JP2019170234A - Extermination agent spraying device, extermination agent spraying method and program - Google Patents

Abstract

To provide an extermination agent spraying device that exterminates an extermination target effectively.SOLUTION: An extermination agent spraying device detects an extermination target, based on the ultrasound transmitted by an ultrasound transmission unit and the ultrasound receiving wave received by an ultrasound receiving part. When the extermination target is detected and a signal showing other extermination agent spraying device detecting the extermination target is received from the other extermination agent spraying device by own extermination agent spraying device, a determination is made whether or not the own extermination agent spraying device sprays the extermination agent based on a distance from the own extermination agent spraying device to the extermination target measured by the ultrasound and the receiving wave and the distance from the other extermination agent spraying device contained in the signal to the extermination target. When the distance from the own extermination agent spraying device to the extermination target is not more than the distance from the other extermination agent spraying device to the extermination target, the extermination agent is sprayed.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a pesticide spraying apparatus, a pesticide spraying method, and a program.

  As a technique for detecting and extinguishing pests, Patent Document 1 discloses a technique for detecting the insects that have entered a chamber having a slit with a photoelectric sensor and counting the number of captured insects. Japanese Patent Application Laid-Open No. 2004-228561 has a technique for identifying the type of insect based on the pattern and frequency of feather sounds and walking sounds emitted from insects.

JP 2013-135644 A JP 2012-228226 A

  There has been a problem that the pest-control device spraying device cannot effectively control the pests.

  Therefore, an object of the present invention is to provide a pesticide spraying apparatus that solves the above-described problems.

  According to the first aspect of the present invention, the disinfectant spraying device is subject to disinfection based on the ultrasonic wave transmitted by the ultrasonic transmission unit and the received wave of the ultrasonic wave received by the ultrasonic wave reception unit. And a signal indicating that the extinguishing target is detected by the detecting unit and that the other extinguishing agent spraying device has detected the extinguishing target by the self extinguishing agent spraying device. From the self-disinfectant spray device measured by the ultrasonic wave and the received wave to the disinfection target, and from the other disinfectant spray device included in the signal to the disinfection target. A determination unit for determining whether the self-disinfectant spray device sprays the disinfectant based on a distance, and a distance from the self-disinfectant spray device to the disinfectant is determined from the other disinfectant spray device from the other Removal If it is the distance following up, characterized in that it comprises a pesticide spray part for spraying the pesticide.

  According to the second aspect of the present invention, in the pesticide spraying method, the detection unit is based on the ultrasonic wave transmitted by the ultrasonic wave transmission unit and the ultrasonic wave received by the ultrasonic wave reception unit. A step of detecting the removal target, and a signal indicating that the removal target is detected by the detection unit and that the other removal spraying device has detected the removal target by the self-purge spraying device. When received from the agent spraying device, the determination unit measures the distance from the self-disinfectant spraying device to the removal target measured by the ultrasonic wave and the received wave, and the other disinfectant spray included in the signal. Determining whether the self-disinfectant spraying device sprays the disinfectant based on the distance from the device to the disinfectant; and a disinfectant spraying unit from the self-exterminator spraying device to the disinfectant distance The case of other pesticides spray device is less than the distance of the up removal target, characterized in that it comprises the step of spraying the pesticide.

  According to the third aspect of the present invention, the program includes a detection unit, a determination unit, and a computer of a pesticide spraying device including a pesticide spraying unit, an ultrasonic wave transmitted by the ultrasonic transmission unit, Detection means configured to detect the removal target based on the ultrasonic wave received by the ultrasonic reception unit, the removal target is detected by the detection unit, and the self-disinfectant spray device When the signal indicating that the other disinfectant spray device has detected the disinfectant is received from the other disinfectant spray device, the self-disinfectant spray device measured by the ultrasonic wave and the received wave Based on the distance to the extermination object and the distance from the other extermination agent spraying device included in the signal to the extermination object, it is determined whether the autocidal sprayer sprays the extermination agent. Structure And when the distance from the self-control agent spraying device to the control target is equal to or less than the distance from the other control agent spraying device to the control target, the control agent is configured to spray the control agent. It functions as a pesticide spraying means.

  According to the present invention, among the plurality of pesticide spraying apparatuses, only the pesticide spraying apparatus closer to the control target sprays. Thereby, a pest can be controlled effectively.

It is a figure which shows the 1st hardware constitutions and internal structure of the pesticide spraying apparatus 1 by one Embodiment of this invention. It is a functional block diagram of the disinfectant spray device according to one embodiment of the present invention. It is a flowchart of the disinfectant spraying method by one Embodiment of this invention. It is the schematic of the disinfectant spraying method using the ultrasonic wave by the movement of the pest of the present invention. It is the schematic of the pest detection based on the sound which the pest of this invention emits. It is a figure of the room which has arranged a plurality of pesticide spraying devices by one embodiment of the present invention. It is a figure of the room which has arranged a plurality of pesticide spraying devices by one embodiment of the present invention. It is a figure of the room which has arranged a plurality of pesticide spraying devices by one embodiment of the present invention on the floor. It is a figure of the room which has arranged a plurality of pesticide spraying devices by one embodiment of the present invention on the floor. It is a figure which shows the minimum structure of the hardware of the disinfectant spray apparatus by one Embodiment of this invention. It is a figure which shows the minimum structure of the hardware of the disinfectant spray apparatus by one Embodiment of this invention.

  Hereinafter, a pesticide spraying apparatus according to an embodiment of the present invention will be described with reference to the drawings.

