Controller of filling device, filling device, control method of filling device and program

Abstract

To provide a controller of a filling device, a filling device, a control method of the filling device, and a program to reduce variation in the filling amount of liquid in a container while predicting with high accuracy the timing of outputting a closing command to a filling valve by means of feedforward control and feedback control.SOLUTION: A second drop forecast amount is calculated by correcting a first drop forecast amount based on a second drop correction amount obtained by substituting the amount of liquid supplied per unit of time into the second drop correction amount calculation formula. A filling accumulated amount, which is the accumulated amount of liquid supplied to a container, is calculated, and, based on a closing filling amount obtained by subtracting the second drop forecast amount calculated in the predetermined period from a set filling amount and on the filling accumulated amount, a closing command is output, and an actual drop amount, which is the amount of liquid from the time the closing command is output until a filling valve is closed, is calculated. A new first drop forecast amount is calculated by correcting the first drop forecast amount based on the first drop correction amount obtained by substituting the calculated actual drop amount and the second drop forecast amount at the time the closing command is output into a first drop correction amount calculation formula.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present disclosure relates to a control device for a filling device, a filling device, a control method for a filling device, and a program. [Background technology]

[0002] In a filling device for filling a container with a liquid such as a beverage, a flowmeter is inserted into a supply pipe connecting a tank for storing the liquid and a filling valve for filling the container with the liquid, and a predetermined amount of liquid is filled into the container while measuring the flow rate of the liquid flowing through the supply pipe with the flowmeter. Since the filling valve opens and closes by air pressure, for example, a time lag occurs between when an electrical close command is output to the filling valve and when the filling valve actually closes. Due to this time lag, the liquid continues to be filled into the container after the close command is output to the filling valve and until the filling valve actually closes. In this way, the amount of liquid filled after the timing when the close command is output to the filling valve is the so-called drop amount.

[0003] Since it is difficult to adjust the head amount, it is necessary to predict the head amount in advance in order to fill a container with a predetermined amount of liquid. If the head amount can be predicted accurately, a closing command can be output to the filling valve when the amount of liquid measured by the flow meter becomes the amount obtained by subtracting the predicted head amount from the predetermined amount, thereby filling the container with the predetermined amount of liquid.

[0004] However, since the amount of drop varies due to various disturbances, various techniques have been proposed so far as methods for predicting the amount of drop. For example, Patent Document 1 discloses a gravimetric filling device that fills a container with a beverage in two stages: a large pouring stage in which the flow rate of the beverage filled into the container is increased, and a small pouring stage in which the flow rate is decreased. In this gravimetric filling device, in order to solve the problem that the flow rate of the beverage changes when a temperature change occurs in the beverage being filled, the timing for switching from the large pouring stage to the small pouring stage and the timing for stopping the supply of the beverage are changed in consideration of the amount of change in the flow rate of the beverage and the amount of change in the amount of drop that accompanies the change.

[0005] Patent Document 2 discloses a fixed-volume filling device that measures the instantaneous flow rate of liquid flowing through a liquid supply pipe, calculates an integrated value of the liquid to be filled into a container by integrating the measured instantaneous flow rate, and adjusts the filling valve so that the calculated integrated value becomes a predetermined target value. In this fixed-volume filling device, a relationship between the instantaneous flow rate of the liquid flowing through the liquid supply pipe and a head correction value is preset, and the head correction value is determined from the measured instantaneous flow rate based on the relationship. When the value obtained by subtracting the head correction value from the target value becomes the integrated value, a command to close the filling valve is output. Note that the head correction value in Patent Document 2 is synonymous with the head amount described above.

[0006] In the fixed quantity filling device of Patent Document 2, when filling from multiple tanks simultaneously, the filling flow rate from each tank varies depending on the filling situation, making it time-consuming to set the drop correction value.To solve this problem, the device is configured to measure the amount of liquid filled into the container after filling is complete, to determine an actual drop correction value, and to rewrite the relationship between the instantaneous flow rate and the drop correction value based on the determined actual drop correction value. [Prior art documents] [Patent documents]

[0007] [Patent Document 1] JP 2007-047120 A [Patent Document 2] JP 2011-051624 A Summary of the Invention [Problem to be solved by the invention]

[0008] In the technology disclosed in Patent Document 1, a process such as solving simultaneous equations is performed to determine two timings for change, i.e., the timing for switching from the large pour stage to the small pour stage and the timing for stopping the supply of beverage. However, for the two stages of the large pour stage and the small pour stage disclosed in Patent Document 1, it is sufficient to solve a simultaneous linear equation with two unknowns, but if the stages increase, such as the small pour stage, the large pour stage, and the small pour stage, the simultaneous equations become more complex. If the simultaneous equations become more complex, the time required to find a solution also becomes longer accordingly. Therefore, there is a problem that it is difficult to apply the method to feedforward control, which requires high response performance, for example.

[0009] In addition, in the technology disclosed in Patent Document 1, either feedback control or feedforward control is selected and used as a control for changing the timing for switching from the large pouring stage to the small pouring stage and the timing for stopping the supply of the beverage. In contrast, in order to fill a container with a predetermined amount of liquid more accurately, it is desirable to perform both feedback control and feedforward control.

[0010] In the technology disclosed in Patent Document 2, a head correction value corresponding to an instantaneous flow rate is selected by feedforward control, while a relationship between the instantaneous flow rate and the head correction value is updated by feedback control. However, the method of updating the relationship between the instantaneous flow rate and the head correction value is such that, if the previous head correction value is "0", the actual head correction value is used as the new head correction value, and, if the previous head correction value is not "0", the average value of the previous head correction value and the actual head correction value is used as the new head correction value. Therefore, for example, if there is a large difference between the previous head correction value and the actual head correction value, the new head correction value fluctuates greatly, and there is a problem that there is a large variation in the amount of liquid filled into the container until the head correction value converges.

[0011] The present disclosure has been made to solve the above-mentioned problems, and aims to provide a control device for a filling device, a filling device, a control method for a filling device, and a program that reduce variation in the amount of liquid filled in a container while using feedforward control and feedback control to predict with high accuracy the timing for outputting a closing command to the filling valve. [Means for solving the problem]

[0012] In order to solve the above problems, a control device for a filling device according to the present disclosure is a control device for a filling device including a filling valve for filling a container with liquid, and a control device for controlling opening and closing of a passage in the filling valve through which the liquid flows, the control device including a supply amount calculation unit for calculating an amount of liquid supplied per unit time to the container, a second predicted drop amount calculation unit for calculating a second predicted drop amount by correcting a first predicted drop amount based on a second drop correction amount obtained by substituting the amount of liquid supplied per unit time calculated by the supply amount calculation unit into a second drop correction amount calculation formula, and a second predicted drop amount calculation unit for calculating an integrated filling amount, which is an integrated amount of the liquid supplied to the container, and setting a predetermined set filling amount. a filling volume management unit that outputs the closure command and calculates an actual drop amount, which is the amount of liquid from when the closure command is output until the filling valve is closed, based on the accumulated filling volume and a closed filling volume obtained by subtracting the second drop predicted amount calculated by the second drop predicted amount calculation unit during a predetermined period before a closure command is output to the filling valve, and a first drop predicted amount calculation unit that corrects the first drop predicted amount to calculate a new first drop predicted amount based on a first drop correction amount obtained by substituting the actual drop amount calculated by the filling volume management unit and the second drop predicted amount at the time the closure command is output into a first drop correction amount calculation formula.

[0013] A filling device according to the present disclosure is a filling device including a filling valve for filling a container with liquid, and a control device for controlling opening and closing of a passage in the filling valve through which the liquid flows, wherein the control device includes a supply amount calculation unit for calculating an amount of liquid supplied to the container per unit time, a second predicted drop amount calculation unit for calculating a second predicted drop amount by correcting a first predicted drop amount based on a second drop correction amount obtained by substituting the amount of liquid supplied per unit time calculated by the supply amount calculation unit into a second drop correction amount calculation formula, and a filling integrated amount which is an integrated amount of the liquid supplied to the container, and a closing command based on a predetermined set filling amount. The system includes a filling volume management unit that outputs the closure command and calculates an actual drop amount, which is the amount of liquid from when the closure command is output until the filling valve is closed, based on the accumulated filling volume and a closed filling volume obtained by subtracting the second drop predicted amount calculated by the second drop predicted amount calculation unit during a predetermined period before output to the filling valve, and a first drop predicted amount calculation unit that corrects the first drop predicted amount based on a first drop correction amount obtained by substituting the actual drop amount calculated by the filling volume management unit and the second drop predicted amount at the time the closure command is output into a first drop correction amount calculation formula to calculate a new first drop predicted amount.

[0014] A control method for a filling device according to the present disclosure is a control method for controlling opening and closing of a passage in a filling valve through which liquid flows in a filling device equipped with a filling valve for filling a container with liquid, the control method including a supply amount calculation step of calculating an amount of liquid supplied per unit time to the container, a second drop prediction amount calculation step of calculating a second drop prediction amount by correcting a first drop prediction amount based on a second drop correction amount obtained by substituting the amount of liquid supplied per unit time calculated in the supply amount calculation step into a second drop correction amount calculation formula, and calculating an integrated filling amount, which is an integrated amount of the liquid supplied to the container, and calculating an integrated filling amount from a predetermined set filling amount during a predetermined period before outputting a close command to the filling valve. the closing command output step of outputting the closing command based on the closing filling volume obtained by subtracting the second drop predicted amount calculated in the second drop predicted amount calculation step from the accumulated filling volume, the closing command being output based on the accumulated filling volume; an actual drop calculation step of calculating an actual drop which is the volume of liquid from when the closing command is output in the closing command output step to when the filling valve is closed; and a first drop predicted amount calculation step of correcting the first drop predicted amount based on a first drop correction amount obtained by substituting the actual drop calculated in the actual drop calculation step and the second drop predicted amount at the time when the closing command was output into a first drop correction amount calculation formula to calculate a new first drop predicted amount.

