JP7101399B2 - Sprayer - Google Patents

Description

The present invention relates to a spraying device having a vehicle body that moves forward or backward and sprays a liquid, for example, a chemical liquid.

Conventionally, a spraying device having a carrier for moving a rail installed on a ceiling in a house and provided with a means for spraying a chemical solution on the carrier has been proposed (see, for example, Patent Document 1). Since rails and carriers are provided on the ceiling, the entire ground in the house can be used as a field.

Fields often form rows of multiple crops. When the field area is large, the row of crops may be lengthened to improve the yield in accordance with the field area. However, when the row of crops is long, the container for storing the harvested crops may become full in the middle of the row during the harvesting operation. In this case, it is necessary to move to the end of the row, replace it with an empty container, and return to the middle of the row again, which causes a problem that work efficiency is lowered.

Therefore, even if the field area is large, without lengthening the row of crops, a work passage perpendicular to the row is provided between the rows, and an empty container is placed in the work passage. After completing the harvesting work for one row, it is replaced with an empty container and the work for the next row is carried out to improve work efficiency.

In the spraying device of Patent Document 1, rails and carriers must be installed for each house. Therefore, work is performed on a plurality of houses by preparing one straight-moving sprayer equipped with a wheel and a spray nozzle for spraying a chemical solution and moving the one sprayer to each of a plurality of houses. Is possible. In the house, for example, with the work corridor as the start and end points, a sprayer is reciprocated along the rows between the two crop rows to adhere the chemicals to the crops. After the round trip, the operator turns the atomizer and moves the atomizer between the two unworked rows.

Jikkenhei 1-66873 Gazette

Since a straight-moving atomizer cannot change the direction of the wheels and cannot steer the wheels, the operator must lift and rotate the atomizer to change the orientation of the atomizer. The burden tends to be large.

The present invention has been made in view of such circumstances, and an object of the present invention is to provide a spraying device capable of reducing the burden on the operator.

The spray device according to the present invention includes a vehicle body, a nozzle for spraying a liquid attached to the vehicle body, wheels attached to the vehicle body for traveling on rails, and a drive source for supplying power to the wheels. And a control unit that controls the drive of the drive source, and a reception unit that accepts selection of a first operation mode in which the vehicle body is advanced and then moved backward and a second operation mode in which the vehicle body is moved backward and then moved forward. To prepare for.

In the present invention, after the end of the first operation mode of moving forward and backward, the second operation mode of moving backward and moving forward is selected. After spraying the crops placed in front of the work aisle, the worker simply operates the reception section and places them behind the work aisle without rotating the car body. It is possible to perform spraying work on the crops that have been harvested.

The spraying device according to the present invention includes a detector for detecting a first detected unit arranged at a first position and a second detected unit arranged at a second position, and the control unit is attached to the detector. After detecting the first detected portion, when the second detected portion is detected, the moving direction of the vehicle body is reversed, the second detected portion is detected by the detector, and then the second detected portion is detected. When the first detected portion is detected, the vehicle body is stopped.

In the present invention, the spraying device automatically reciprocates between the first detected unit and the second detected unit to execute the first operation mode and the second operation mode.

The spraying device according to the present invention includes a transport unit that carries the vehicle body in a direction intersecting the front-rear direction.

In the present invention, after executing the first operation mode and the second operation mode, the vehicle body is moved by the transport unit, and the vehicle body is moved to the row where the spraying work is not performed.

The spraying device according to the present invention includes a transport unit that carries the vehicle body in a direction intersecting the front-rear direction, and the transport unit is provided with the first detection unit.

In the present invention, by providing the first detected unit in the transport unit, it is not necessary to provide a large number of first detected units corresponding to each row.

In the spraying apparatus according to the present invention, the second operation mode can be selected after the end of the first operation mode, or the first operation mode can be selected after the end of the second operation mode. After spraying the crops placed in front of the work aisle, the worker simply operates the reception section and places them behind the work aisle without rotating the car body. It is possible to perform spraying work on the crops that have been harvested. Or, for crops placed behind the work aisle, after spraying, simply operate the reception section and the crops placed in front of the work aisle without rotating the car body. However, spraying work can be performed.