FIG. 1 is a diagram showing a first hardware configuration and an internal structure of a pesticide spraying apparatus 1 according to the present embodiment.
The disinfectant spray device 1 shown in FIG. 1 includes an ultrasonic speaker 2, an ultrasonic microphone 3, a disinfectant spray port 4, a high sensitivity microphone 5, an infrared human sensor 6, a disinfectant bottle 7, and a control. It is composed of a substrate 8 and a solenoid button pressing device 9. Hereinafter, each component will be described.

  The ultrasonic speaker 2 transmits ultrasonic waves. The ultrasonic microphone 3 receives the ultrasonic wave reflected by the ultrasonic wave to be disinfected. When a disinfectant is detected, the button of the disinfectant bottle is pressed, and the disinfectant spray port 4 automatically sprays the disinfectant. The high sensitivity microphone 5 detects ambient sounds such as pest feather sounds. More accurate pest detection can be realized by using detection by sound generated by a pest pest in combination with ultrasonic detection. The infrared human sensor 6 detects an object that emits infrared rays, such as a human being. Only when the human being is not detected by the infrared human sensor 6, the solenoid button pressing device 9 presses the button of the disinfectant bottle and automatically sprays the disinfectant. Thereby, when a person exists in the room where the disinfectant spraying device 1 is placed, it is possible to prevent the disinfectant from being uncomfortable due to the disinfectant spray. The pesticide bottle 7 contains a pesticide. A circuit unit is provided on the control board 8. The circuit unit processes signals from the ultrasonic speaker 2, the ultrasonic microphone 3, the high sensitivity microphone 5, and the infrared human sensor 6. Here, the pesticide is a drug for controlling pests such as insecticides or rodenticides.

  The means for spraying the disinfectant may be any means that functions to automatically spray the disinfectant when the disinfectant is detected. The disinfectant spray port 4, the disinfectant bottle 7, and the solenoid button pressing device. 9 is not limited to the spraying means. Further, the pesticide spraying apparatus 1 further includes the pesticide spraying apparatus 1 and another pesticide spraying apparatus 10 (in FIG. 6, the master unit 31 indicates the pesticide spraying apparatus 1, and the slave unit 32 is another pesticide spraying apparatus. A communication unit 360 (shown in FIG. 2) that transmits and receives signals to and from the device may be provided. The transmission / reception of the signal may be performed by either wired communication or wireless communication. The transmission / reception of the signal may be executed by the ultrasonic speaker 2 and the ultrasonic microphone 3 of the pesticide spraying apparatus 1.

FIG. 2 is a functional block diagram of the pesticide spraying apparatus according to the present embodiment.
The pesticide spraying apparatus 1 includes a detection unit 310, a determination unit 320, a pesticide spraying unit 330, a circuit unit 370, a sound detection unit 340, an infrared motion detection unit 350, a communication unit 360, and an alarm speaker. 380. Hereinafter, each component will be described.

  The circuit unit 370 includes the first amplification circuit 43 and the ultrasonic signal generation circuit 42 of the ultrasonic transmission unit 311, the second amplification circuit 44 of the ultrasonic reception unit 312, the first bandpass filter 45, and the third Amplifier circuit 46 and digital converter 47, ultrasonic processor 313, fourth amplifier circuit 51, second bandpass filter 52, fifth amplifier circuit 53, AD converter circuit 54, and sound processing Unit 55, storage unit 56, human detection processing unit 57, communication unit 360, and determination unit 320.

  First, the configuration of the detection unit 310 will be described. The detection unit 310 includes an ultrasonic transmission unit 311, an ultrasonic reception unit 312, and an ultrasonic processing unit 313. The ultrasonic transmission unit 311 includes the ultrasonic speaker 2, an ultrasonic signal generation circuit 42, and a first amplification circuit 43. The ultrasonic receiving unit 312 includes the ultrasonic microphone 3, the second amplification circuit 44, the first bandpass filter 45, the third amplification circuit 46, and the digital conversion unit 47. The ultrasonic processing unit 313 includes an ultrasonic transmission pulse generation circuit 41, a transmission frequency measurement circuit 48, a reception frequency measurement circuit 49, and a Doppler velocity measurement circuit 50.

  The ultrasonic transmission pulse generation circuit 41 instructs the ultrasonic signal generation circuit 42 to generate an ultrasonic signal. The ultrasonic signal generation circuit 42 generates an ultrasonic wave and transmits the generated ultrasonic wave to the first amplification circuit 43 and the transmission frequency measurement circuit 48. The first amplifier circuit 43 amplifies the received ultrasonic wave and transmits it to the ultrasonic speaker 2. The ultrasonic speaker 2 transmits the amplified ultrasonic wave.

  The ultrasonic wave transmitted by the ultrasonic speaker 2 is reflected by an object and returned to the ultrasonic microphone 3. The ultrasonic microphone 3 receives the returned ultrasonic wave and transmits the received ultrasonic wave to the second amplifier circuit 44. The second amplification circuit 44 amplifies the received ultrasonic wave and transmits the amplified ultrasonic wave to the first bandpass filter 45. The first band pass filter 45 removes the noise of the amplified ultrasonic wave and transmits the ultrasonic wave from which the noise has been removed to the third amplification circuit 46. Thereby, the detection accuracy of the removal target can be improved. The third amplifier circuit 46 amplifies the ultrasonic wave from which noise has been removed, and transmits the amplified ultrasonic wave to the digital conversion unit 47. The digital conversion unit 47 converts the amplified ultrasonic wave into a digital signal, and transmits the converted digital signal to the reception frequency measurement circuit 49.

