JPH1132600A - Soil color management irrigation system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide the affusion system enabling that anyone easily knows an affusion timing on the basis of the change in the color of soil due to the dryness of the soil, even when a man does always visually not watch the state of the soil in a site for affusion works necessary for the growth of plants. SOLUTION: This affusion system by the control of soil color comprises photographing the state of soil 3 with a site device 4, transmitting the obtained soil color image data through an ISDN 7, judging whether the transmitted soil color image data are whitened in comparison with preliminarily set standard soil image data by the use of an analyzer disposed in a central device 6, and subsequently outputting a control command from a central device 6 into the affusion device 14 of the site device 4 through the ISDN 7, when the soil image data are more whitened than the standard soil image data. Thus, the affusion device 14 of the site device 4 is operated to perform an affusion work for the soil 3.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention
The present invention relates to a soil color management watering system for growing plants by performing optimal watering according to the condition of the soil.

[0002]

2. Description of the Related Art In the fields of agriculture and horticulture, when controlling the growth of plants, the degree of drying of the soil varies depending on the season and weather, so that irrigation cannot be performed at regular intervals. Irrigation is performed at appropriate intervals while visually observing the condition of drying.

[0003]

However, in the above-mentioned conventional soil color management and watering method, it is difficult to reduce the production cost due to too much manpower, and the soil becomes too dry due to management mistakes. Problems such as being too wet have occurred.

[0004] Then, as a method for solving such a problem, an investigation was made on a conventionally proposed technique, and it was found that there was a "soil inspection apparatus" disclosed in Japanese Patent Publication No. 7-18868.

[0005] In the "soil examination device" shown in Japanese Patent Publication No. 7-18868, after the sampling tube 101 is penetrated into the ground to be surveyed as shown in FIG. While pulling out the collection tube 101, the chromaticity of the soil sample 104 in the collection tube 101 is measured by the chromaticity measuring device 103, γ rays are emitted from the density measuring device 105, and based on the reflected wave, the collection tube 101 is measured. The density of the soil sample 104 in the inside is measured, and each measurement result is input to the computer 107 via the interface 106,
Further, at a predetermined drawing interval, the N value measuring device 108 is operated to push the penetration rod 109 into the collection tube 101, and indicates the hardness of the soil sample 104 according to the rotating torque and the pushing pressure at that time. The N value is measured and input to the computer 107 via the interface 106, and the properties of the soil at each depth are determined based on the pull-out distance, the density of the soil, the chromaticity of the soil, and the N value. .

[0006] Thus, the determination of the type of soil at each depth corresponding to each pull-out distance and the calculation of the N value can be quickly and accurately performed at the work site without forcing the worker to perform particularly difficult work. So that even skilled workers without special skills or specialized knowledge can conduct soil surveys.

[0007] However, the following problems arise when attempting to control the irrigation of soil using this technique.

First, the color of the soil cannot be measured unless the sampling tube 101 is driven into the survey soil to a predetermined depth and a soil sample 104 is collected.
Applying such technology to fields used in agriculture,
If the color of the soil is frequently measured, the field may be full of holes and the function as the field may be impaired.

Further, in order to investigate the change in soil color, it is necessary to drive the sampling tube 101 into the investigation soil and to extract the same. Therefore, it is difficult to make this operation unmanned in terms of work safety. When checking the color, there is a problem that the worker must always be attached and placed.

[0010] Further, since it has only a function of comparing the soil color registered in advance with the soil color of the soil sample 104 obtained by the measurement operation, the change of the soil color is automatically recorded. Or cannot be displayed in a graph.

Furthermore, since there is no function for determining the degree of drying of the soil, there is a problem that the watering operation cannot be automatically performed at an optimum interval according to the degree of drying of the soil.

The present invention has been made in view of the above circumstances, and in claim 1, even if a person does not always visually observe the soil condition at the site for irrigation work necessary for growing a plant,
It is an object of the present invention to provide a soil color management irrigation system that allows anyone to easily know the timing of irrigation based on changes in soil color due to soil drying.

According to a second aspect of the present invention, there is provided a soil color management and irrigation system capable of not only knowing the degree of drying of soil but also performing appropriate irrigation by remote control, even at a location remote from the site. The purpose is.