It is a perspective view which shows schematic of the spraying apparatus which concerns on Embodiment 1. FIG. It is a left side view which shows the spraying apparatus. It is a top view which shows the spraying apparatus. It is a top view which shows the structure in a house. It is a block diagram which shows the structure in the vicinity of the control part of a spraying apparatus. It is a flowchart explaining the spraying process by FPGA. It is a top view which shows the structure in the spraying apparatus and a house which concerns on Embodiment 2. It is a top view which shows the structure in the spraying apparatus and a house.

(Embodiment 1)
Hereinafter, the present invention will be described with reference to the drawings showing the spraying apparatus according to the first embodiment. In the following description, the top, bottom, front, back, left, and right shown in the figure are used. 1 is a perspective view illustrating the spraying device, FIG. 2 is a left side view illustrating the spraying device, and FIG. 3 is a plan view illustrating the spraying device. The spraying device includes a rectangular cuboid vehicle body 1, and the vehicle body 1 extends in the front-rear direction. The front part of the vehicle body 1 has a shorter left-right width than the rear part. Two axles 2 and 2 with the left-right direction as the axial direction penetrate the lower part of the vehicle body 1 and line up in the front-rear direction. Wheels 3 are provided at both ends of the axle 2.

The wheel 3 includes an inner ring 3a and an outer ring 3b arranged in the axial direction. The diameter of the inner ring 3a is shorter than the diameter of the outer ring 3b. The outer peripheral portion of the outer ring 3b is made of an elastic material, for example, a rubber material. The outer peripheral portion of the inner ring 3a is made of a hard material, for example, a plastic material. A handle 4 is provided on the rear surface of the vehicle body 1. The handle 4 projects upward. The wheels 3 are configured so that they cannot be steered, and can only move straight ahead. When the vehicle body 1 travels on the ground, the outer ring 3b is in contact with the ground and the inner ring 3a is not in contact with the ground. As shown in FIGS. 2 and 3, when the vehicle body 1 moves on the rail 31 installed in the field, the inner ring 3a is in contact with the rail 31, the outer ring 3b is separated from the ground, and is arranged outside the rail 31.

An operation unit 5 having a plurality of switches is attached to the handle 4 via an attachment member. The operation unit 5 accepts the operation of the operator. For example, the operator operates the operation unit 5 to select the first operation mode or the second operation mode described later. A plurality of power sources 6, for example, batteries are attached to the operation unit 5. A power supply board may be used instead of the battery, and power may be supplied to the power supply board from, for example, a commercial power source.

As shown in FIGS. 2 and 3, a connection port 11 for connecting a flow pipe (not shown) through which a chemical solution flows is provided at the rear of the vehicle body 1. The flow pipe is connected to a pump (not shown) that delivers the chemical solution. A support rod 7 is provided at the front portion of the vehicle body 1. The support rod 7 extends upward, and a hinge 8 is provided in the middle of the support rod 7. The support rod 7 can be bent with the hinge 8 as the center of rotation. Two flexible tubes 9 are arranged along both sides of the support rod 7.

One end of the tube 9 is connected to the vehicle body 1. A pipe (not shown) through which the chemical solution flows is provided in the vehicle body 1, and the pipe connects the connection port 11 and one end of the tube 9. The tube is provided with a solenoid valve 17 (see FIG. 4), which will be described later. The other end of the tube 9 is closed. The tube 9 is provided with a plurality of electrostatic nozzles 10 for spraying the chemical solution. As shown in FIG. 2, a magnetic sensor 12 for detecting magnetism is provided on the front side of the bottom of the vehicle body 1.

FIG. 4 is a plan view illustrating the configuration inside the house 50. A work passage 52 extending to the left and right is provided in the house 50. On the front side of the work aisle 52, rows 51, 51, ..., 51 of a plurality of crops extending back and forth are lined up on the left and right. Hereinafter, the row 51 of the crop is also simply referred to as the row 51. The two rails 31 and 31 are separated from each other by an appropriate length in the left-right direction. The separation distance between the two rails 31 and 31 is substantially equal to the axial separation distance between the two inner rings 3a and 3a provided on the same axle 2. Also on the rear side of the work aisle 52, rows 51, 51, ..., 51 of a plurality of crops extending back and forth are lined up on the left and right, and between the two adjacent rows 51, 51, front and back. Two extending rails 31, 31 are provided. The rail 31 on the front side of the work passage 52 and the rail 31 on the rear side of the work passage 52 correspond to each other in the left-right direction.