The transmission frequency measurement circuit 48 measures the transmission frequency from the ultrasonic wave and transmits it to the Doppler velocity measurement circuit 50. The reception frequency measurement circuit 49 measures the reception frequency from the received digital signal and transmits it to the Doppler velocity measurement circuit 50. The Doppler velocity measurement circuit 50 calculates the velocity t of the object based on the following equation (1) using the received transmission frequency and the reception frequency. Here, f ₀ indicates a transmission frequency, and f indicates a reception frequency. When the value of the object speed t is not 0, the Doppler speed measurement circuit 50 determines that there is a pest pest to be controlled.

  Further, the Doppler velocity measuring circuit 50 is based on the time T1 when the ultrasonic speaker 2 transmits the ultrasonic wave, the time T2 when the ultrasonic microphone 3 receives the ultrasonic wave, and the sound velocity V, and the pesticide spraying apparatus 1. Calculate the distance L1 from the pest to the pest. Specifically, the distance L1 from the pesticide spraying apparatus 1 to the pest harmful animal is calculated by the formula: L1 = V (T2−T1) ÷ 2. Next, the Doppler speed measurement circuit 50 transmits a signal indicating that the removal target is detected to the determination unit 320. The signal includes the distance L1 from the pesticide spraying apparatus 1 to the pests. Here, the time T1 when the ultrasonic wave is transmitted may be notified from the ultrasonic speaker 2 to the Doppler velocity measurement circuit 50. Alternatively, the time T <b> 1 when the ultrasonic wave is transmitted may be measured by monitoring the ultrasonic speaker 2 by the Doppler velocity measurement circuit 50. In addition, the time T2 when the ultrasonic wave is received may be notified from the ultrasonic microphone 3 to the Doppler velocity measurement circuit 50. Alternatively, the time T <b> 2 when the ultrasonic wave is received may be measured by monitoring the ultrasonic microphone 3 with the Doppler velocity measurement circuit 50.

  Next, the principle of ultrasonic transmission / reception of the ultrasonic microphone 3 and the ultrasonic speaker 2 will be described. The ultrasonic microphone 3 and the ultrasonic speaker 2 are provided in the pesticide spraying apparatus 1. Therefore, the ultrasonic microphone 3 receives the ultrasonic wave as it is transmitted from the ultrasonic speaker 2 for a certain period after the ultrasonic wave 2 starts to be transmitted by the ultrasonic speaker 2. Therefore, even if the ultrasonic microphone 3 receives the ultrasonic wave reflected to the removal target within a certain period from the start of transmitting the ultrasonic wave, the ultrasonic wave transmitted from the ultrasonic speaker 2 is reflected on the removal target. Since the ultrasonic waves overlapped with each other, there are cases where the target to be removed cannot be detected accurately. This phenomenon may occur when an object to be disinfected is too close to the disinfectant spray apparatus 1. In one embodiment, the transmission frequency is 100 KHz and the transmission time is 200 uS. At this time, since the speed of sound is about 340 m / s, the ultrasonic wave travels about 6.8 cm in 200 uS. Therefore, in the present embodiment, an extermination target existing at 3.4 cm (= 6.8 cm / 2) or more from the extermination agent spray device 1 is detected. The transmission frequency and transmission time are not limited to the values in this embodiment.

  In addition, when a certain period after the ultrasonic wave starts to be transmitted is too long, the ultrasonic wave reflected on the extinguishing target and the ultrasonic wave reflected on the wall of the room overlap, and the accuracy of detecting the extinguishing target is impaired. Therefore, the certain time is preferably a time that is not affected by the ultrasonic wave reflected on the wall of the room.

  Next, the configuration of the sound detection unit 340 will be described. The sound detection unit 340 includes a high sensitivity microphone 5, a fourth amplification circuit 51, a second bandpass filter 52, a fifth amplification circuit 53, an AD conversion circuit 54, a sound processing unit 55, and a storage. Part 56. The high sensitivity microphone 5 of the sound detection unit 340 detects ambient sounds. When detecting the sound, the high sensitivity microphone 5 transmits the detected sound to the fourth amplifier circuit 51. The fourth amplifier circuit 51 amplifies the received sound. The second band pass filter 52 removes the noise of the amplified sound and transmits the sound from which the noise has been removed to the fifth amplifier circuit 53. Thereby, the detection accuracy of the removal target can be improved. The fifth amplifier circuit 53 amplifies the sound from which noise has been removed, and transmits the amplified sound to the AD conversion circuit 54. The AD conversion circuit 54 converts the received sound into a digital signal, and transmits the converted digital signal to the sound processing unit 55. The sound processing unit 55 receives the digital signal, and determines whether or not the sound transmission source is to be removed based on the digital signal and the sound data stored in the storage unit 56. Specifically, when the sound data is data indicating the sound to be removed (insect feather sound: 300 to 600 Hz) and the digital signal matches the sound data stored in the storage unit 56, the sound processing unit 55 Detects that the sound source is to be removed. In addition, the sound data includes data indicating the sound to be disinfected and data indicating the sound of the surrounding environment such as curtain sound, and the sound indicating the sound to be disinfected in which the digital signal is stored in the storage unit 56. If the data matches the data, the sound processing unit 55 detects that the sound source is a target to be removed. At this time, the sound detection unit 340 transmits a signal indicating that the removal target is detected to the determination unit 320. In this way, more accurate pest detection can be realized by using detection by sound generated by a pest pest in combination with ultrasonic detection. In addition, the sound data includes data indicating sound to be disinfected and data indicating sound of the surrounding environment such as curtain sound, and the surrounding environment such as curtain sound in which the digital signal is stored in the storage unit 56. If the data matches the data indicating the sound, the sound processing unit 55 detects that the sound source is not a target for removal. At this time, the sound detection unit 340 transmits to the determination unit 320 a signal indicating that an object that is not a removal target has been detected. In this way, by using detection by sound generated by other than the pests and pests together with detection by ultrasonic waves, malfunction can be prevented and consumption of the pesticide can be suppressed.