[0015] A program according to the present disclosure includes a computer used as the control device in a filling device including a filling valve for filling a container with liquid and a control device for controlling opening and closing of a passage in the filling valve through which liquid flows, the computer comprising: a supply amount calculation means for calculating a supply amount of liquid per unit time to the container; a second drop prediction amount calculation means for calculating a second drop prediction amount obtained by correcting a first drop prediction amount based on a second drop correction amount obtained by substituting the supply amount of liquid per unit time calculated by the supply amount calculation means into a second drop correction amount calculation formula; a filling integrated amount which is an integrated amount of the liquid supplied to the container, and a closing command for the filling integrated amount based on a predetermined set filling amount. The program functions as a filling volume management means that outputs the closure command and calculates an actual drop, which is the amount of liquid from when the closure command is output until the filling valve is closed, based on the closed filling volume obtained by subtracting the second drop predicted amount calculated by the second drop predicted amount calculation means during a predetermined period before output to the filling valve and the accumulated filling volume; and a first drop predicted amount calculation means that corrects the first drop predicted amount to calculate a new first drop predicted amount based on a first drop correction amount obtained by substituting the actual drop calculated by the filling volume management means and the second drop predicted amount at the time the closure command was output into a first drop correction amount calculation formula. Effect of the Invention

[0016] According to the filling device control device, filling device, filling device control method, and program disclosed herein, it is possible to reduce variation in the amount of liquid filled in a container while predicting with high accuracy the timing for outputting a closing command to the filling valve through feedforward control and feedback control. [Brief description of the drawings]

[0017] [Figure 1] 1A and 1B are schematic diagrams and a block diagram illustrating a configuration example of a filling device according to an embodiment of the present disclosure. [Diagram 2] 13 is a flowchart showing an example of the operation of a filling process control unit and a first drop predicted amount calculation unit according to the embodiment of the present disclosure. [Diagram 3]10 is a flowchart illustrating an example of the operation of a supply amount calculation unit according to an embodiment of the present disclosure. [Figure 4] 13 is a flowchart showing an example of operation of a second drop predicted amount calculation unit according to the embodiment of the present disclosure. [Diagram 5] 5 is a flowchart illustrating an example of the operation of a filling amount management unit according to an embodiment of the present disclosure. [Figure 6] 11 is a graph showing an example of a change in flow rate of a liquid filled into a container by a filling valve according to an embodiment of the present disclosure. [Figure 7] FIG. 1 is a schematic block diagram illustrating a configuration of a computer according to at least one embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0018] Hereinafter, a control device for a filling device, a filling device, a control method for a filling device, and a program according to an embodiment of the present disclosure will be described with reference to FIGS. 1 to 7. FIG. 1 is a schematic diagram and a block diagram showing a configuration example of a filling device 1 according to an embodiment of the present disclosure. FIG. 2 is a flowchart showing an operation example of a filling process control unit 31 and a first drop prediction amount calculation unit 32 according to an embodiment of the present disclosure. FIG. 3 is a flowchart showing an operation example of a supply amount calculation unit 41 according to an embodiment of the present disclosure. FIG. 4 is a flowchart showing an operation example of a second drop prediction amount calculation unit 33 according to an embodiment of the present disclosure. FIG. 5 is a flowchart showing an operation example of a filling amount management unit 42 according to an embodiment of the present disclosure. FIG. 6 is a graph showing an example of a change in the flow rate of a liquid filled into a container 60 by a filling valve 20 according to an embodiment of the present disclosure. FIG. 7 is a schematic block diagram showing a configuration of a computer according to at least one embodiment. In addition, the same reference numerals are used for the same or corresponding configurations in each drawing, and the description is omitted as appropriate.

[0019] <Overall configuration of the filling device> As shown in Figure 1, the filling device 1 includes a control device 2, a frame 5, a tank 6, a flow meter 7, supply pipes 8-1, 8-2, a temperature sensor 9, a filling valve 20, and a container stand 10, and fills a container 60 placed on the container stand 10 with a liquid, such as a beverage.

[0020] Tank 6 is installed on frame 5 and stores liquid. Temperature sensor 9 detects the temperature of the liquid stored in tank 6. One end of supply pipe 8-1 is connected to an opening provided on the bottom surface of tank 6, and the other end is connected to an inlet opening of flowmeter 7. One end of supply pipe 8-2 is connected to an outlet opening of flowmeter 7. The liquid stored in tank 6 flows out into supply pipe 8-1 and flows into flowmeter 7. The liquid that flows into flowmeter 7 passes through flowmeter 7 and flows out into supply pipe 8-2.

[0021] The flowmeter 7 is, for example, an electromagnetic flowmeter, and measures the volume of liquid passing through. The flowmeter 7 outputs one pulse of an electric signal when, for example, a predetermined volume of liquid passes through. Therefore, by counting the number of pulses output by the flowmeter 7 and multiplying the counted number of pulses by the predetermined volume, the volume of liquid passing through the flowmeter 7 can be calculated.

[0022] The filling valve 20 comprises a filling valve body 21 and a drive unit 28. The filling valve body 21 is provided with a hollow passage 25 through which the liquid passes. The passage 25 is formed, for example, from an upper cylindrical portion with a large diameter, a lower cylindrical portion with a small diameter, and a cone-shaped portion connecting these two cylindrical portions. The lower end of the small-diameter cylindrical portion of the passage 25 is open, and hereinafter this opening portion is referred to as an outlet opening 26. An inlet opening 24 is provided on the side surface of the large-diameter cylindrical portion of the passage 25, and the other end of the supply pipe 8-2 is connected to the inlet opening 24.

[0023] The valve rod 22 and the valve body 23, which is connected to the lower end of the valve rod 22 so as to be integral with the valve rod 22, are inserted into the passage 25. The valve body 23 is formed, for example, of a cylindrical part and a tip part, and the shape of the tip part is a shape that fits into the mortar-shaped part of the passage 25, for example, a cone or a truncated cone shape. The diameter of the cylindrical part of the valve body 23 is shorter than the diameter of the cylindrical part of the passage 25 with a larger diameter and longer than the diameter of the cylindrical part of the passage 25 with a smaller diameter. The shape of the valve rod 22 is, for example, cylindrical, and the diameter is equal to or shorter than the diameter of the cylindrical part of the valve body 23. In addition, a packing is attached to the tip part of the valve body 23, for example.

[0024] The valve rod 22 moves vertically in the passage 25. The upper end of the passage 25 of the filling valve body 21 is sealed with a packing or the like so that the valve rod 22 can move smoothly vertically and liquid does not leak from the upper end of the passage 25. When the valve rod 22 descends and the tip of the valve body 23 fits into the cone-shaped part of the passage 25, the packing attached to the tip of the valve body 23 divides the space in the passage 25, and the liquid flowing in from the inlet opening 24 does not flow out from the outlet opening 26. That is, the filling valve 20 is closed. Also, by adjusting the vertical position of the valve rod 22, the size of the space between the tip of the valve body 23 and the cone-shaped part of the passage 25 can be adjusted, and the amount of liquid flowing out from the outlet opening 26 can be adjusted.

[0025] The drive unit 28 is attached to the upper part of the filling valve body 21. The drive unit 28 includes, for example, an air cylinder having a shaft 27 and a mechanism for supplying and discharging air to the air cylinder. The upper end of the valve rod 22 is connected to the shaft 27. When the drive unit 28 receives, for example, a close command, it supplies air to the air cylinder to lower the shaft 27, the valve rod 22, and the valve body 23. When the drive unit 28 receives an open command, it supplies or discharges air according to the opening degree included in the open command to move the shaft 27, the valve rod 22, and the valve body 23 to a position corresponding to the opening degree. A container 60 is placed on the container stand 10, and the container stand 10 transports the container 60. When the container 60 is transported to a predetermined position, it rises. As a result, the outlet opening 26 is inserted into the opening of the container 60.

[0026] The control device 2 includes a main control device 3 and an individual control device 4. The individual control device 4 includes a temperature acquisition unit 40, a supply amount calculation unit 41, and a filling amount management unit 42. The temperature acquisition unit 40 is connected to the temperature sensor 9 via a control line 52, and upon receiving a temperature acquisition request signal from another functional unit, acquires the temperature of the liquid detected by the temperature sensor 9 and transmits a temperature acquisition response signal including the acquired temperature to the functional unit that is the source of the temperature acquisition request signal.

[0027] The supply amount calculation unit 41 takes in the pulses output by the flowmeter 7. For each predetermined measurement cycle, the supply amount calculation unit 41 calculates the weight of the liquid passing through the flowmeter 7 per unit time, in other words, the supply amount of the liquid supplied to the container 60 per unit time, based on the number of pulses taken in one measurement cycle, the time of the measurement cycle, a predetermined volume, and the density of the liquid.

[0028] The filling amount management unit 42 takes in the pulses output by the flowmeter 7. Based on the number of taken-in pulses, the predetermined volume, and the density of the liquid, the filling amount management unit 42 repeatedly calculates the total weight of the liquid that has passed through the flowmeter 7 since the start of filling, that is, the accumulated filling amount. The filling amount management unit 42 outputs a close command to the drive unit 28 based on the closed filling amount obtained by subtracting the second drop correction amount from the preset filling amount, which is a predetermined set filling amount, and the accumulated filling amount. The filling amount management unit 42 calculates the actual drop amount, which is the weight of the liquid from the output of the close command until the filling valve 20 is closed. The filling amount management unit 42 outputs an open command including the opening degree indicated in data indicating a change pattern of the opening degree of the filling valve 20 (hereinafter referred to as change pattern data) to the drive unit 28 at the timing indicated in the change pattern data. As a result, the supply amount of the liquid per unit time supplied to the container 60 changes according to the change pattern data.