According to the third aspect of the present invention, the processing for determining the degree of drying of the soil can be simplified, the processing for determining the degree of drying of the soil can be speeded up, and the determination criteria can be easily changed. It is an object of the present invention to provide a soil color management and irrigation system capable of setting an optimal judgment standard even in such soil.

According to the fourth aspect of the present invention, the state of the soil can be determined without using an expensive video imaging device or the like, whereby the cost of the entire system can be reduced and the terminal device side can be realized. It is an object of the present invention to provide a soil color management and irrigation system capable of reducing an installation space, simplifying operation of the system, and facilitating management of the system.

It is a further object of the present invention to provide a soil color management watering system that enables fine watering control according to the season and the type of plant.

[0017]

To achieve the above object, a soil color management irrigation system according to the present invention is provided.
In the following, an imaging device that performs color photographing of the soil to be managed, a drying degree determining unit that determines the degree of drying of the soil based on the RGB image obtained by the imaging device, and a determination unit that determines the degree of drying. And a watering device for watering the soil based on the result.

According to a second aspect of the present invention, in the soil color management and irrigation system according to the first aspect, the drying degree judging unit is arranged at a place distant from the imaging device, and is connected to the imaging device via a communication line. While the transmitted RGB image signal is received to determine the degree of drying of the soil, the determination result is transmitted to the watering device via the communication line to irrigate the soil.

Further, in claim 3, claim 1 or 2
In the soil color management irrigation system described in the above, the drying degree determination unit, the R pixel value, the G pixel value, and the B pixel value of the RGB image output from the imaging device, and the reference RGB image registered in advance It is characterized in that it is determined whether the soil is dry by comparing the R pixel value, the G pixel value, and the B pixel value, respectively.

According to a fourth aspect of the present invention, a soil surface color suitable for plant growth is stored as a reference color, and color detection is performed when the surface color of the soil to be managed is out of the range of the reference color. It is characterized by comprising a color sensor for generating a signal, and a control unit for controlling the watering device based on the color detection signal output from the color sensor.

According to a fifth aspect of the present invention, in the soil color management and watering system according to the fourth aspect, the watering by the watering device is stopped after a predetermined time has elapsed after the output of the color detection signal from the color sensor is stopped. A delay timer is provided.

According to a sixth aspect of the present invention, in the soil color management and irrigation system according to the fourth or fifth aspect, the surface color of the soil to be managed falls outside the range of the reference color and the color sensor An on-delay timer is provided for starting watering by the watering device after a predetermined time has elapsed from the point in time when the color detection signal is output from 31.

With the above arrangement, in the soil color management and irrigation system according to the first aspect, the imaging device takes color images of the soil to be managed, and based on the RGB images obtained by the imaging device, the degree of drying. The determination unit determines the degree of drying of the soil, based on the determination result, by watering the soil by a watering device, to perform a watering operation necessary for plant growth, a person at the site soil. Anyone can easily know the timing of irrigation based on the change in soil color due to the drying of the soil, even if the state of irrigation is not always visually observed.

According to a second aspect of the present invention, the drying degree judging unit is arranged at a place distant from the image pickup apparatus, and receives the RGB image signal transmitted from the image pickup apparatus via a communication line by the drying degree judging unit. Then, determine the degree of dryness of the soil, the determination result via the communication line,
By transmitting the water to the watering device and irrigating the soil, it is possible to know the degree of drying of the soil even at a place away from the site and to perform appropriate watering by remote control.

According to a third aspect of the present invention, the degree-of-dryness determination unit determines the R pixel value, the G pixel value, and the B pixel value of the RGB image output from the imaging device and the R pixel value of a reference RGB image registered in advance. By comparing the pixel value, the G pixel value, and the B pixel value with each other to determine whether the soil is dry, the process of determining the degree of soil dryness is simplified, and the degree of soil dryness is reduced. The speed of the determination process is increased, and the change of the determination criterion is facilitated so that the optimum determination criterion can be set for any soil.

According to the present invention, the color sensor outputs a color detection signal when the soil surface color to be managed is out of the range of the preset reference color. By controlling irrigation in accordance with the output of the color detection signal, it is possible to determine the state of the soil without using an expensive video imaging device or the like, thereby achieving a cost reduction of the entire system and a terminal device. The installation space on the side is reduced, the operation of the system is simplified, and the management of the system is facilitated.