  The storage unit 56 illustrated in FIG. 2 may be an arbitrary storage device such as a ROM (Read Only Memory), a RAM (Random Access Memory), and a mass storage device.

  Next, the configuration of the infrared human detection unit 350 will be described. The infrared human detection unit 350 includes an infrared human detection sensor 6 and a human detection processing unit 57. The infrared human sensor 6 detects an infrared ray emitted by a human and transmits an infrared detection signal to the human detection processing unit 57. The human detection processing unit 57 receives an infrared detection signal. In this case, the infrared human detection unit 350 transmits a signal indicating that a person has been detected to the determination unit 320. The determination unit 320 transmits an instruction for pressing the spray button 58 to the solenoid button pressing device 9 of the pesticide spraying apparatus 1 only when a signal is not received from the infrared motion detection unit 350. However, the determination unit 320 does not transmit an instruction for pressing the spray button 58 to the solenoid button pressing device 9 of the pesticide spraying apparatus 1 when receiving a signal from the infrared human detection unit 350. Thereby, when a person is in the vicinity, the disinfectant is not sprayed, and the person can be prevented from becoming uncomfortable. In the case of pets such as dogs and cats, infrared rays are also emitted, so that the pesticide is not sprayed when detected by an infrared human sensor.

  Next, the configuration of the communication unit 360 will be described. When the Doppler speed measurement circuit of another pesticide spraying apparatus 10 determines that there is a pest pest to be controlled, the Doppler speed measurement circuit of the other pesticide spraying apparatus 10 communicates with the other pesticide spraying apparatus 10. Is instructed to transmit a signal including the distance L2 from the other insecticide spraying device 10 to the pests. Here, the distance L2 is calculated by the Doppler speed measurement circuit of another pesticide spraying apparatus 10 using the same method as the method in which the pesticide spraying apparatus 1 calculates the distance L1. Next, the communication unit of the other pesticide spraying apparatus 10 transmits the signal to the pesticide spraying apparatus 1. The communication unit 360 of the pesticide spraying apparatus 1 receives a signal transmitted from the communication unit of another pesticide spraying apparatus 10. The communication unit 360 transmits the signal to the determination unit 320. Communication between the communication unit of the other pesticide spraying apparatus 10 and the communication unit 360 of the pesticide spraying apparatus 1 may be wired or wireless communication. Alternatively, a signal including the distance L2 from the other pesticide spraying apparatus 10 to the pest pest is transmitted by the ultrasonic speaker of the other pesticide spraying apparatus 10, and the signal is transmitted by the ultrasonic microphone 3 of the pesticide spraying apparatus 1. Communication between both devices may be performed by receiving the information.

  Next, the configuration of the determination unit 320 will be described. The determination unit 320 receives signals from the detection unit 310 and the communication unit 360. In this case, the determination unit 320 is included in the distance L1 from the pesticide spraying apparatus 1 to the control target included in the signal transmitted from the detection unit 310 and the signal from the other pesticide spraying apparatus 10. Comparison is made with the distance L2 from the other disinfectant spray device 10 to the disinfectant. When L1 is L2 or less, the determination unit 320 transmits an instruction for pressing the spray button 58 to the solenoid button pressing device 9 of the pesticide spraying apparatus 1. The solenoid button pressing device 9 presses the spray button 58 of the disinfectant bottle. At this time, a certain amount of the pesticide is sprayed from the pesticide spraying port 4. Thereby, since the disinfectant spray apparatus with a short distance from the pest sprays the disinfectant, the disinfectant can be effectively performed.

  In another embodiment, the determination unit 320 compares L1 and L2, determines that L1 is equal to or less than L2, and only when the determination unit 320 receives a signal from the sound detection unit 340. The determination unit 320 transmits an instruction for pressing the spray button 58 to the solenoid button pressing device 9. At this time, the solenoid button pressing device 9 presses the spray button 58 of the disinfectant bottle. Then, a certain amount of the pesticide is sprayed from the pesticide spray port 4. In this way, more accurate pest detection can be realized by using detection by sound generated by a pest pest in combination with ultrasonic detection.

  In another embodiment, when the determination unit 320 receives a signal from the infrared human detection unit 350, the determination unit 320 transmits an instruction for pressing the spray button 58 to the solenoid button pressing device 9. do not do. Thereby, since a disinfectant is not sprayed when a person is in the vicinity, it can be prevented that a person becomes uncomfortable due to the disinfectant spray. In the case of pets such as dogs and cats, infrared rays are also emitted. Therefore, when the pet is detected by the infrared human sensor 6, the disinfectant is not sprayed.