[0029] The main control device 3 includes an operation unit 30, a filling process control unit 31, a first predicted drop amount calculation unit 32, a second predicted drop amount calculation unit 33, and a memory unit 34. The operation unit 30 receives various operations by a user of the filling device 1 and performs various processes corresponding to each of the various operations. The filling process control unit 31 performs various control processes in the filling device 1. For example, the filling process control unit 31 transmits a temperature acquisition request signal to the temperature acquisition unit 40 of the individual control device 4, and calculates the density of the liquid stored in the tank 6 based on the temperature included in the received temperature acquisition response signal.

[0030] The first drop prediction amount calculation unit 32 corrects the first drop prediction amount stored in the memory unit 34 based on the first drop correction amount obtained by substituting the actual drop amount stored in the memory unit 34 and the second drop prediction amount into a predetermined first drop correction amount calculation formula, to obtain a new first drop prediction amount.

[0031] The second drop prediction amount calculation unit 33 calculates a second drop prediction amount by correcting the first drop prediction amount stored in the memory unit 34 based on the second drop correction amount obtained by substituting the liquid supply amount per unit time calculated by the supply amount calculation unit 41 into a predetermined second drop correction amount calculation formula.

[0032] The memory unit 34 stores the K factor, which is the reciprocal of the specified capacity of the flow meter 7, the set filling volume, the actual drop calculated by the filling volume management unit 42, the change pattern data, the liquid density calculated by the filling process control unit 31, the coefficients of the first drop correction amount calculation formula, the coefficients and constants of the second drop correction amount calculation formula, the first drop predicted amount, the second drop predicted amount, etc.

[0033] The main control device 3 and the individual control devices 4 are connected via a control line 51. The control line 51 may be, for example, a wired communication line such as a LAN (Local Area Network) or a wireless communication line. Mutual transmission and reception is possible between the filling process control unit 31 and each of the temperature acquisition unit 40 and the filling amount management unit 42, between the second drop prediction amount calculation unit 33 and the supply amount calculation unit 41, and between the second drop prediction amount calculation unit 33 and the filling amount management unit 42 via the control line 51.

[0034] <Filling process using filling equipment> The filling process by the filling device 1 will be described with reference to Figs. 2 to 6. Before the process shown in Fig. 2 is started, the user of the filling device 1 performs an input operation on the operation unit 30 to input the following data. That is, the user performs an input operation to set a deviation threshold value HI, a time threshold value Ti, a set filling amount Vsg which is the weight of the liquid to be filled into one container 60, change pattern data, and a threshold value Tma for determining a predetermined period of time, which are determined in advance. The user performs an input operation to set a K factor which is the reciprocal of the predetermined capacity of the flowmeter 7, which is known, and a reference density ρθ, a density correction slope dθ, and a reference temperature Tθ which are used when the filling process control unit 31 calculates the density of the liquid. The reference density ρθ, the density correction slope dθ, and the reference temperature Tθ are values ​​specified for each type of liquid.

[0035] The user performs an input operation to set a predetermined drop correction ratio Hr, which is a coefficient of the first drop correction amount calculation formula, a supply amount correction coefficient Ha and a supply amount correction constant Hb, which are coefficients and constants of the second drop correction amount calculation formula, and initial values ​​of each of the actual drop amount VHr, the first predicted drop amount Vca1, and the second predicted drop amount Vca2. Note that the initial values ​​of each of the actual drop amount VHr, the first predicted drop amount Vca1, and the second predicted drop amount Vca2 may be the same or different, and the initial values ​​are appropriately determined by the user based on past results, etc. When the operation unit 30 receives the input operation, it records the data received in response to the input operation in the storage unit 34.

[0036] Here, the weight is, for example, in "g" and the capacity is, for example, in "ml." Therefore, the units of the set filling amount Vsg, the actual drop amount VHr, the first predicted drop amount Vca1, and the second predicted drop amount Vca2 are "g," and the unit of the K factor is "1 / ml."

[0037] (Processing by the first drop prediction amount calculation unit and the filling process control unit) After performing the above-mentioned data input operation, the user performs a start instruction operation to instruct the operation unit 30 to start filling, and the operation unit 30 outputs a start instruction signal to the first predicted drop amount calculation unit 32. When the first predicted drop amount calculation unit 32 receives the start instruction signal from the operation unit 30, the processing of the flowchart in Fig. 2 is started.

[0038] The first drop prediction amount calculation unit 32 reads out the actual drop VHr, the second drop prediction amount Vca2, and the deviation threshold HI from the memory unit 34. The first drop prediction amount calculation unit 32 calculates the drop deviation amount by subtracting the read-out second drop prediction amount Vca2 from the read-out actual drop VHr (Sa1). The first drop prediction amount calculation unit 32 determines whether the calculated drop deviation amount is equal to or less than the read-out deviation threshold HI (Sa2).

[0039] If the first drop prediction amount calculation unit 32 determines that the drop deviation amount is not less than the deviation threshold value HI (Sa2, No), since the drop deviation amount is large, it does not perform any correction, maintains the first drop prediction amount Vca1 stored in the memory unit 34 as is, and outputs a start instruction signal to the filling process control unit 31 (Sa3).

[0040] On the other hand, when the first drop predicted amount calculation unit 32 determines that the drop deviation amount is equal to or less than the deviation threshold value HI (Sa2, Yes), it further reads out the first drop predicted amount Vca1 and the drop correction ratio Hr of the first drop correction amount calculation equation from the memory unit 34. The first drop predicted amount calculation unit 32 generates the following equation (1) using the read drop correction ratio Hr.

[0041] Vca1=Vca1_o+Hr (VHr-Vca2_o) (1)

[0042] In addition, in equation (1) and the equations shown below, “Vca1_o” and “Vca2_o” to which “_o” is added respectively indicate the first drop forecast amount Vca1 and the second drop forecast amount Vca2 stored in the memory unit 34.

[0043] In equation (1), "Hr·(VHr-Vca2_o)" on the right-hand side is the "first drop correction amount calculation formula" described above. In the first drop correction amount calculation formula, "VHr-Vca2_o" is the drop deviation calculated by first drop prediction amount calculation unit 32 in the processing of Sa1. In the first drop correction amount calculation formula, the unit of the drop correction ratio Hr is "%", and the user determines in advance what percentage of the drop deviation will be used as the correction value for the first drop prediction amount Vca1 without significantly changing the first drop prediction amount Vca1.

[0044] The first drop prediction amount calculation unit 32 calculates a first drop correction amount by substituting the drop deviation calculated in the processing of Sa1 into "VHr-Vca2_o" on the right side of the formula (1). The first drop prediction amount calculation unit 32 calculates a new first drop prediction amount Vca1 on the left side of the formula (1) by substituting the first drop prediction amount Vca1 read from the storage unit 34 into "Vca1_o" on the right side of the formula (1) and adding the substituted first drop prediction amount Vca1 and the first drop correction amount. As a result, the first drop prediction amount Vca1 is corrected by the actual drop amount VHr and the second drop prediction amount Vca2. The first drop prediction amount calculation unit 32 rewrites the first drop prediction amount Vca1 stored in the storage unit 34 to the newly calculated first drop prediction amount Vca1. The first drop predicted amount calculation unit 32 outputs a start instruction signal to the filling process control unit 31 (Sa4).

[0045] When the filling process control unit 31 receives a start instruction signal from the first drop predicted amount calculation unit 32, it performs the following process as pre-processing before starting the filling process. The filling process control unit 31 transmits a temperature acquisition request signal to the temperature acquisition unit 40 via the control line 51. When the temperature acquisition unit 40 receives the temperature acquisition request signal, it acquires the temperature of the liquid from the temperature sensor 9 and transmits a temperature acquisition response signal including the acquired temperature to the filling process control unit 31 via the control line 51. When the filling process control unit 31 receives the temperature acquisition response signal transmitted by the temperature acquisition unit 40, it reads out the temperature included in the temperature acquisition response signal and sets it as temperature Ta.

[0046] The filling process control unit 31 reads out the reference density ρθ, the density correction slope dθ, and the reference temperature Tθ from the storage unit 34. The filling process control unit 31 calculates the density ρ of the liquid based on the temperature Ta, the reference density ρθ, the density correction slope dθ, and the reference temperature Tθ by the following formula (2).

[0047] ρ = ρθ + dθ (Ta - Tθ) (2)

[0048] The filling process control unit 31 records the calculated density ρ in the memory unit 34. The filling process control unit 31 operates the container table 10, causes the container table 10 to transport the container 60 to a predetermined position, and raises the container table 10, thereby performing a process to insert the outlet opening 26 of the filling valve 20 into the opening of the container 60 (Sa5).

[0049] The filling process control unit 31 reads out the density ρ, the time threshold value Ti, and the K factor from the storage unit 34. The filling process control unit 31 transmits a start instruction signal including the read out density ρ, the time threshold value Ti, and the K factor to the supply amount calculation unit 41 via the control line 51. The filling process control unit 31 reads out the density ρ, the set filling amount Vsg, the change pattern data, the threshold value Tma for determining a predetermined period, and the K factor from the storage unit 34. The filling process control unit 31 transmits a start instruction signal including the read out density ρ, the set filling amount Vsg, the change pattern data, the threshold value Tma for determining a predetermined period, and the K factor to the filling amount management unit 42 via the control line 51 (Sa6). After that, the filling process control unit 31 waits to receive the actual drop amount VHr, the accumulated filling amount Vbr, and the second drop predicted amount Vca2 from the filling amount management unit 42. The process from Sa7 in FIG. 2 onward will be described later.