A first magnet 41 and a second magnet 42 are provided between the two rails 31 and 31 on the front side of the work passage 52. The first magnet 41 is provided at the rear end of the rail 31, that is, near the end on the work passage 52 side, and the second magnet 42 is at the front end of the rail 31, that is, the opposite end of the work passage 52. It is provided near the part.

A third magnet 43 and a fourth magnet 44 are provided between the two rails 31 and 31 on the rear side of the work passage 52. The third magnet 43 is provided at the front end of the rail 31, that is, near the end on the work passage 52 side, and the fourth magnet 44 is at the rear end of the rail 31, that is, the opposite end of the work passage 52. It is provided near the part. The first magnet 41 to the fourth magnet 44 are buried in the ground. The first magnet 41 to the fourth magnet 44 may be installed on the ground.

FIG. 5 is a block diagram illustrating a configuration in the vicinity of the control unit 15 of the spraying device. The spraying device includes a motor 16 for driving the wheels 3, an electromagnetic valve 17 for opening and closing the pipe, and a control unit 15 for controlling the driving of the solenoid valve 17 and the motor 16. The rotation of the motor 16 is transmitted to each axle 2 via a speed reducer (not shown) and a transmission member. The control unit 15 includes an FPGA 15a (Field Programmable Gate Array), a storage unit 15b, and a timer 15c. The storage unit 15b has, for example, a non-volatile memory or a volatile memory. The storage unit 15b has a first program that executes a first operation mode in which the vehicle body 1 is advanced and then moved backward, and a second program that executes a second operation mode in which the vehicle body 1 is moved backward and then moved forward. It is remembered.

A processor, for example, a CPU (Central Processing Unit) or an MPU (Micro Processing Unit) may be used instead of the FPGA 15a. Output signals from the operation unit 5 and the magnetic sensor 12 are input to the control unit 15. The FPGA 15a outputs a forward signal, a reverse signal or a stop signal to the motor 16, and outputs an open / close signal to the solenoid valve 17.

The spraying process in which the spraying device sprays the chemical solution in the house 50 will be described. It is assumed by the operator that the inner ring 3a of the front wheel 3 in the spraying device is arranged at a position facing the rear ends of the two rails 31 arranged on the front side of the work passage 52, and the solenoid valve 17 is provided. It is assumed that the magnetic sensor 12 is closed, the magnetic sensor 12 is arranged behind the first magnet 41, and the motor 16 is stopped.

FIG. 6 is a flowchart illustrating the spraying process by the FPGA 15a. The FPGA 15a takes in the signal from the operation unit 5 and determines whether or not the first operation mode is selected (step S1). When the first operation mode is selected (step S1: YES), the FPGA 15a captures the signal from the operation unit 5 and determines whether or not the movement start signal has been input (step S2). When the movement start signal is not input (step S2: NO), the FPGA 15a stands by. When the movement start signal is input (step S2: YES), the FPGA 15a outputs a forward signal to the motor 16 (step S3). The motor 16 rotates in the forward direction, the inner ring 3a moves on the rail 31, and the vehicle body 1 moves forward.

The FPGA 15a determines whether or not the magnetism is detected twice (step S4). That is, after detecting the first magnet 41, it is determined whether or not the second magnet 42 is further detected. When the first magnet 41 and the second magnet 42 are detected, the vehicle body 1 is considered to be located at the front end of the row 51 of the crops on the front side of the work passage 52. If the magnetism is not detected twice (step S4: NO), the FPGA 15a stands by. If the magnetism is not detected twice, it is considered that the vehicle body 1 has not reached the front end of the row 51. For example, it is conceivable that the vehicle body 1 is located between the first magnet 41 and the second magnet 42. When magnetism is detected, the FPGA 15a stores information indicating that magnetism has been detected in the storage unit 15b. The storage unit 15b stores the information in which the magnetism is detected for the first time and the information in which the magnetism is detected for the second time. When the magnetism is detected twice (step S4: YES), the FPGA 15a determines whether or not a predetermined time, for example, 2 to 5 seconds has elapsed by the timer 15c (step S5).