  In another embodiment, the determination unit 320 may transmit an instruction for generating an alarm to the alarm speaker 380 instead of transmitting an instruction for pressing the spray button 58 to the solenoid button pressing device 9. Good. The alarm speaker 380 generates an alarm when receiving an instruction from the determination unit 320. If the place where the pesticide spraying apparatus 1 is installed is not suitable for spraying the pesticide such as a warehouse that handles food, the pesticide spraying apparatus 1 should generate a warning sound instead of spraying the pesticide. Thus, it is possible to prompt the person to eliminate the pests.

  In another embodiment, the determination unit 320 compares L1 and L2, and if L1 is larger than L2, the determination unit 320 sprays the pesticide to the communication unit 360 by the other pesticide spraying device 10. A signal for instructing to transmit is transmitted. Thereby, since the disinfectant spray apparatus with a short distance from the pest sprays the disinfectant, the disinfectant can be effectively performed.

  Next, the configuration of the pesticide spraying unit 330 will be described. The pesticide spraying unit 330 includes a solenoid button pressing device 9, a spray button 58, a pesticide bottle 7, and a pesticide spraying port 4. The solenoid button pressing device 9 receives an instruction to press the spray button 58 transmitted from the determination unit 320. At this time, the solenoid button pressing device 9 presses the spray button 58 of the disinfectant bottle. Then, a certain amount of the pesticide is sprayed from the pesticide spray port 4.

FIG. 3 is a view showing a processing flow of the pesticide spraying apparatus according to one embodiment of the present invention.
The processing flow includes the following steps.
First, the ultrasonic speaker 2 of the pesticide spraying apparatus 1 transmits an ultrasonic wave (step S31). The ultrasonic wave transmitted by the ultrasonic speaker 2 is reflected by an object and returned to the ultrasonic microphone 3.

  The ultrasonic microphone 3 receives the returned ultrasonic wave (step S32). The ultrasonic processing unit 313 calculates the velocity t of the object using the received transmission frequency and reception frequency (step S33).

  The ultrasonic processing unit 313 determines whether or not the value of the object velocity t is 0 (step S34). If t = 0 (Yes in step S34), the process ends. If t = 0 is not satisfied (No in step S34), the process proceeds to step S35.

  The high sensitivity microphone 5 of the sound detection unit 340 detects ambient sounds (step S35). When the high sensitivity microphone 5 detects sound (Yes in step S35), the process proceeds to step S36. When the high sensitivity microphone 5 does not detect sound (No in step S35), the process proceeds to step S37.

  The sound processing unit 55 of the sound detection unit 340 has a sound source as a target for removal based on the sound detected by the high sensitivity microphone 5 and the sound data stored in the storage unit 56 of the sound detection unit 340. Is determined (step S36). If it is determined that the sound source is not a target for removal (No in step S36), the process ends. If it is determined that the sound source is a target for removal (Yes in step S36), the process proceeds to step S37.

  The infrared human detection unit 350 determines whether to detect infrared rays (step S37). If infrared human detection unit 350 senses infrared rays (Yes in step S37), the process ends. If infrared human detection unit 350 does not sense infrared (No in step S37), the process proceeds to step S38.

  The Doppler velocity measurement circuit 50 is removed based on the time (T1) when the ultrasonic speaker 2 transmits ultrasonic waves, the time (T2) when the ultrasonic microphone 3 receives ultrasonic waves, and the sound velocity (V). A distance L1 from the agent spraying device 1 to the pest harmful animal is calculated (step S38). The pesticide spraying apparatus 1 receives a signal including the distance L2 from the other pesticide spraying apparatus 10 to the insect pests from the other pesticide spraying apparatus 10 (step S39).

  The determination unit 320 determines whether L1 is equal to or less than L2 (step S40). If L1 is equal to or smaller than L2 (Yes in step S40), the process proceeds to step S41. When L1 is larger than L2 (No in step S40), the process proceeds to step S42.

  If Yes in step S40, the solenoid button pressing device 9 presses the spray button 58 of the disinfectant bottle (step S41). Then, a certain amount of the disinfectant is sprayed from the disinfectant spray port 4 (step S42), and the process ends.

  When it is No in step S40, the determination unit 320 instructs the other pesticide spraying apparatus 10 to spray the pesticide (step S43). Then, the solenoid button pressing device of the other pesticide spraying apparatus 10 presses the spray button of the pesticide bottle of the other pesticide spraying apparatus 10. At this time, a certain amount of the pesticide is sprayed from the pesticide spraying port of the other pesticide spraying apparatus 10 (step S44), and the process ends.

FIG. 4 is a schematic view of the pesticide spraying method using ultrasonic waves by the movement of pests according to the present invention.
In the present embodiment, the ultrasonic speaker 2 transmits an ultrasonic wave having a frequency of 100 KHz. The ultrasonic waves are reflected by pests (mosquitoes) that are moving toward the pesticide spraying apparatus 1 at a speed of 2 Km / h. In this case, the ultrasonic microphone 3 receives ultrasonic waves having a frequency of 100.1619 KHz due to the Doppler effect. Since the frequency difference of 161.9 Hz is detected, it is recognized that the removal target has been detected. Due to the Doppler effect, the following relationship holds between the frequency of the transmitted wave and the frequency of the received wave.

  From the above equation (2), it can be detected that the target is an object having a flight speed of 1 km / h to 2 km / h from the frequency of the transmitted wave, the frequency of the received wave, and the sound velocity. The detection unit detects a pest having a flight speed of 1 km / h to 2 km / h from the frequency difference of the ultrasonic waves, and when the infrared human sensor does not sense infrared, the determination unit is configured such that the solenoid button pressing device 9 is the spray button 58. May be instructed to be pressed and sprayed with a pesticide. The frequency difference and the flight speed values in this embodiment are merely examples, and are not limited to the values in this embodiment. Further, in the present embodiment, a case where a pest approaches the pesticide spraying apparatus 1 is shown, but a case where the pest moves away from the pesticide spraying apparatus 1 may be used.