[0050] (Processing by supply amount calculation unit) When the supply amount calculation unit 41 receives the start instruction signal transmitted by the filling process control unit 31, it reads out the density ρ, the time threshold value Ti, and the K factor contained in the received start instruction signal. The supply amount calculation unit 41 records the read out density ρ, the time threshold value Ti, and the K factor in an internal storage area, and starts the process shown in Fig. 3. The supply amount calculation unit 41 includes an internal buffer, and when the process shown in Fig. 3 starts, it performs a process of accumulating the pulses output by the flowmeter 7 in the buffer in parallel with the process shown in Fig. 3.

[0051] The supply amount calculation unit 41 acquires the calculation period CYC of the individual control device 4. For example, the supply amount calculation unit 41 acquires a clock frequency from a CPU (Central Processing Unit) of the individual control device 4, and calculates the calculation period CYC from the acquired clock frequency. Here, the unit of the calculation period CYC is, for example, milliseconds (hereinafter, referred to as ms). The supply amount calculation unit 41 creates an area in an internal storage area for storing a time variable Tn and a pulse number variable Pn. The supply amount calculation unit 41 creates an area in an internal storage area for storing a pulse counter Pm used to count the number of pulses accumulated in the buffer, initializes the buffer, and initializes the pulse counter Pm to "0" (Sb1).

[0052] The supply amount calculation unit 41 initializes a time variable Tn and a pulse number variable Pn in an internal storage area to "0" (Sb2). The supply amount calculation unit 41 determines whether or not refilling is in progress (Sb3). For example, when the supply amount calculation unit 41 has not received a calculation end instruction signal from the filling amount management unit 42, it determines that refilling is in progress, and when the supply amount calculation unit 41 has received a calculation end instruction signal from the filling amount management unit 42, it determines that refilling is not in progress.

[0053] When the supply amount calculation unit 41 determines that filling is not in progress (Sb3, No), it ends the process. On the other hand, it is assumed that the supply amount calculation unit 41 determines that filling is in progress (Sb3, Yes). In this case, the supply amount calculation unit 41 adds the calculation cycle CYC to the time variable Tn in the internal storage area. The supply amount calculation unit 41 records the number of pulses stored in the buffer in the pulse counter Pm, and initializes the buffer. The supply amount calculation unit 41 adds the pulse counter Pm to the pulse number variable Pn, and initializes the pulse counter Pm to "0" (Sb4).

[0054] The supply amount calculation unit 41 judges whether the time variable Tn of the internal storage area is equal to or greater than the time threshold value Ti of the internal storage area (Sb5). When the supply amount calculation unit 41 judges that the time variable Tn is not equal to or greater than the time threshold value Ti (Sb5, No), it performs the process from Sb3 onwards again. On the other hand, when the supply amount calculation unit 41 judges that the time variable Tn is equal to or greater than the time threshold value Ti (Sb5, Yes), it calculates the weight of the liquid passing through the flowmeter 7 per unit time, that is, the supply amount Q of the liquid supplied to the container 60 per unit time, by the following formula (3) based on the density ρ of the internal storage area, the K factor, the time variable Tn, and the pulse number variable Pn.

[0055] Q = Pn 1000 / Tn (1 / K factor) ρ (3)

[0056] The reason for multiplying the right side of equation (3) by "1000" is that the unit of the time variable Tn is "milliseconds", whereas the unit of the supply amount Q of liquid per unit time is [g / sec]. The supply amount calculation unit 41 transmits the calculated supply amount Q to the second drop predicted amount calculation unit 33 via the control line 51 (Sb6). Thereafter, the supply amount calculation unit 41 again performs the processes from Sb2 onwards.

[0057] Here, since the calculation cycle CYC is generally a very short time, in the process of Sb5, the supply amount calculation unit 41 is highly likely to make a "Yes" determination at the timing when Tn coincides with the time threshold value Ti. In this case, if the time threshold value Ti is the measurement cycle, it can be considered that the supply amount calculation unit 41 calculates the supply amount Q of liquid per unit time supplied to the container 60 for each measurement cycle.

[0058] (Processing by the second drop prediction amount calculation unit) 4 when it receives the supply amount Q of liquid per unit time transmitted by the supply amount calculation unit 41. The second predicted drop calculation unit 33 reads out the first predicted drop Vca1 and the supply amount correction coefficient Ha and supply amount correction constant Hb of the second drop correction amount calculation formula from the storage unit 34. The second predicted drop calculation unit 33 generates the following formula (4) using the read supply amount correction coefficient Ha and supply amount correction constant Hb.

[0059] Vca2 = Vca1_o + Ha Q + Hb (4)

[0060] In equation (4), "Ha·Q+Hb" on the right-hand side is the above-mentioned "second drop correction amount calculation equation." If Vcal1_o, the first term on the right-hand side of equation (4), is transferred to the left-hand side, equation (4) becomes "Vca2-Vca1_o=Ha·Q+Hb," and this equation can be seen as an equation expressing the relationship, as a linear function, between the difference between the second drop prediction amount Vca2 and the first drop prediction amount Vca1, and the amount of liquid supplied per unit time Q.

[0061] The drop is the weight of liquid supplied to the container 60 from when the closing command is output until the filling valve 20 is closed. Therefore, there is a correlation between the drop and the amount of liquid supplied Q per unit time when the closing command is output. Therefore, based on the first drop prediction amount Vca1, the second drop prediction amount Vca2, and the amount of liquid supplied Q per unit time when the closing command is output, which are obtained in a filling process performed in the past, the user linearly approximates the relationship between the difference between the second drop prediction amount Vca2 and the first drop prediction amount Vca1 and the amount of liquid supplied Q per unit time, i.e., a linear function, and predetermines the slope of the linear function as the supply amount correction coefficient Ha and the intercept of the linear function as the supply amount correction constant Hb.

[0062] The second predicted drop calculation unit 33 calculates the second drop correction amount by substituting the received amount of liquid supply Q per unit time into "Ha·Q+Hb" on the right side of equation (4). The second predicted drop calculation unit 33 calculates the second predicted drop Vca2 by adding the substituted first predicted drop Vca1 and the second drop correction amount by substituting the first predicted drop Vca1 read from the storage unit 34 into "Vca1_o" on the right side of equation (4) (Sc1). This results in the second predicted drop Vca2 being obtained by correcting the first predicted drop Vca1 by the amount of liquid supply Q per unit time.

[0063] The second predicted drop calculation unit 33 transmits the calculated second predicted drop Vca2 to the filling amount management unit 42 via the control line 51 (Sc2), and ends the processing. The second predicted drop calculation unit 33 performs the processing of Fig. 4 every time it receives the supply amount Q of liquid per unit time from the supply amount calculation unit 41. Therefore, the filling amount management unit 42 repeatedly receives a new second predicted drop Vca2 from the second predicted drop calculation unit 33 at intervals when the supply amount Q of liquid per unit time is updated.

[0064] (Processing by filling amount management unit) When the filling amount management unit 42 receives the start instruction signal transmitted by the filling process control unit 31, it reads out the density ρ, the set filling amount Vsg, the change pattern data, the threshold value for determining the predetermined period Tma, and the K factor contained in the received start instruction signal. The filling amount management unit 42 records the read out density ρ, the set filling amount Vsg, the change pattern data, the threshold value for determining the predetermined period Tma, and the K factor in an internal storage area, and starts the process shown in Fig. 5. Note that the filling amount management unit 42 includes an internal buffer, and when the process shown in Fig. 5 is started, it performs a process of accumulating the pulses output by the flowmeter 7 in the buffer in parallel with the process shown in Fig. 5.

[0065] Filling amount management unit 42 activates a timer unit that measures time provided inside and starts measuring elapsed time Tm. Filling amount management unit 42 initializes the buffer. Filling amount management unit 42 creates an area in an internal storage area for storing an integrated pulse counter Vbr_p that integrates and counts the number of pulses accumulated in the buffer, and initializes integrated pulse counter Vbr_p to "0". Filling amount management unit 42 provides an area in an internal storage area for storing an integrated filling amount Vbr that indicates the integrated weight of liquid filled into container 60, and initializes integrated filling amount Vbr to "0" (Sd1).

[0066] The filling amount management unit 42 detects the opening degree of the filling valve 20 at the elapsed time Tm from the change pattern data stored in the internal storage area. Here, the change pattern data is, for example, data indicating the timing to change the opening degree of the filling valve 20 on a time axis in which the time when the timer unit is started is set to "0 milliseconds."

[0067] FIG. 6 is an example of a graph showing a change in the flow rate of the liquid passing through the flowmeter 7 in the filling device 1 of this embodiment. Here, the flow rate is, for example, the volume of the liquid passing through the flowmeter 7 per unit time. In this graph, the vertical axis represents the flow rate of the liquid passing through the flowmeter 7, and the flow rate increases upward. The horizontal axis represents the elapsed time Tm, and the time increases toward the right. The change pattern data when this graph is obtained is data in which the opening becomes "L1" at time "0", the opening becomes "L2" at time "t2", and the opening becomes "L1" again at time "t3". In the case of this change pattern data, when the elapsed time Tm is 0 or more and less than t2, the filling amount management unit 42 detects "L1" as the opening, when the elapsed time Tm is t2 or more and less than t3, the filling amount management unit 42 detects "L2" as the opening, and when the elapsed time Tm is t3 or more, the filling amount management unit 42 detects "L1" as the opening.