If the predetermined time has not elapsed (step S5: NO), the FPGA 15a waits. By waiting for a predetermined time, the vehicle body 1 can move to the front side of the second magnet 42, and the vehicle body 1 can be positioned at the front end of the row 51 of the crop or on the front side thereof. When the predetermined time has elapsed (step S5: YES), the FPGA 15a outputs a stop signal to the motor 16 and then outputs a reverse signal (step S6). The vehicle body 1 stops and moves backward. That is, the moving direction of the vehicle body 1 is reversed. At this time, the FPGA 15a clears the information stored in the storage unit 15b indicating that the magnetism is detected for the first time and the second time.

The FPGA 15a outputs an open signal to the solenoid valve 17 (step S7). The solenoid valve 17 opens, and the chemical solution is sprayed from the electrostatic nozzle 10. The spraying device performs spraying of the chemical solution while moving backward. The FPGA 15a determines whether or not the magnetism is detected twice (step S8). That is, after detecting the second magnet 42, it is determined whether or not the first magnet 41 is further detected. When the second magnet 42 and the first magnet 41 are detected, the vehicle body 1 is considered to be located at the rear end of the row 51 of the crops on the front side of the work passage 52.

If the magnetism is not detected twice (step S8: NO), the FPGA 15a stands by. If the magnetism is not detected twice, it is considered that the vehicle body 1 has not reached the rear end of the row 51. For example, it is conceivable that the vehicle body 1 is located between the first magnet 41 and the second magnet 42. When magnetism is detected twice (step S8: YES), the FPGA 15a determines whether or not a predetermined time, for example, 2 to 5 seconds has elapsed by the timer 15c (step S9). If the predetermined time has not elapsed (step S9: NO), the FPGA 15a waits. By waiting for a predetermined time, the vehicle body 1 can move to the rear side of the first magnet 41, and the vehicle body 1 can be positioned at the rear end of the row 51 of the crops or behind it. When the predetermined time has elapsed (step S9: YES), the FPGA 15a outputs a closing signal to the solenoid valve 17 (step S10) and outputs a stop signal to the motor 16 (step S11). The spraying device stops spraying the chemical solution and stops at the work passage 52. The FPGA 15a returns the process to step S1.

When the first operation mode is not selected in step S1 (step S1: NO), the FPGA 15a takes in the signal from the operation unit 5 and determines whether or not the second operation mode is selected (step S12). ). As described above, after executing steps S1 to 11, the spraying device is stopped in the work passage 52, and the spraying of the chemical solution is stopped. By selecting the second operation mode, the operator can continue to spray the chemical solution onto the row 51 of the crops arranged behind the work passage 52 without rotating the vehicle body 1. can.

When the second mode is selected (step S12: YES), the FPGA 15a captures the signal from the operation unit 5 and determines whether or not the movement start signal has been input (step S13). When the movement start signal is not input (step S13: NO), the FPGA 15a stands by. When the movement start signal is input (step S13: YES), the FPGA 15a outputs a reverse signal to the motor 16 (step S14). The motor 16 rotates in the reverse direction, the inner ring 3a moves on the rail 31, and the vehicle body 1 moves backward.

The FPGA 15a determines whether or not the magnetism is detected twice (step S15). That is, after detecting the third magnet 43, it is determined whether or not the fourth magnet 44 is further detected. When the third magnet 43 and the fourth magnet 44 are detected, the vehicle body 1 is considered to be located at the rear end of the row 51 of the crops behind the work passage 52. If the magnetism is not detected twice (step S15: NO), the FPGA 15a stands by. If the magnetism is not detected twice, it is considered that the vehicle body 1 has not reached the rear end of the row 51. For example, it is conceivable that the vehicle body 1 is located between the third magnet 43 and the fourth magnet 44. When the magnetism is detected twice (step S15: YES), the FPGA 15a determines whether or not a predetermined time, for example, 2 to 5 seconds has elapsed by the timer 15c (step S16).

If the predetermined time has not elapsed (step S16: NO), the FPGA 15a waits. By waiting for a predetermined time, the vehicle body 1 can move to the rear side of the fourth magnet 44, and the vehicle body 1 can be positioned at the rear end of the row 51 of the crops or behind it. When the predetermined time has elapsed (step S16: YES), the FPGA 15a outputs a stop signal to the motor 16 and then outputs a forward signal (step S17). The vehicle body 1 stops and moves forward. That is, the moving direction of the vehicle body 1 is reversed. At this time, the FPGA 15a clears the information stored in the storage unit 15b indicating that the magnetism is detected for the first time and the second time.