  In addition, since the electrical signal of the voice received by the ultrasonic microphone 3 is small, the amplification circuit amplifies the electrical signal, the band-pass filter removes the noise to prevent ambient noise, and only the frequency is extracted by digitization. Also good.

FIG. 5 is a schematic view of pest detection based on sound generated by the pest of the present invention.
When the insect to be controlled is flying, the high-sensitivity microphone detects an intermittent sound of 300 to 600 Hz. The sound detection unit determines whether or not the transmission source of the detected sound is a removal target based on the detected sound and sound data stored in the storage unit. When the detected sound matches the sound data stored in the storage unit in advance, the sound detection unit determines that the removal target has been detected. The determination unit receives a signal from the other pesticide spraying device 10 indicating that the target to be removed is detected by the detection unit and the sound detection unit, and that another pesticide spraying device 10 has detected the control target by the pesticide spraying device 1. Receive. In this case, the distance L1 from the disinfectant spray device 1 to the disinfection target and the distance L2 from the other disinfectant spray device 10 included in the signal to the disposition target measured by the transmitted ultrasonic wave and the received wave. Based on this, it may be determined whether the pesticide spraying apparatus 1 sprays the pesticide. Moreover, you may comprise so that a disinfectant may be sprayed only by the infrared human presence detection part, when infrared rays are not detected.

FIG. 6 is a view of a room in which a plurality of disinfectant spraying apparatuses according to an embodiment of the present invention are arranged.
One of the pesticide spraying apparatus 1 is a master unit 31, and the other pesticide spraying apparatus 10 is a slave unit 32. The detection unit of the parent device 31 receives the signal indicating that the removal target is detected and the parent device 31 has detected the removal target from the child device 32. In this case, based on the distance L1 from the parent device 31 to the removal target and the distance L2 from the child device 32 to the removal target included in the signal, measured by the transmitted ultrasonic wave and the received wave, the parent device 31. Determines whether to spray the pesticide. Specifically, when the distance L1 from the parent device 31 to the removal target is equal to or less than the distance L2 from the child device 32 to the removal target, the parent device 31 sprays the removal agent. The communication between the parent device 31 and the child device 32 may be executed not only when both the parent device 31 and the child device 32 detect an insect at the same time, but also when only one of the insects is detected. In the communication, both the parent device 31 and the child device 32 may transmit at least one of the number of sprays and the spray time to each other. Thereby, useless spraying of a pesticide can be prevented.

  Further, although one slave unit shown in FIG. 6 is placed in a room, a plurality of slave units may be placed in one room. Similarly, in this case, when the master unit and a plurality of slave units detect the target to be disinfected, the master unit and the slave unit communicate using ultrasonic waves, and either the master unit or the plurality of slave units sprays the disinfectant. . As a result, the detection range of the sensor is widened, and the pesticide is sprayed from the pesticide spraying device at a position closer to the target to be controlled, thereby realizing effective insecticidal action. For convenience of explanation, one of the pesticide spraying apparatus 1 is a master unit and the other pesticide spraying apparatus 10 is a slave unit, but both units may have the same configuration.

FIG. 7 is a view of a room in which a plurality of disinfectant spraying devices according to an embodiment of the present invention are arranged.
One of the pesticide spraying apparatus 1 is a master unit 31, and the other pesticide spraying apparatus 10 is a slave unit 32. Regarding the operations of the parent device 31 and the child device 32, the description of FIG. 6 is referred to, and is omitted here. In FIG. 7, the distance L <b> 2 between the pest 33 and the child device 32 is shorter than the distance L <b> 1 between the pest 33 and the parent device 31. At this time, a signal indicating that the removal target is detected by the detection unit of the child device 32 and the parent device 31 has detected the removal object by the child device 32 is received from the parent device 31. In this case, based on the distance L2 from the child device 32 to the removal target and the distance L1 from the parent device 31 to the removal target included in the signal, measured by the transmitted ultrasonic wave and reception wave, the child device 32. Determines whether to spray the pesticide. In this case, since the distance L2 from the child device 32 to the removal target is equal to or less than the distance L1 from the parent device 31 to the removal target, the child device 32 sprays the disinfectant.

FIG. 8 is a view of a room in which a plurality of disinfectant spraying apparatuses according to an embodiment of the present invention are arranged on the floor.
By placing the insecticide spraying device on the floor, it is possible to detect not only flying insects but also pests (roaches) moving on the floor. Regarding the operation of the pesticide spraying apparatus, reference is made to the description of FIG. 6, which is omitted here.

FIG. 9 is a view of a room in which a plurality of disinfectant spraying apparatuses according to an embodiment of the present invention are arranged on the floor.
In this embodiment, there is a pest mouse in the warehouse. Since the mouse is a mammal, infrared rays may be detected by the human sensor, but at the same time it detects footsteps and calls that the mouse moves and can determine that the source of infrared rays is the mouse. Therefore, even when infrared rays are detected by the human sensor, when the sound detection unit detects a footstep or a cry that the mouse moves, a disinfectant (a rodenticide) may be sprayed. Also, when the warehouse is a food handling warehouse, it may not be appropriate to spray the pesticide. In such a case, instead of spraying the pesticide, the pesticide spraying apparatus 1 may generate a warning sound. If a warning sound is generated, it is possible to prompt the person who heard the warning sound to eliminate pests.