[0068] The filling amount management unit 42 performs the following processing based on the opening degree detected from the change pattern data based on the elapsed time Tm. If the opening degree of the filling valve 20 is stored in the internal memory area, and the detected opening degree matches the opening degree of the filling valve 20 stored in the internal memory area, the filling amount management unit 42 advances the processing to Sd3 since there is no need to change the opening degree.

[0069] In response to this, if the opening degree of the filling valve 20 is stored in the internal storage area, but the detected opening degree does not match the opening degree of the filling valve 20 stored in the internal storage area, the filling amount management unit 42 rewrites the opening degree of the filling valve 20 in the internal storage area to the detected opening degree. If the opening degree of the filling valve 20 is not stored in the internal storage area, the filling amount management unit 42 writes the detected opening degree to the internal storage area as the opening degree of the filling valve 20. If the opening degree of the filling valve 20 is stored in the internal storage area, but the detected opening degree does not match the opening degree of the filling valve 20 stored in the internal storage area, or if the opening degree of the filling valve 20 is not stored in the internal storage area, the filling amount management unit 42 outputs an open command including the detected opening degree to the drive device 28 of the filling valve 20 since it is necessary to change the opening degree (Sd2).

[0070] When the driver 28 of the filling valve 20 receives an open command, it moves the valve element 23 to a position corresponding to the opening included in the open command. This causes the liquid stored in the tank 6 to flow into the supply pipe 8-1 at a flow rate corresponding to the opening. The liquid that flows into the supply pipe 8-1 flows into the passage 25 via the supply pipe 8-1, the flowmeter 7, the supply pipe 8-2, and the inlet opening 24, and the liquid that flows into the passage 25 flows into the container 60 via the outlet opening 26.

[0071] The filling amount management unit 42 adds the number of pulses accumulated in the buffer to the cumulative pulse counter Vbr_p in the internal storage area, and initializes the buffer. The filling amount management unit 42 calculates the cumulative filling amount Vbr by the following formula (5) using the K factor, density ρ, and cumulative pulse counter Vbr_p stored in the internal storage area. The cumulative filling amount Vbr is weight, and the unit is "g".

[0072] Vbr = Vbr_p (1 / K factor) ρ (5)

[0073] The filling amount management unit 42 rewrites the accumulated filling amount Vbr stored in the internal storage area to the calculated accumulated filling amount Vbr (Sd3). In the graph shown in FIG. 6, the accumulated filling amount Vbr is the weight corresponding to the area of ​​the area indicated by the reference numeral 70 and the area indicated by the reference numeral 71. The flow rate is "0" from time "0" to time "t1", because there is a time lag between when an open command is output to the filling valve 20 and when the liquid passes through the flowmeter 7. Therefore, in the case of the graph in FIG. 6, the accumulated filling amount Vbr at time "t2" is the weight corresponding to the area of ​​the area indicated by the reference numeral 70 that exists between time "t1" and time "t2".

[0074] The filling amount management unit 42 judges whether or not the final filling is in progress based on the elapsed time Tm measured by the timer unit (Sd4). For example, the change pattern data is data in which the opening degree becomes "L1" at the above-mentioned time "0", the opening degree becomes "L2" at time "t2", and the opening degree becomes "L1" again at time "t3". In this case, the filling amount management unit 42 judges that the final filling is in progress if the elapsed time Tm is t3 or more, and judges that the final filling is not in progress if the elapsed time Tm is less than t3.

[0075] When the filling amount management unit 42 determines that the final filling is not in progress (Sd4, No), it performs the process from Sd2 onward again. On the other hand, when the filling amount management unit 42 determines that the final filling is in progress (Sd4, Yes), it next determines whether or not the predetermined period has elapsed based on the elapsed time Tm measured by the timer unit (Sd5). For example, the filling amount management unit 42 determines that the predetermined period has elapsed when the elapsed time Tm is equal to or greater than the time obtained by adding the threshold value Tma for determining the predetermined period stored in the internal storage area to t3. On the other hand, the filling amount management unit 42 determines that the predetermined period has not elapsed when the elapsed time Tm is not equal to or greater than the time obtained by adding the threshold value Tma for determining the predetermined period stored in the internal storage area to t3.

[0076] The reason for using the threshold value Tma for judging the predetermined period in this manner is as follows. As described above, the flow rate of the liquid passing through the flowmeter 7 changes over time, for example, as shown in the graph in FIG. 6. In order to accurately fill the container 60 with the set filling volume Vsg of liquid, it is necessary to predict the amount of drop corresponding to the area of ​​the region indicated by the symbol 71. As described above, there is a correlation between the amount of drop and the amount of liquid supplied Q per unit time when a close command is output.

[0077] In the graph of FIG. 6, the timing for outputting the closure command is time "t6", and time "t6" is a time determined by the second drop prediction amount Vca2 repeatedly calculated by the second drop prediction amount calculation unit 33 according to the flowchart of FIG. 4 in the filling device 1 of this embodiment. That is, if the second drop prediction amount Vca2 is not determined, time "t6" cannot be determined, so the second drop prediction amount Vca2 needs to be determined before time "t6". As shown in FIG. 6, after the opening degree of the filling valve 20 is changed to "L1" at time "t3", the flow rate of the liquid passing through the flowmeter 7 changes to a flow rate corresponding to the opening degree "L1" by time "t4", and then becomes a substantially constant flow rate without a large change, and becomes in a stable state. Therefore, the flow rate in this stable state is substantially the same as the flow rate when the closure command is output. However, the flow rate of the liquid may become unstable around time "t4". Therefore, the user determines in advance the threshold value Tma for determining a predetermined period so that the period from time "t5" onwards, when the flow rate of the liquid exceeds time "t4" and becomes stable, becomes the predetermined period for determining the second predicted drop amount Vca2.

[0078] When the filling amount management unit 42 determines that the predetermined period has not yet arrived (Sd5, No), it performs the process from Sd2 onward again. On the other hand, when the filling amount management unit 42 determines that the predetermined period has arrived (Sd5, Yes), it acquires the latest second predicted drop amount Vca2 received from the second predicted drop amount calculation unit 33 at the time of the determination (Sd6). Note that the filling amount management unit 42 may use the second predicted drop amount Vca2 received from the second predicted drop amount Vca2 immediately before the time of the determination as the latest second predicted drop amount Vca2, or may use the second predicted drop amount Vca2 first received from the second predicted drop amount Vca2 in the period after the time of the determination as the latest second predicted drop amount Vca2.

[0079] The filling amount management unit 42 reads out the set filling amount Vsg stored in the internal storage area. The filling amount management unit 42 subtracts the latest acquired second drop predicted amount Vca2 from the read out set filling amount Vsg to calculate the closed filling amount Vbs (Sd7). The filling amount management unit 42 judges whether the filling accumulated amount Vbr stored in the internal storage area is equal to or greater than the calculated closed filling amount Vbs (Sd8). When the filling amount management unit 42 judges that the filling accumulated amount Vbr is not equal to or greater than the closed filling amount Vbs (Sd8, No), it performs the process from Sd2 onward again. On the other hand, when the filling amount management unit 42 judges that the filling accumulated amount Vbr is equal to or greater than the closed filling amount Vbs (Sd8, Yes), it performs the same process as Sd3 to update the filling accumulated amount Vbr in the internal storage area. As a result, the integrated filling amount Vbr immediately before the output of the close command is stored in the internal storage area of ​​the filling amount management unit 42 (Sd9).

[0080] Filling amount management unit 42 outputs a close command to drive device 28 of filling valve 20, and outputs a calculation end instruction signal to supply amount calculation unit 41 (Sd10). Upon receiving the close command, drive device 28 of filling valve 20 lowers shaft 27, valve rod 22, and valve element 23, resulting in passage 25 being closed by valve element 23, and the supply of liquid to container 60 being stopped. Upon receiving the calculation end instruction signal, supply amount calculation unit 41 determines that filling is not in progress in the process of Sb3 in Fig. 3, and ends the process of Fig. 3.

[0081] Filling amount management unit 42 counts the number of pulses stored in the buffer until no new pulses are stored in the buffer, in other words, until time "t7" shown in Fig. 6 is reached. In this way, filling amount management unit 42 can obtain the integrated number of pulses stored in the buffer from the time Sd9 process is performed until filling valve 20 is closed, that is, the number of pulses corresponding to the drop amount. Therefore, filling amount management unit 42 calculates actual drop amount VHr using the number of pulses corresponding to the drop amount, density ρ stored in an internal memory area, and K factor according to the following formula (6).

[0082] VHr = number of pulses corresponding to the drop (1 / K factor) ρ (6)

[0083] The filling amount management unit 42 reads out the integrated filling amount Vbr from the internal storage area, and adds the actual drop amount VHr calculated by equation (6) to the read integrated filling amount Vbr to calculate the final integrated filling amount Vbr (Sd11). The filling amount management unit 42 transmits the calculated actual drop amount VHr, the final integrated filling amount Vbr, and the latest second drop predicted amount Vca2 to the filling process control unit 31 via the control line 51 (Sd12), and ends the process.

[0084] (Sa7 and subsequent processing by the filling processing control unit) As described above, after the process of Sa6, the filling process control unit 31 waits to receive the actual drop amount VHr, the accumulated filling amount Vbr, and the second predicted drop amount Vca2 from the filling amount management unit 42. When the filling process control unit 31 receives the actual drop amount VHr, the final accumulated filling amount Vbr, and the latest second predicted drop amount Vca2 transmitted by the filling amount management unit 42 in the process of Sd12 in FIG. 5, the filling process control unit 31 resumes the process. After lowering the container table 10, the filling process control unit 31 transports the container 60 filled with liquid. The filling process control unit 31 rewrites the actual drop amount VHr stored in the memory unit 34 to the received actual drop amount VHr. The filling process control unit 31 rewrites the second predicted drop amount Vca2 stored in the memory unit 34 to the latest second predicted drop amount Vca2 received. The filling process control unit 31 outputs the received actual drop amount VHr and the final integrated filling amount Vbr to the outside as the results of the filling process. Here, outputting to the outside means, for example, that the filling process control unit 31 displays the received actual drop amount VHr and the final integrated filling amount Vbr on a display device of the main control device 3 (not shown) (Sa8).