According to a fifth aspect of the present invention, the irrigation is stopped after a lapse of a predetermined time after the output of the color detection signal from the color sensor is stopped, so that more irrigation than usual depending on the season or the type of the plant. Optimal irrigation control is possible even when necessary.

Further, in the sixth aspect, watering is started after a lapse of a predetermined time from the time when the surface color of the soil to be managed is out of the range of the reference color. Optimal irrigation control is possible even in the case of a plant that requires the above.

[0029]

FIG. 1 is a schematic diagram showing an embodiment of a soil color management and watering system according to the present invention.

The soil color management irrigation system 1 shown in FIG.
Is provided on the side of the soil 3 where the plant 2 to be managed is planted, and takes in information of the soil 3.
A central device 6 that is provided in a monitoring room 5 or the like and performs a process of irrigating water, etc., and manages the state of the soil 3 based on information from the local device 4. And an ISDN (integrated digital communication network) 7 for connecting the image forming apparatus, and as shown in the flowchart of FIG. Are supplied to the central unit 6 (steps ST1 to ST3), and the control commands and the like generated by the central unit 6 are transmitted to the ISDN 7
The water is sent upward, supplied to the on-site device 4, and the watering operation of the soil 3 is performed (steps ST4 to ST7).

The on-site device 4 includes a hut 8 arranged near the soil 3 to be managed and a hut 8 such as an upper side of the hut 8 where the entire soil 3 can be seen without being affected by rain and wind. Installed and specified shooting conditions (shooting magnification,
A digital video camera device 9 for color photographing the state of the soil 3 under the conditions such as a photographing direction, a process of transmitting soil image data obtained by the digital video camera device 9, and an irrigation instruction based on the received control command. Terminal device 1 that performs processing for generating a signal and outputting the signal, etc.
0, when the irrigation instruction signal is output from the terminal device 10, the solenoid valve 12 is arranged above the soil 3 and the solenoid valve 12 that allows the irrigation water supplied from the water supply pipe 11 to pass therethrough. An irrigation device 14 composed of an irrigation tube 13 for spouting supplied water for irrigation from holes formed in each part and spraying water on each part of the soil 3. The color of the soil 3 is photographed on the surface.
7 to the central unit 6 and to the ISDN 7
The irrigation device 14 is controlled based on a control command from the central device 6 supplied via the control unit 3 to spray water for irrigation onto the soil 3.

In this case, as shown in the block diagram of FIG. 3, the terminal device 10 takes in the video signal output from the digital video camera device 9 and converts it into video data that can be processed by a computer. A personal computer 16 that takes in video data output from the video capture 15 to create soil image data, converts soil image data obtained in this process into transmission data, and the like; A hard disk 17 used as a work area of the personal computer 16, a temporary storage area for data, a process of converting transmission data output from the personal computer 16 into transmission data for ISDN, and a process of converting input reception data. TA (Terminal) that performs processing to generate control commands And a process of converting ISDN transmission data output from the terminal adapter 18 into a high-bandwidth digital signal and transmitting it to the ISDN 7, a high-bandwidth digital signal supplied through the ISDN 7. (DSU) 19 for performing a process of converting the received data into reception data and supplying the data to the terminal adapter 18.

When a digital signal is supplied from the central unit 6 through the ISDN 7, the terminal device 10
Decode this digital signal, reproduce the control command,
Based on this control command, the digital video camera 9 is controlled to control the photographing magnification, the photographing direction, and the like, and the watering device 14 is controlled to start and stop the watering operation on the soil 3. In parallel with this operation, the image of the soil (soil image data) obtained by the digital video camera device 9 is converted into transmission data,
The data is sent out on the SDN 7 and supplied to the central unit 6.