FIG. 10 is a diagram showing a minimum hardware configuration of the pesticide spraying apparatus according to an embodiment of the present invention.
The pesticide spraying apparatus 1 includes an ultrasonic speaker 2, an ultrasonic microphone 3, and a pesticide spraying port 4.

  The pesticide spraying apparatus 1 detects a target for removal based on the ultrasonic wave transmitted by the ultrasonic speaker 2 and the ultrasonic wave received by the ultrasonic microphone 3. Furthermore, the pesticide spraying apparatus 1 receives from the other pesticide spraying apparatus 10 a signal indicating that the other pesticide spraying apparatus 10 has detected the target to be controlled. In this case, the disinfectant spraying device 1 includes the distance L1 from the disinfectant spraying device 1 to the disinfection target measured by the transmitted ultrasonic waves and received waves, and the other disinfectant spraying device 10 included in the signal. It is determined whether or not the disinfectant is sprayed based on the distance L2 to the disinfectant. The disinfectant spray device 1 sprays the disinfectant when the distance L1 from the disinfectant spray device 1 to the disinfectant is equal to or less than the distance L2 from the other disinfectant spray device 10 to the disinfectant. Thereby, since the disinfectant spraying device that is close to the pest sprays the disinfectant, the disinfectant can be effectively performed and consumption of the disinfectant can be prevented. Here, the other pesticide spraying apparatus 10 may have the same configuration as the pesticide spraying apparatus 1.

FIG. 11 is a diagram showing a minimum configuration of functional blocks of the pesticide spraying apparatus according to one embodiment of the present invention.
The pesticide spraying apparatus 1 includes a detection unit 310, a determination unit 320, and a pesticide spraying unit 330. Hereinafter, each component will be described.

  The detection unit 310 includes an ultrasonic transmission unit 311 and an ultrasonic reception unit 312. The ultrasonic transmission unit 311 transmits ultrasonic waves for a certain time, and then the ultrasonic reception unit 312 receives the ultrasonic waves reflected back to the removal target, and the detection unit 310 detects the removal target. Furthermore, when the other pesticide spraying device 10 detects the target for removal at the same time, the other pesticide spraying device 10 transmits a signal indicating that the target for removal is detected to the pesticide spraying device 1. The pesticide spraying apparatus 1 includes the distance L1 from the pesticide spraying apparatus 1 measured by the transmitted ultrasonic wave and the received wave to the target for removal, and other pesticides included in signals from other pesticide spraying apparatuses 10. It is determined whether or not the pesticide is sprayed based on the distance L2 from the pesticide spraying apparatus 10 to the extermination target. The disinfectant spraying unit 330 sprays the disinfectant when the distance L1 from the disinfectant spray device 1 to the disinfectant is equal to or less than the distance L2 from the other disinfectant spray device 10 to the disinfectant. Thereby, since the disinfectant spraying device that is close to the pest sprays the disinfectant, the disinfectant can be effectively performed and consumption of the disinfectant can be prevented.

  When the distance L1 from the disinfectant spray device 1 to the disinfectant is longer than the distance L2 from the other disinfectant spray device 10 to the disinfectant, the disinfectant spray device 1 transfers the disinfectant to the other disinfectant spray device 10. A signal for instructing spraying may be transmitted.

  The communication unit of another pesticide spraying apparatus 10 may transmit the signal from the other pesticide spraying apparatus 10 to the pesticide spraying apparatus 1 by wired or wireless communication. Alternatively, the signal may be transmitted as an ultrasonic wave from an ultrasonic transmission unit of another pesticide spraying apparatus 10 and received by the ultrasonic reception unit 312 of the pesticide spraying apparatus 1. The other pesticide spraying apparatus 10 may have the same configuration as the pesticide spraying apparatus 1. Alternatively, the pesticide spraying apparatus 1 is a master unit for another pesticide spraying apparatus 10 that is a slave unit, and transmits a signal for controlling spraying of the pesticide of the slave unit to the slave unit. Good.

  The above-mentioned pesticide spraying apparatus has a computer system inside. The process of the above-described pesticide spraying apparatus is stored in a computer-readable recording medium in the form of a program, and the above process is performed by the computer reading and executing this program. Here, the computer-readable recording medium means a magnetic disk, a magneto-optical disk, a CD-ROM, a DVD-ROM, a semiconductor memory, or the like. Alternatively, the computer program may be distributed to the computer via a communication line, and the computer that has received the distribution may execute the program.

  The program may be for realizing a part of the functions described above. Furthermore, what can implement | achieve the function mentioned above in combination with the program already recorded on the computer system, and what is called a difference file (difference program) may be sufficient.

  Specifically, the program includes a computer of the pesticide spraying apparatus 1 including a detection unit, a determination unit, and a pesticide spraying unit, an ultrasonic wave transmitted by the ultrasonic transmission unit, and an ultrasonic reception unit. Based on the received ultrasonic wave, the detection means configured to detect the removal target, the removal target is detected by the detection unit, and the other pesticide spraying device 1 by the pesticide spraying device 1 When a signal indicating that the control target 10 is detected is received from another control agent spray device 10, a distance L1 from the control agent spray device 1 to the control target measured by the transmitted ultrasonic wave and the received wave, A determination means configured to determine whether the pesticide spraying apparatus 1 sprays the pesticide based on the distance L2 from the other pesticide spraying apparatus 10 included in the signal to the target to be controlled; Device 1 When the distance L1 to the extermination object is equal to or less than the distance L2 from the other extermination agent spraying apparatus 10 to the extermination object, the program is made to function as an extermination agent spraying means configured to spray the extermination agent. Also good.

