here, when the master processor 4 determines that the execution of the image forming function and the paper feeding function is completed (Yes side of S16), the master processor 4 ends the communication control process. Further, if the execution of the image forming function and the paper feeding function is not completed (No side of S16), the master processor 4 shifts the process to step S11.

As described above, in the image forming apparatus 2, the plurality of drive units 17 included in each of the plurality of functional units 10 are connected to the slave processor 13, and the plurality of sensors 16 corresponding to the plurality of drive units 17 are slaves. Connected to processor 12. Further, in the image forming apparatus 2, the second communication process for receiving the plurality of detection data acquired by the slave processor 12 from the slave processor 12 and the plurality of detection data received by the second communication process are used. The first communication process of transmitting the plurality of control data based on the control data to the slave processor 13 is executed. As a result, it is possible to shorten the time required for data communication as compared with an image forming apparatus including a plurality of ASICs corresponding to the plurality of functional units 10.

2 Image processor 4 Master processor 5 DMA controller 6 Memory 8 Serial data bus 10 Functional unit 12 Slave processor 13 Slave processor 14 Register 15 Register 16 Sensor 17 Drive unit 24 Buffer 25 1st communication processing unit 26 2nd communication processing unit 27 Signal Input unit 41 Document transport unit 42 Image reading unit 43 Image forming unit 44 Feeding unit

Claims (3)

A first processor that can individually control multiple drive units based on each of the multiple control data,
A second processor capable of acquiring detection data indicating a detection result by the sensor from each of the plurality of sensors corresponding to the plurality of drive units controlled by the first processor.
A second communication process that is communicably connected to the first processor and the second processor via a bus and receives a plurality of the detection data acquired by the second processor from the second processor, and the above. A third processor that executes a first communication process for transmitting the plurality of control data based on each of the plurality of detection data received by the second communication process to the first processor.
An image forming apparatus comprising. The plurality of drive units include a first drive unit and a second drive unit different from the first drive unit.
The image forming apparatus
An image forming unit having the first driving unit and the sensor corresponding to the first driving unit and forming an image on the sheet, and an image forming unit.
A paper feeding unit having the second drive unit and the sensor corresponding to the second drive unit and supplying a sheet to the image forming unit.
The image forming apparatus according to claim 1. Detection results by the first processor capable of individually controlling a plurality of drive units based on each of the plurality of control data, and a plurality of sensors corresponding to the plurality of drive units controlled by the first processor. A communication method executed by an image forming apparatus including a second processor capable of acquiring detection data indicating the above, and a third processor communicatively connected to the first processor and the second processor via a bus. There,
The third processor
A second communication step of executing a second communication process of receiving the plurality of detection data acquired by the second processor from the second processor, and
A first communication step for executing a first communication process for transmitting the plurality of control data based on each of the plurality of detection data received by the second communication step to the first processor, and a first communication step.
Communication method to execute.