[0085] The filling process control unit 31 determines whether or not it has received an end instruction signal from the operation unit 30 (Sa8). When the user of the filling device 1 wishes to end the filling process by the filling device 1, the user performs an end instruction operation to instruct the operation unit 30 to end filling. The operation unit 30, which has received the end instruction operation, outputs an end instruction signal to the filling process control unit 31. When the filling process control unit 31 determines that it has received an end instruction signal from the operation unit 30 (Sa8, Yes), it ends the process of FIG. 2. On the other hand, when the filling process control unit 31 determines that it has not received an end instruction signal from the operation unit 30 (Sa8, No), it outputs a start instruction signal to the first drop predicted amount calculation unit 32. As a result, the process from Sa1 onwards is performed again on the other containers 60.

[0086] <Actions and effects of the filling device> In the filling device 1 according to the embodiment described above, the second drop prediction amount calculation unit 33 calculates the second drop prediction amount Vca2 obtained by correcting the first drop prediction amount Vca1 based on the second drop correction amount obtained by substituting the liquid supply amount Q per unit time calculated by the supply amount calculation unit 41 into the second drop correction amount calculation formula. The filling amount management unit 42 calculates the filling integrated amount Vbr, which is the integrated amount of liquid supplied to the container 60, and outputs a close command when the calculated filling integrated amount Vbr is equal to or greater than the closing filling amount Vbs obtained by subtracting the latest second drop prediction amount Vca2 calculated by the second drop prediction amount calculation unit 33 in a predetermined period from the set filling amount Vsg. The filling amount management unit 42 calculates the actual drop amount VHr, which is the amount of liquid from when the closing command is output until the filling valve 20 is closed. The first drop prediction amount calculation unit 32 corrects the first drop prediction amount Vca1 based on the first drop correction amount obtained by substituting the latest actual drop amount VHr calculated by the filling amount management unit 42 and the latest second drop prediction amount Vca2 into the first drop correction amount calculation formula to obtain a new first drop prediction amount Vca1.

[0087] The correction process performed by the first predicted drop calculation unit 32 is a process of correcting the first predicted drop Vca1 used in the most recent filling process by the latest second predicted drop Vca2 calculated during the most recent filling process and the actual drop VHr, which is the result of the most recent filling process, and is a process of performing so-called feedback control.In contrast to this, the correction process performed by the second predicted drop calculation unit 33 is a process of further correcting the first predicted drop Vca1 corrected by the feedback control performed by the first predicted drop calculation unit 32 to the second predicted drop Vca2 based on the supply amount Q of liquid per unit time repeatedly calculated by the supply amount calculation unit 41 during the filling process, and is a process of performing so-called feedforward control.

[0088] The operating speed of the filling valve 20 for opening and closing and the amount of liquid passing through the passage 25 vary from one filling valve 20 to another, and even within a single filling valve 20, there is variation due to aging. These variations also cause variations in the amount of drop. The feedback control performed by the first predicted drop amount calculation unit 32 can be said to be a process that suppresses the differences between the filling valves 20 and the variation in the amount of drop caused by the aging of the filling valve 20, and predicts the amount of drop accurately. In contrast, the feedforward control performed by the second predicted drop amount calculation unit 33 can be said to be a process that predicts the amount of drop based on the change in the amount of liquid supplied immediately before the output of the closing command. These feedback controls and feedforward controls make it possible to predict the amount of drop with high accuracy in each filling process of each filling valve 20.

[0089] In addition, the correction target in both feedback control and feedforward control is the first drop correction amount Vca1. In the feedback control performed based on formula (1), the first drop correction amount is the multiplied value obtained by multiplying the drop deviation amount (VHr-Vca2_o) by the drop correction ratio Hr. In the feedforward control performed based on formula (4), the second drop correction amount is the sum of the multiplied value obtained by multiplying the liquid supply amount Q per unit time calculated by the supply amount calculation unit 41 by the supply amount correction coefficient Ha and the supply amount correction constant Hb. Therefore, if the drop correction ratio Hr, the supply amount correction coefficient Ha, and the supply amount correction constant Hb are adjusted to values ​​that do not significantly change the first drop predicted amount Vca1, which is the correction target, it is possible to reduce the variation in the amount of liquid filled in the container 60. Furthermore, in the case of feedback control, when the head deviation amount is too large, the first head correction amount Vca1 is not corrected so that the first head correction amount Vca1 does not change significantly, as shown in the process of Sa2 in Fig. 2. Therefore, the filling device 1 according to the above embodiment makes it possible to reduce variation in the filling amount of liquid in the container 60 while predicting with high accuracy the timing of outputting a close command to the filling valve 20 by means of feedforward control and feedback control.

[0090] <Other embodiments> Although the embodiment of the present disclosure has been described above in detail with reference to the drawings, the specific configuration is not limited to this embodiment, and designs within the scope of the present disclosure are also included. For example, in the filling device 1 shown in FIG. 1, a plurality of combinations each including a frame 5, a tank 6, a flowmeter 7, supply pipes 8-1, 8-2, a temperature sensor 9, a filling valve 20, and an individual control device 4 may be provided, and one main control device 3 may be provided for each of the plurality of combinations. In this case, the flowmeter 7, the filling valve 20, and the individual control device 4 may be fixed to the frame 5 via a bracket or the like, and the frame 5 may be configured to rotate around the center line YY shown in FIG. 1. In addition, when the control line 51 is a wired communication line, for example, a slip ring is inserted into the control line 51 so that the individual control device 4 can rotate while the main control device 3 is fixed. In addition, when the frame 5 rotates around the center line YY, a plurality of container stands 10 may be present, and each of the container stands 10 may also perform an operation associated with the rotation of the frame 5. In this way, for example, the outlet openings 26 of the multiple filling valves 20 can be inserted sequentially into the openings of the containers 60 placed on each of the container stands 10, thereby allowing the multiple filling valves 20 to fill liquid in parallel into each of the multiple containers 60.

[0091] In the above embodiment, an example is shown in which there is one combination of the frame 5, the tank 6, the flowmeter 7, the supply pipes 8-1 and 8-2, the temperature sensor 9, the filling valve 20, and the individual control device 4, and an example is shown in which the main control device 3 performs processing for the one combination. When there are multiple combinations of the frame 5, the tank 6, the flowmeter 7, the supply pipes 8-1 and 8-2, the temperature sensor 9, the filling valve 20, and the individual control device 4, the first drop prediction amount calculation unit 32 and the second drop prediction amount calculation unit 33 in the main control device 3 perform individual processing for each combination. The filling processing control unit 31 performs individual processing for each combination, such as the processing of Sa6 and Sa7, and performs processing related to the entire filling device 1, such as the processing of transporting the container 60 by the container table 10. The operation unit 30 performs individual processing for each combination of input operations, such as the processing of the input operation, and performs processing related to the entire filling device 1, such as the processing of the input operation.

[0092] The actual drop amount VHr, the first drop predicted amount Vca1, and the second drop predicted amount Vca2 are stored in the storage unit 34 for each combination. The deviation threshold value HI, the time threshold value Ti, the set filling amount Vsg, the change pattern data, the reference density ρθ, the density correction gradient dθ, and the reference temperature Tθ are stored in the storage unit 34 as common to each combination. Regarding the K factor, if there is no variation in the predetermined capacity of the flowmeter 7 for each combination, the K factor common to each combination is stored in the storage unit 34, and if there is variation in the predetermined capacity of the flowmeter 7 for each combination, the K factor corresponding to each combination is stored in the storage unit 34. Regarding the drop correction ratio Hr, and the supply amount correction coefficient Ha and the supply amount correction constant Hb, which are the coefficient and constant of the second drop correction amount calculation formula, the common one for each combination may be stored in the storage unit 34, or each individual one for each combination may be stored in the storage unit 34. The initial values ​​of the actual drop VHr, the first predicted drop Vca1, and the second predicted drop Vca2 may be the same for each combination, or may be different for each combination.

[0093] In the above embodiment, the flowmeter 7 is used to calculate the volume of the liquid passing through the flowmeter 7 from the pulses output by the flowmeter 7, and the weight of the liquid is calculated by multiplying the calculated volume by the density ρ. Alternatively, instead of the flowmeter 7, a weighing means such as a load cell for measuring the weight of the container 60 may be provided, as in the weight-measuring type filling device shown in "JP Patent Publication No. 2010-132328". In this case, the change in the weight of the liquid being supplied to the container 60 is detected based on the change in the weight of the container 60 repeatedly measured by the weighing means while the liquid is being supplied to the container 60. Therefore, the supply amount calculation unit 41 calculates the supply amount Q of the liquid per unit time directly by weight, as in formula (3), without going through the volume of the liquid, and the filling amount management unit 42 calculates the filling cumulative amount Vbr and the actual drop amount VHr directly by weight, without going through the volume, as in formulas (5) and (6). In addition, the filling process control unit 31 does not need to calculate the density ρ using equation (2) in the processing of Sa5 in Figure 2, and the user does not need to perform input operations to set the K factor, reference density ρθ, density correction slope dθ, and reference temperature Tθ before the processing of Figure 2 is started, and the filling device 1 does not need to be equipped with a temperature sensor 9, temperature acquisition unit 40, and control line 52.