DESCRIPTION OF SYMBOLS 1 Pesticide spraying device 2 Ultrasonic speaker 3 Ultrasonic microphone 4 Pesticide spraying port 5 High sensitivity microphone 6 Infrared human sensor 7 Pesticide bottle 8 Control board 9 Solenoid button pressing device 41 Ultrasonic transmission pulse generation circuit 42 Ultrasonic signal Generation circuit 43 First amplification circuit 44 Second amplification circuit 45 First band pass filter 46 Third amplification circuit 47 Digital conversion unit 48 Transmission frequency measurement circuit 49 Reception frequency measurement circuit 50 Doppler velocity measurement circuit 51 Amplifier circuit 52 Second band pass filter 53 Fifth amplifier circuit 54 AD converter circuit 55 Sound processing unit 56 Storage unit 57 Human detection processing unit 58 Spray button 310 Detection unit 311 Ultrasonic transmission unit 312 Ultrasonic reception unit 313 Ultrasonic wave Processing unit 320 Determination unit 330 Pesticide spraying unit 340 Sound detection unit 350 Infrared human feeling Knowledge unit 360 communication unit 370 circuit section 380 alarm speaker

Claims (9)

Based on the ultrasonic wave transmitted by the ultrasonic wave transmission unit and the received wave of the ultrasonic wave received by the ultrasonic wave reception unit, a detection unit that detects a removal target;
When the detection unit detects the control target, and the self-control agent spray device receives a signal indicating that the control target is detected by the other control agent spray device from the other control agent spray device, the super control agent The self-control agent spraying device measured from the sound wave and the received wave and the distance from the control target and the distance from the other control agent spray device to the control target included in the signal. A determination unit for determining whether the disinfectant spraying device sprays the disinfectant; and
When the distance from the self-disinfectant spray device to the disinfectant is equal to or less than the distance from the other disinfectant spray device to the disinfectant, a disinfectant spray unit that sprays a disinfectant,
A pesticide spraying device comprising: When the distance from the self-disinfectant spray device to the disinfectant is longer than the distance from the other disinfectant spray device to the disinfectant, the self-disinfectant spray device is connected to the other disinfectant spray device. Configured to send a signal to instruct spraying of the pesticide;
The disinfectant spray device according to claim 1. A sound detection unit for detecting the removal target by detecting sound;
The determination unit further includes a signal indicating that the extinguishing target is detected by the detecting unit and the sound detecting unit, and the other extinguishing agent spraying device has detected the extinguishing target by the self-exterminating agent spraying device. When received from another disinfectant spray device, the distance from the self-disinfectant spray device to the disinfection target measured by the ultrasonic wave and the received wave, and the other disinfectant spray device included in the signal Determining whether the self-disinfectant spraying device sprays the disinfectant based on the distance from the object to be disinfected,
The disinfectant spray device according to claim 1 or 2. A storage unit;
The determination unit determines whether to spray the pesticide based on the sound detected by the sound detection unit and sound data stored in the storage unit.
The disinfectant spray device according to claim 3. The ultrasonic receiver further includes a bandpass filter for preventing ambient noise,
The pesticide spraying device according to any one of claims 1 to 4. An infrared human detection unit is further provided.
The pesticide spraying portion sprays the pesticide only when infrared rays are not detected by the infrared motion detection unit.
The pesticide spraying apparatus according to any one of claims 1 to 5. When the determination unit determines that the self-control agent spraying device sprays the control agent, the determination unit further includes an alarm speaker that generates an alarm,
The pesticide spraying device according to any one of claims 1 to 6. A step of detecting a disinfection target based on the ultrasonic wave transmitted by the ultrasonic transmitter and the received wave of the ultrasonic wave received by the ultrasonic receiver;
The self-disinfectant spray device has detected the disinfection target, and the self-disinfectant spray device has received a signal from the other disinfectant spray device indicating that the disinfectant spray device has detected the disinfectant. In this case, the determination unit measures the distance from the self-disinfectant spray device to the disinfection target measured by the ultrasonic wave and the received wave, and from the other disinfectant spray device included in the signal to the disinfection target. Determining whether the self-disinfectant spray device sprays the disinfectant based on the distance of
When the distance from the self-control agent spray device to the control object is equal to or less than the distance from the other control agent spray device to the control object, the self-control agent spray device sprays the control agent; and
An insecticide spraying method comprising: A computer for a pesticide spraying device including a detection unit, a determination unit, and a pesticide spraying unit,
Detection means configured to detect a disinfection target based on the ultrasonic wave transmitted by the ultrasonic wave transmission unit and the received wave of the ultrasonic wave received by the ultrasonic wave reception unit;
When the detection unit detects the control target, and the self-control agent spray device receives a signal indicating that the control target is detected by the other control agent spray device from the other control agent spray device, the super control agent The self-control agent spraying device measured from the sound wave and the received wave and the distance from the control target and the distance from the other control agent spray device to the control target included in the signal. A determination means configured to determine whether the disinfectant spray device sprays the disinfectant; and
A disinfectant spraying means configured to spray a disinfectant when the distance from the self-disinfectant spraying device to the disinfectant is equal to or less than the distance from the other disinfectant spraying device to the disinfectant;
Program to function as.

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