The central unit 6 converts a high-band digital signal supplied via the ISDN 7 into reception data, converts the input ISDN transmission data into a high-band digital signal, and places the data on the ISDN 7. A DSU (Digital Service Unit) 20 for performing a transmission process and the like, a process for processing received data output from the digital service unit 20 to reproduce soil image data transmitted from the on-site device 4, and input control TA (terminal adapter) 21 for performing a process of converting a command into transmission data and supplying it to the digital service unit 20
A keyboard 22 that has necessary keys among various character keys, various function keys, and the like, and that, when operated by an operator, generates various commands, various data, and the like according to the operation contents; This keyboard 2
2, a process of capturing soil image data output from the terminal adapter 21 based on various commands output from the terminal adapter 2, a process of generating display data based on soil image data obtained by this process, and a process of generating soil image data. A control unit 23 that performs a file processing, various commands output from the keyboard 22, or a process of generating a control command based on an input image processing result, and stores a program that defines the operation of the control unit 23 Location and control unit 2
Hard disk 2 used as work area 3
4, a CRT 25 for displaying the contents of display data output from the control unit 23 on the screen, and taking in soil image data output from the control unit 23, performing image processing, and supplying the processing result to the control unit 23. An analysis unit 26 is provided.

The central unit 6 is operated by the operator to operate the keyboard 22 to input various commands,
Based on various data, the imaging condition data is generated and supplied to the on-site device 4 via the ISDN 7, and the soil image data supplied from the on-site device 4 via the ISDN 7 is taken in to obtain the soil image data. The transition of C
Display on RT25. In parallel with this operation, a preset threshold value is compared with soil image data, and it is determined whether or not the soil 3 is dry based on the comparison result. Display above. At this time, if the automatic irrigation instruction is set,
When it is determined that the soil 3 is dry, a control command is generated and supplied to the on-site device 4 via the ISDN 7 to cause the watering device 14 to perform a watering operation.

In this case, in the control unit 25 and the analysis unit 26, as shown in the flowchart of FIG. 4, the control unit 25 controls each R pixel value and each G pixel value constituting the soil image data supplied from the on-site device 4. , And the brightness of each B pixel value is automatically corrected to an arbitrary value to correct the brightness on the soil 3 side, and the corrected soil image data is added to the file with a date and an analysis time. While storing this in the hard disk 24 (steps ST10 and ST11).
Each soil image data stored in the hard disk 24 is arranged in a time series, and a change (change) of the soil image data indicating the state of the soil 3 is graphed, and a change in the degree of drying of the soil 3 is displayed on the CRT 25. (Step ST1
2, ST13). In parallel with this operation, each R pixel value and each G pixel value of the brightness-corrected soil image data obtained this time
The pixel value, each B pixel value, and a preset reference pixel value for each soil 3, for example, a reference R pixel value, a reference G pixel value, and a reference B pixel set as shown in the table of FIG. And the respective R pixel values, G pixel values,
And when the B pixel value is larger than the reference R pixel value, the reference G pixel value, and the reference B pixel value (when the soil 3 is whitened by drying than the reference degree of drying). It is determined that irrigation is necessary for No. 3 and the result of this determination is displayed on the CRT 25 (step ST14).

If the manual irrigation instruction is set, the control unit 23 generates an irrigation instruction based on the instruction from the operator, and supplies the irrigation instruction to the on-site device 4 via the ISDN 7. Is operated to irrigate the soil 3 for a predetermined period of time. Also,
If the automatic irrigation instruction is set, the control unit 25 automatically generates an irrigation command based on the analysis result of the analysis unit 26, and supplies the irrigation instruction to the on-site device 4 via the ISDN 7 so that the irrigation device 14 Is operated to irrigate the soil 3 for a predetermined period of time.

As described above, in this embodiment, the soil image data obtained by performing the color photographing of the state of the soil 3 by the on-site device 4 is transmitted to the ISDN 7, and the analysis unit 26 provided in the central device 6 is provided. With this, it is determined whether or not the soil image data is whitened from the preset reference soil image data. When the soil image data is whitened from the reference soil image data, the control command is generated by the central device 6 and , This is ISDN
7 so that the watering device 14 of the on-site device 4 is operated and the watering operation of the soil 3 is performed.
Even if a person does not always visually observe the condition of the soil 3 at the site, anyone can easily know the timing of irrigation based on the transition of the soil color due to the drying of the soil 3 (effect of claim 1). .

In this embodiment, the degree of drying of the soil 3 can be known even at a place away from the site, and appropriate watering can be performed by remote control. It is possible to collectively manage the state of the soil 3 on each site side (claim 2).
Effect).