The FPGA 15a outputs an open signal to the solenoid valve 17 (step S18). The solenoid valve 17 opens, and the chemical solution is sprayed from the electrostatic nozzle 10. The spraying device performs spraying of the drug solution while advancing. The FPGA 15a determines whether or not the magnetism is detected twice (step S19). That is, after detecting the fourth magnet 44, it is determined whether or not the third magnet 43 is further detected. When the fourth magnet 44 and the third magnet 43 are detected, the vehicle body 1 is considered to be located at the front end of the row 51 of the crops behind the work passage 52.

If the magnetism is not detected twice (step S19: NO), the FPGA 15a stands by. If the magnetism is not detected twice, it is considered that the vehicle body 1 has not reached the front end of the row 51. For example, it is conceivable that the vehicle body 1 is located between the third magnet 43 and the fourth magnet 44. When the magnetism is detected twice (step S19: YES), the FPGA 15a determines whether or not a predetermined time, for example, 2 to 5 seconds has elapsed by the timer 15c (step S20). If the predetermined time has not elapsed (step S20: NO), the FPGA 15a waits. By waiting for a predetermined time, the vehicle body 1 can move to the front side of the third magnet 43, and the vehicle body 1 can be positioned at the front end of the row 51 of the crop or on the front side thereof. When the predetermined time has elapsed (step S20: YES), the FPGA 15a outputs a closing signal to the solenoid valve 17 (step S21) and outputs a stop signal to the motor 16 (step S22). The spraying device stops spraying the chemical solution and stops at the work passage 52. After that, the FPGA 15a returns the process to step S1. If the second operation mode is not selected in step S12 (step S12: NO), the FPGA 15a returns the process to step S1.

For example, after executing the first operation mode and the second operation mode, the operator grabs the handle 4, rotates the vehicle body 1 90 degrees to the right, advances the vehicle body 1 straight to the right, and is still spraying. Move the car body 1 to between no crops. Then, the vehicle body 1 is rotated 90 degrees to the left to execute the first operation mode and the second operation mode.

In the first operation mode described above, the solenoid valve 17 is opened when moving backward (see steps S6 and S7), but the solenoid valve 17 may be opened when moving forward (see step S3), and the chemical solution may be sprayed when moving forward. .. Further, in the second operation mode, the solenoid valve 17 is opened when moving forward (see steps S17 and S18), but the solenoid valve 17 may be opened when moving backward (see step S14) and the chemical solution may be sprayed when moving backward. That is, the spraying device can spray the chemical solution only when moving forward, only when moving backward, or when moving forward and backward.

The spraying device according to the first embodiment can select the second operation mode after the end of the first operation mode, or can select the first operation mode after the end of the second operation mode. After performing the spraying work on the crops arranged in front of the work aisle 52, the worker simply operates the reception unit and does not rotate the vehicle body 1 and is behind the work aisle 52. A spraying operation can be performed on the crops placed on the side. Alternatively, after spraying the crops placed behind the work aisle 52, the crops are placed on the front side of the work aisle 52 without rotating the vehicle body 1 simply by operating the reception unit. It is possible to perform spraying work on the crops that have been harvested.

Further, the spraying device can automatically reciprocate between the first magnet 41 and the second magnet 42 to execute the first operation mode. Further, the second operation mode can be executed by automatically reciprocating between the third magnet 43 and the fourth magnet 44.

The rail 31 may be a dedicated rail, or an existing configuration in the house 50, for example, a hot water pipe may be used as the rail 31. Further, instead of the magnetic sensor 12 and the first magnet 41 to the fourth magnet 44, a proximity sensor (for example, an optical sensor, a hall sensor, an ultrasonic sensor, etc.) and a dog may be used. Further, an internal combustion engine may be used instead of the motor 16.

(Embodiment 2)
Hereinafter, the present invention will be described with reference to the drawings showing the spraying apparatus according to the second embodiment. 7 and 8 are plan views illustrating the configuration inside the spray device and the house 50. Among the configurations according to the second embodiment, the same configurations as those of the first embodiment are designated by the same reference numerals, and detailed description thereof will be omitted.