[0094] In the above embodiment, the supply amount calculation unit 41 and the filling amount management unit 42 calculate the volume of the liquid that has passed through the flowmeter 7 from the pulses output by the flowmeter 7, and multiply the calculated volume by the density ρ to calculate the weight of the liquid. Therefore, the processing of the filling amount management unit 42, the first drop prediction amount calculation unit 32, and the second drop prediction amount calculation unit 33 is performed based on the weight. In contrast, all of the processing by the filling device 1 described above may be performed based on the volume. In this case, the supply amount calculation unit 41 does not need to multiply the density ρ in the formula (3), and the filling amount management unit 42 does not need to multiply the density ρ in the formulas (5) and (6). However, the processing using the deviation threshold value HI and the set filling amount Vsg needs to be replaced with processing using a divided value obtained by dividing each of the deviation threshold value HI and the set filling amount Vsg by the density ρ. Therefore, in the processing of FIG. 2, the processing of calculating the density ρ performed in the processing of Sa5 needs to be performed before the processing of Sa1. In addition, the initial values ​​of the actual drop amount VHr, the first predicted drop amount Vca1, and the second predicted drop amount Vca2 that are predetermined by the user must be determined in units of capacity, and the drop correction ratio Hr, the supply volume correction coefficient Ha, and the supply volume correction constant Hb must be determined in advance as values ​​when the actual drop amount VHr, the first predicted drop amount Vca1, the second predicted drop amount Vca2, and the supply volume Q of liquid per unit time are expressed in units of capacity.

[0095] In the above embodiment, one supply amount correction coefficient Ha and one supply amount correction constant Hb are set as values ​​predetermined by the user regardless of the opening degree of the filling valve 20. In contrast, one supply amount correction coefficient Ha and one supply amount correction constant Hb may be predetermined by the user for each opening degree of the filling valve 20. For example, the user determines a combination of the supply amount correction coefficient Ha and the supply amount correction constant Hb for each opening degree of the filling valve 20, such as the supply amount correction coefficient Ha and the supply amount correction constant Hb for the opening degree L1 and the supply amount correction coefficient Ha and the supply amount correction constant Hb for the opening degree L2, and records the combination of the supply amount correction coefficient Ha and the supply amount correction constant Hb for each opening degree in the storage unit 34 by the user's input operation on the operation unit 30 before the processing of FIG. 2 is performed. When the filling amount management unit 42 changes the opening of the filling valve 20 based on the change pattern data, it sends an instruction signal to the second drop prediction amount calculation unit 33 to change the combination of the supply amount correction coefficient Ha and the supply amount correction constant Hb used in the formula (4) to a combination corresponding to the changed opening. As a result, the supply amount correction coefficient Ha and the supply amount correction constant Hb according to the opening of the filling valve 20 are used in the formula (4), so that the second drop prediction amount calculation unit 33 calculates a more accurate second drop prediction amount Vca2, and the filling amount management unit 42 can calculate a more accurate closing filling amount Vbs.

[0096] In the above embodiment, the filling amount management unit 42 performs a process of comparing the filling cumulative amount Vbr with the closing filling amount Vbs in the process of Sd8 in Fig. 5. Alternatively, an individual correction amount cp determined in advance by the user may be applied for each filling valve 20, and the filling amount management unit 42 may calculate an added value by adding the correction amount cp to the closing filling amount Vbs obtained by subtracting the second drop prediction amount Vca2 from the set filling amount Vsg, and may determine in the process of Sd8 whether the filling cumulative amount Vbr is equal to or greater than the calculated added value. In this case, the correction amount cp is recorded in the memory unit 34 by the user's input operation on the operation unit 30 before the process of Fig. 2 is performed. In the processing of Sa6 in FIG. 2, the filling processing control unit 31 sends a start instruction signal to the filling amount management unit 42, including the correction amount cp stored in the memory unit 34. Upon receiving the start instruction signal, the filling amount management unit 42 records the correction amount cp included in the start instruction signal in its internal memory area, and uses the recorded correction amount cp in the processing of Sd8 in FIG. 5.

[0097] In the above embodiment, the filling amount management unit 42 calculates the integrated filling amount Vbr before outputting the closing command in the process of Sd9, and calculates the actual drop amount VHr based on the integrated number of pulses accumulated in the buffer after the process of Sd9 in the process of Sd11. In contrast, the filling amount management unit 42 may add the number of pulses accumulated in the buffer to the integrated pulse counter Vbr_p in the internal storage area at the timing of Sd11 without performing the process of Sd9, read the integrated pulse counter Vbr_p, and calculate the final integrated filling amount Vbr based on the formula (5). In this case, the filling amount management unit 42 may store the integrated filling amount Vbr when the determination process of Sd8 is "Yes" in the determination process in the internal storage area, and may use the subtraction value obtained by subtracting the integrated filling amount Vbr when the determination process of Sd8 is "Yes" from the final integrated filling amount Vbr as the actual drop amount VHr. In addition, the filling amount management unit 42 may determine the subtraction value obtained by subtracting the closing filling amount Vbs from the final integrated filling amount Vbr as the actual drop amount VHr.

[0098] In the above embodiment, the supply amount calculation unit 41 receives a start instruction signal transmitted by the filling process control unit 31 in the process of Sa6 in FIG. 2 and starts the process shown in FIG. 3. In contrast, when a predetermined period has elapsed, the supply amount calculation unit 41 may be made to start the process shown in FIG. 3. For example, in the process of Sa6 in FIG. 2, the filling process control unit 31 does not transmit a start instruction signal to the supply amount calculation unit 41, but transmits a start instruction signal including the density ρ, the set filling amount Vsg, the change pattern data, the threshold value Tma for determining the predetermined period, the K factor, and the time threshold value Ti to the filling amount management unit 42. When the filling amount management unit 42 judges "Yes" in the process of Sd5 in FIG. 5, it outputs a start instruction signal including the density ρ, the time threshold value Ti, and the K factor to the supply amount calculation unit 41. In this way, after the predetermined period has elapsed, the supply amount calculation unit 41 and the second drop prediction amount calculation unit 33 are made to perform the process, so that the processing load can be reduced.

[0099] In the above embodiment, an example was shown in which data was used as the change pattern data in which the opening degree becomes "L1" at time "0", the opening degree becomes "L2" at time "t2", and the opening degree becomes "L1" again at time "t3". In contrast, data in which the opening degree is changed based on the value of the cumulative filling amount Vbr may be used as the change pattern data. For example, change pattern data may be used in which the opening degree becomes "L1" when the cumulative filling amount Vbr is "0" or more and less than "100", the opening degree becomes "L2" when the cumulative filling amount Vbr is "100" or more and less than "200", and the opening degree becomes "L1" when the cumulative filling amount Vbr is "200" or more. When the change pattern data is used, the filling management unit 42 detects the opening degree from the change pattern data based on the cumulative filling amount Vbr stored in the internal storage area in the process of Sd2. In the process of Sd1, the filling management unit 42 initializes the accumulated filling amount Vbr to "0", so that in the process of Sd2 that follows immediately thereafter, the opening degree "L1" is detected. For the process of Sd2 thereafter, the opening degree is detected from the change pattern data based on the accumulated filling amount Vbr calculated by the filling management unit 42 in the process of Sd3 and recorded in an internal memory area.

[0100] 2 in the above embodiment, the process set of Sa1, Sa2, Sa3, and Sa4 and the process of Sa5 may be performed before the process of Sa6. Therefore, the process set of Sa1, Sa2, Sa3, and Sa4 may be performed after the process of Sa5, or the process set of Sa1, Sa2, Sa3, and Sa4 and the process of Sa5 may be performed in parallel.

[0101] In the above embodiment, the process of Sa2 in Fig. 2 uses a deviation threshold value HI for judgment processing, the process of Sb5 in Fig. 3 uses a time threshold value Ti for judgment processing, and the process of Sd5 in Fig. 5 uses a predetermined period judgment threshold value Tma for judgment processing. However, the present disclosure is not limited to the embodiment, and the judgment processing of "greater than or equal to" and "less than or equal to" are merely examples, and may be replaced with judgment processing of "exceeds or not" and "less than or equal to" depending on how the threshold values ​​are defined.

[0102] In the above embodiment, the main control device 3 is provided with an operation unit 30, a filling process control unit 31, a first predicted drop amount calculation unit 32, a second predicted drop amount calculation unit 33, and a memory unit 34, and the individual control device 4 is provided with a temperature acquisition unit 40, a supply amount calculation unit 41, and a filling amount management unit 42. However, the arrangement of these functional units is only an example, and the main control device 3 and the individual control device 4 may be integrated, or the first predicted drop amount calculation unit 32, the second predicted drop amount calculation unit 33, and the memory unit 34 provided in the main control device 3 may be provided in the individual control device 4. For example, the arrangement of the functional units in the main control device 3 and the individual control device 4 may be arbitrary.

[0103] <Computer configuration> FIG. 7 is a schematic block diagram showing the configuration of a computer according to at least one of the above-mentioned embodiments. The computer 90 includes a processor 91, a main memory 92, a storage 93, and an interface 94. The main control device 3 and the individual control device 4 are each implemented in one computer 90. The control line 51 is connected to the interface 94 of the computer 90 corresponding to the main control device 3, and the control line 51 and the control line 52 are connected to the interface 94 of the computer 90 corresponding to the individual control device 4. The operation of each functional unit included in the main control device 3 is stored in the storage 93 of the computer 90 corresponding to the main control device 3 in the form of a program, and the operation of each functional unit included in the individual control device 4 is stored in the storage 93 of the computer 90 corresponding to the individual control device 4 in the form of a program. The processor 91 of the computer 90 corresponding to each of the main control device 3 and the individual control device 4 reads the program from the storage 93, expands it in the main memory 92, and executes the above-mentioned processing according to the program. 2 and 4 are executed by the processor 91 of the computer 90 corresponding to the main control device 3, and the processes of Fig. 3 and 5 are executed by the processor 91 of the computer 90 corresponding to the individual control device 4. The processor 91 of the computer 90 corresponding to the main control device 3 secures a memory area corresponding to the above-mentioned memory unit 34 in the main memory 92 according to a program, and the processor 91 of the computer 90 corresponding to the individual control device 4 secures a memory area corresponding to the internal memory areas of the above-mentioned supply amount calculation unit 41 and filling amount management unit 42 in the main memory 92 according to a program. As described above, when the main control device 3 and the individual control device 4 are integrated, the main control device 3 and the individual control device 4 are implemented in one computer 90.