In this embodiment, the R pixel value, the G pixel value, and the B pixel value constituting the soil image data obtained this time, and the preset reference R pixel value, reference G pixel The value is compared with the reference B pixel value, and it is determined whether or not the soil 3 is dry based on the comparison result. Therefore, the process of determining the degree of drying of the soil 3 is simplified, The process for determining the degree of drying of the soil 3 can be accelerated, and the determination criterion can be easily changed, so that the optimum determination criterion can be set for any soil 3. 3).

<Second Embodiment (Corresponding to Claims 4, 5, and 6)> FIG. 6 is a schematic configuration diagram showing a second embodiment of a soil color management and irrigation system according to the present invention.

The soil color management and irrigation system 27 shown in FIG.
Is a pillar 30 that is suspended from the soil 29 where the plant 28 to be managed is planted, and a standard color that is provided on the upper side of the pillar 30 and that is suitable for growing the plant. Soil 2 that is stored and managed
9 is a color sensor 3 that generates a color detection signal when the surface color is outside the range of the reference color (when the soil is whitened).
1, a control unit 32 which starts generation of an irrigation instruction signal when a color detection signal is output from the color sensor 31 and stops generation of an irrigation instruction signal when an OFF signal is input; When generation of the irrigation instruction signal is started by the control unit 32, this is detected, a timer is started, and when a predetermined time has elapsed, an off signal is generated, and this is transmitted to the control unit 32. An off-delay timer 33 for supplying water to the water supply, a solenoid valve 35 for passing water for irrigation supplied from a water supply pipe 34 when an irrigation instruction signal is output from the control unit 32, and a solenoid valve 35 disposed above the soil 29. A hose 36 for guiding the water for irrigation supplied through the solenoid valve 35 to each part, and the water for irrigation supplied via the hose 36 is spouted to spray water on each part of the soil 29. And a plurality of sprinklers 37.

In the soil color management and irrigation system 27, the color sensor 31 constantly monitors the surface color of the soil 29,
When the surface color is out of the range of the reference color, which is the soil surface color suitable for plant growth, a color detection signal is generated, and the color detection signal is output to the control unit 32. In the control unit 32,
In response to the input of the color detection signal, the solenoid valve 35 is opened, and water for irrigation is guided to each sprinkler 37 and sprinkled on the soil 29. When the water is sufficiently sprinkled and the surface color of the soil 29 falls within the reference range, the output of the color detection signal from the color sensor is stopped. The control unit 32 generates and outputs a close signal for the solenoid valve 35 when a fixed time set in the off-delay timer 33 has elapsed since the output of the color detection signal was stopped. Thereby, the solenoid valve 35 is closed and the irrigation is stopped.

As described above, in this embodiment, the color of the soil 29 is directly detected by the color sensor 31, and it is determined whether or not the soil 29 is dry based on the detection result.
Based on this determination result, the irrigation device 38 composed of the solenoid valve 35, the hose 36, and the sprinkler 37 is directly controlled to spray water for irrigation on the soil 29. It is possible to irrigate without installing, to reduce the cost of the whole system, to simplify the operation of the system, to facilitate the management of the system, and to make the condition of the soil 29 without resident people on the site side. The irrigation operation can be performed automatically at intervals according to.

Further, by adjusting the time set in the off-delay timer 33, it is possible to perform fine watering control according to the season and the type of plant.

Although the off-delay timer 33 is provided in the second embodiment shown in FIG. 6 to adjust the irrigation stop time, the irrigation start time may be adjusted.

In this case, in addition to adjusting only the watering start time, as shown in FIG. 7, in addition to the watering stop time described in the second embodiment, the watering start time is also adjusted. be able to. That is, in addition to the configuration of FIG.
An on-delay timer 40 is newly provided, and after a predetermined time has elapsed from the time when the surface color of the soil which is the color sensor management target is out of the range of the reference color and the color sensor 31 outputs the color detection signal, The control unit 3 receives the color detection signal of the sensor.
Feed to 2.

With this configuration, optimal irrigation control can be performed even for plants that are weak in humidification or that need to be dried to some extent.

[0049]

As described above, according to the present invention, according to the first aspect, a person does not always visually observe the condition of the soil on site because of the watering work necessary for growing the plant. However, anyone can easily know the timing of irrigation based on changes in soil color due to soil drying.

According to the second aspect of the present invention, it is possible to know the degree of dryness of the soil and to perform appropriate irrigation by remote control, even at a place away from the site.