The spraying device includes a movable carrier 19. The first magnet 41 and the third magnet 43 are provided on the carrier 19, and are arranged on opposite sides of each other. Two second rails 32, 32 are provided on the carrier 19. The two second rails 32, 32 are arranged substantially in parallel, and the first magnet 41 and the third magnet 43 are arranged between the two second rails 32, 32. The carrier 19 can move at least in a direction perpendicular to the second rail 32. The vehicle body 1 is placed on the transport table 19 and transported.

The vehicle body 1 is transported, for example, as follows. The inner ring 3a is placed on the second rail 32, and the vehicle body 1 is placed on the carrier 19. The carrier 19 is carried to the work passage 52, the first magnet 41 is arranged on the front side, the third magnet 43 is arranged on the rear side, and the position of the second rail 32 corresponds to the position of the rail 31 in the left-right direction. , A carrier 19 is installed. At this time, the second rail 32 extends in the front-rear direction.

The operator operates, for example, the operation unit 5 to execute the first operation mode and the second operation mode. The vehicle body 1 moves on the second rail 32 and the rail 31, and reciprocates back and forth. After executing the first operation mode and the second operation mode, the vehicle body 1 returns to the carrier 19. Then, the worker moves the vehicle body 1 between the rows 51 that have not been sprayed yet. At this time, the operator can move the carrier 19 in the left-right direction to move the vehicle body 1 between the rows 51 that have not yet been sprayed. For example, as shown by the arrow in FIG. 8, the vehicle body 1 can be moved to the right side.

In the spraying device according to the second embodiment, after executing the one operation mode and the second operation mode, the vehicle body 1 is moved by the transport table 19 without rotating the vehicle body 1 to the row 51 in which the spraying work is not performed. , The vehicle body 1 can be moved. Therefore, the rotation of the vehicle body 1 is a work that places a heavy load on the operator, but by using the transport table 19, this work can be reduced.

Further, since the first magnet 41 and the third magnet 43 are provided on the transport table 19, it is not necessary to provide the first magnet 41 and the third magnet 43 corresponding to each row 51, and the magnet to be installed in the field can be used. Can be reduced. It is not necessary to provide the second rail 32 on the transport table 19.

The embodiments disclosed this time should be considered to be exemplary in all respects and not restrictive. The technical features described in each example can be combined with each other and the scope of the invention is intended to include all modifications within the scope of the claims and the scope of the claims. Will be done.

1 Body 3 Wheels 3b Outer ring 3a Inner ring 5 Operation part (reception part)
10 Electrostatic nozzle 12 Magnetic sensor (detector)
15 Control unit 16 Motor (drive source)
19 Transport stand (transport section)
41 First magnet (first detected part)
43 Third magnet (first detected part)
42 Second magnet (second detected part)
44 Fourth magnet (second detected part)

Claims (4)

With the car body
A nozzle that sprays liquid attached to the vehicle body,
The wheels that are attached to the car body and are used to run on the rails,
The drive source that supplies power to the wheels and
A control unit that controls the drive of the drive source,
Acceptance of selection of a first operation mode in which the vehicle body is advanced and then moved backward without rotating the vehicle body and a second operation mode in which the vehicle body is moved backward and then moved forward without rotating the vehicle body. With the department
Equipped with
The rail extends from the aisle in a direction perpendicular to the aisle.
There is the passage on one end side of the rail,
A detector for detecting a detected portion arranged at a first position near one end of the rail and a detected portion arranged at a second position near the other end of the rail is provided.
When the wheel is arranged at a position facing one end of the rail in the passage and then starts traveling toward the other end of the rail, the control unit is in the first position by the detector. And when two detected parts arranged in the second position are detected, the moving direction of the vehicle body is reversed, and after the moving direction of the vehicle body is reversed, the first position and the second position are reversed by the detector. When two detected parts arranged in the above are detected, the vehicle body is stopped.
Atomizer. The wheel has a wheel portion for traveling on the ground and a wheel portion for traveling on rails.
When the ground traveling wheel portion travels on the ground, the rail traveling wheel portion does not come into contact with the ground, and when the rail traveling wheel portion travels on the rail, the ground traveling wheel portion is on the rail. Do not touch
The spraying device according to claim 1. The spray device according to claim 1 or 2, further comprising a transport unit that carries the vehicle body in a direction intersecting the front-rear direction. The spraying device according to claim 3 , wherein the transport unit is provided with the detected unit.

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