According to the third aspect of the present invention, the process of determining the degree of drying of the soil can be simplified, and the process of determining the degree of drying of the soil can be speeded up. Even in such soil, an optimum criterion can be set.

According to the fourth aspect, the condition of the soil can be determined without using an expensive video camera or the like, whereby the cost of the entire system can be reduced and the installation on the terminal device side can be achieved. The space can be reduced, the operation of the system can be simplified, and the management of the system can be facilitated.

According to the fifth aspect of the present invention, the irrigation is stopped after a lapse of a predetermined time since the output of the color detection signal from the color sensor is stopped. Optimal irrigation control is possible even when irrigation is required.

Further, in the sixth aspect, watering is started after a lapse of a predetermined time from the time when the surface color of the soil to be managed is out of the range of the reference color. Optimal irrigation control is possible even for plants that need to be dried to some extent.

[Brief description of the drawings]

FIG. 1 is a schematic configuration diagram showing an embodiment of a soil color management irrigation system according to the present invention.

FIG. 2 is a flowchart showing an operation example of the soil color management irrigation system shown in FIG.

FIG. 3 is a block diagram illustrating a detailed circuit configuration example of a terminal device and a central device illustrated in FIG. 1;

FIG. 4 is a flowchart illustrating an operation example of a control unit and an analysis unit illustrated in FIG. 3;

FIG. 5 is a table showing an example of threshold values used in a control unit and an analysis unit shown in FIG. 3;

FIG. 6 is a schematic configuration diagram showing a second embodiment of the soil color management and irrigation system according to the present invention.

FIG. 7 is a schematic configuration diagram showing a modification of the second embodiment of the soil color management irrigation system according to the present invention.

FIG. 8 is a schematic configuration diagram showing an outline of a “soil inspection device” disclosed in Japanese Patent Publication No. Hei 7-18868.

[Explanation of symbols]

 1,27 Soil color management irrigation system 2,28 Plant 3,29 Soil 4 Field device 5 Monitoring room 6 Central device 7 ISDN 8 Hut 9 Digital video camera device (imaging device) 10 Terminal device 11 Water supply pipe 12,35 Solenoid valve 13 Irrigation tube 14 Irrigation device 15 Video capture 16 Personal computer 17, 24 Hard disk 18, 21 TA 19, 20 DSU 22 Keyboard 23 Control unit (Drying degree judging unit) 25 CRT 26 Analysis unit (Drying degree judging unit) 30 Prop 31 Color sensor 32 control unit 33 off-delay timer 34 water supply pipe 36 hose 37 sprinkler 40 on-delay timer

Claims (6)

[Claims] 1. An imaging device for taking a color image of a soil to be managed, a drying degree determining unit for determining a drying degree of the soil based on an RGB image obtained by the imaging device, And a watering device for watering the soil based on the determination result of the section. 2. The soil color management and irrigation system according to claim 1, wherein the drying degree determination unit is disposed at a location distant from the imaging device, and is an RGB image transmitted from the imaging device via a communication line. A soil color management watering system characterized by receiving a signal and determining the degree of drying of the soil, and transmitting the determination result to the watering device via the communication line to water the soil. 3. The soil color management and irrigation system according to claim 1, wherein the drying degree determining unit is configured to output an R pixel value, a G pixel value, and a B pixel value of an RGB image output from the imaging device. And comparing the R pixel value, the G pixel value, and the B pixel value of a pre-registered reference RGB image with each other to determine whether the soil is dry. system. 4. A color for storing a soil surface color suitable for plant growth as a reference color, and for generating a color detection signal when the surface color of the managed soil is outside the range of the reference color. A soil color management irrigation system, comprising: a sensor; and a control unit that controls the irrigation device based on the color detection signal output from the color sensor. 5. The soil color management and watering system according to claim 4, further comprising an off-delay timer for stopping watering by the watering device after a lapse of a predetermined time after the output of the color detection signal from the color sensor is stopped. A soil color management irrigation system characterized by the following. 6. The soil color management and irrigation system according to claim 4, wherein a surface color of the managed soil is out of a range of the reference color, and a color detection signal is output from the color sensor. An on-delay timer for starting watering by the watering device after a lapse of a predetermined time from the output time is provided.