[0104] The program may be for realizing a part of the functions to be performed by the computer 90. For example, the program may be for realizing the functions by combining with other programs already stored in the storage or by combining with other programs implemented in other devices. In another embodiment, the computer may include a custom LSI (Large Scale Integrated Circuit) such as a PLD (Programmable Logic Device) in addition to or instead of the above configuration. Examples of PLDs include PAL (Programmable Array Logic), GAL (Generic Array Logic), CPLD (Complex Programmable Logic Device), and FPGA (Field Programmable Gate Array). In this case, some or all of the functions to be realized by the processor may be realized by the integrated circuit.

[0105] Examples of the storage 93 include a hard disk drive (HDD), a solid state drive (SSD), a magnetic disk, a magneto-optical disk, a compact disc read only memory (CD-ROM), a digital versatile disc read only memory (DVD-ROM), and a semiconductor memory. The storage 93 may be an internal medium directly connected to the bus of the computer 90, or an external medium connected to the computer 90 via an interface 94 or a communication line. In addition, when the program is distributed to the computer 90 via a communication line, the computer 90 that receives the program may load the program into the main memory 92 and execute the above-mentioned process. In at least one embodiment, the storage 93 is a non-transitory tangible storage medium.

[0106] <Additional Notes> The control device 2 of the filling device 1 described in the above embodiment can be understood, for example, as follows.

[0107] (1) A control device 2 of a filling device 1 according to a first aspect is a control device in a filling device including a filling valve 20 that fills a container 60 with liquid, and a control device that controls opening and closing of a passage 25 in the filling valve through which the liquid flows, and includes a supply amount calculation unit 41 that calculates a supply amount Q of liquid per unit time to the container, a second predicted drop amount calculation unit 33 that calculates a second predicted drop amount by correcting a first predicted drop amount Vca1 based on a second drop correction amount Vca2 obtained by substituting the supply amount of liquid per unit time calculated by the supply amount calculation unit into a second drop correction amount calculation formula, and a filling integrated amount Vbr that is an integrated amount of the liquid supplied to the container, and a predetermined set filling amount calculation unit 44 that calculates a second predicted drop amount Vca1 based on a second drop correction amount Vca2 obtained by substituting the supply amount of liquid per unit time calculated by the supply amount calculation unit into a second drop correction amount calculation formula. a filling volume management unit 42 that outputs the close command and calculates an actual drop amount VHr, which is the amount of liquid from when the close command is output until the filling valve is closed, based on the amount Vsg of the liquid filling volume Vbs obtained by subtracting the second drop predicted amount calculated by the second drop predicted amount calculation unit during a predetermined period before a close command is output to the filling valve, from the amount Vsg of the liquid filling volume Vsg, and the accumulated filling volume, and a first drop predicted amount calculation unit 32 that corrects the first drop predicted amount to calculate a new first drop predicted amount based on a first drop correction amount obtained by substituting the actual drop calculated by the filling volume management unit and the second drop predicted amount at the time the close command is output into a first drop correction amount calculation formula. According to this aspect and each of the following aspects, it is possible to reduce variation in the amount of liquid filled in the container while predicting with high accuracy the timing of outputting a close command to the filling valve by feedforward control and feedback control.

[0108] (2) A control device 2 of a filling device 1 in a second aspect is a control device 2 of the filling device 1 of (1), wherein the second drop correction amount calculation formula is an equation expressed by a function that linearly approximates the relationship between the difference between the second drop predicted amount and the first drop predicted amount and the amount of liquid supplied per unit time, and the second drop predicted amount calculation unit adds the second drop correction amount to the first drop predicted amount to calculate the second drop predicted amount.

[0109] (3) The control device 2 of the filling device 1 in the third aspect is a control device 2 of the filling device 1 of (1) or (2), wherein the first drop correction amount calculation formula is a formula that multiplies a drop deviation amount obtained by subtracting the second drop predicted amount at the time the closure command is output from the actual drop amount calculated by the filling amount management unit by a predetermined coefficient, and the first drop predicted amount calculation unit adds the first drop correction amount to the first drop predicted amount to calculate a new first drop predicted amount.

[0110] (4) A control device 2 of a filling device 1 according to a fourth aspect is a control device 2 of a filling device 1 according to any one of (1) to (3), and the filling amount management unit judges whether or not it is the predetermined period based on change pattern data indicating a timing for changing the opening degree of the filling valve, which is determined in advance, and an elapsed time Tm at which timing starts when filling starts. According to this aspect, it is possible to obtain a liquid supply amount Q per unit time in a predetermined period that can be regarded as the liquid supply amount Q per unit time immediately before outputting a closing command, and it is possible to obtain an accurate closing filling amount Vbs using a second drop prediction amount Vca2 calculated based on the liquid supply amount Q per unit time. [Explanation of symbols]

[0111] 1 Filling device 2. Control device 3. Main Control Unit 4 Individual control device 5 Frames 6. Tank 7 Flowmeter 8-1,8-2 Supply pipe 9 Temperature Sensor 10 Container stand 20 Filling valve 21 Filling valve body 22 Valve stem 23 Valve body 24 Inlet opening 25 Passage 26 Exit opening 27 Axis 28 Drive unit 30 Control section 31 Filling process control section 32 First drop forecast calculation unit 33 Second drop forecast calculation unit 34 Storage section 40 Temperature acquisition section 41 Supply amount calculation section 42 Filling amount management department 51, 52 Control line 60 containers

Claims

1. A control device for a filling device including a filling valve for filling a container with a liquid and a control device for controlling opening and closing of a passage through which the liquid flows in the filling valve, a supply amount calculation unit that calculates a supply amount of liquid per unit time to the container; a second drop prediction amount calculation unit that calculates a second drop prediction amount by correcting the first drop prediction amount based on a second drop correction amount obtained by substituting the supply amount of liquid per unit time calculated by the supply amount calculation unit into a second drop correction amount calculation formula; a filling amount management unit that calculates an accumulated filling amount, which is an accumulated amount of the liquid supplied to the container, and outputs the closure command based on the closed filling amount obtained by subtracting the second predicted drop amount calculated by the second predicted drop amount calculation unit during a predetermined period before a closure command is output to the filling valve from a predetermined set filling amount, and the accumulated filling amount, and calculates an actual drop amount, which is the amount of liquid from when the closure command is output to when the filling valve is closed; a first drop prediction amount calculation unit that corrects the first drop prediction amount to calculate a new first drop prediction amount based on a first drop correction amount obtained by substituting the actual drop amount calculated by the filling amount management unit and the second drop prediction amount at the time when the close command is output into a first drop correction amount calculation formula; A control device for a filling device comprising:

2. The second drop correction amount calculation formula is an equation expressed by a function that linearly approximates the relationship between the difference between the second predicted drop amount and the first predicted drop amount and the amount of liquid supplied per unit time, The second drop prediction amount calculation unit adding the second drop correction amount to the first drop prediction amount to calculate the second drop prediction amount; The control device for a filling device according to claim 1.

3. The first drop correction amount calculation formula is a formula for multiplying a head deviation amount obtained by subtracting the second head predicted amount at the time when the closure command is output from the actual head amount calculated by the filling amount management unit, by a predetermined coefficient; The first drop prediction amount calculation unit adding the first drop correction amount to the first drop predicted amount to calculate a new first drop predicted amount; The control device for a filling device according to claim 1.

4. The filling amount management unit is determining whether or not the predetermined period has elapsed based on change pattern data indicating a predetermined timing for changing the opening degree of the filling valve and an elapsed time from which timing is started when filling is started; The control device for a filling device according to claim 1.

5. A filling device comprising: a filling valve for filling a container with a liquid; and a control device for controlling opening and closing of a passage through which the liquid flows in the filling valve, The control device includes: a supply amount calculation unit that calculates a supply amount of liquid per unit time to the container; a second drop prediction amount calculation unit that calculates a second drop prediction amount by correcting the first drop prediction amount based on a second drop correction amount obtained by substituting the supply amount of liquid per unit time calculated by the supply amount calculation unit into a second drop correction amount calculation formula; a filling amount management unit that calculates an accumulated filling amount, which is an accumulated amount of the liquid supplied to the container, and outputs the closure command based on the closed filling amount obtained by subtracting the second predicted drop amount calculated by the second predicted drop amount calculation unit during a predetermined period before a closure command is output to the filling valve from a predetermined set filling amount, and the accumulated filling amount, and calculates an actual drop amount, which is the amount of liquid from when the closure command is output to when the filling valve is closed; a first drop prediction amount calculation unit that corrects the first drop prediction amount to calculate a new first drop prediction amount based on a first drop correction amount obtained by substituting the actual drop amount calculated by the filling amount management unit and the second drop prediction amount at the time when the close command is output into a first drop correction amount calculation formula; A filling device comprising:

6. 1. A method for controlling opening and closing of a passage through which liquid flows in a filling valve of a filling device for filling a container with liquid, comprising: a supply amount calculation step of calculating a supply amount of liquid per unit time to the container; a second drop prediction amount calculation step of calculating a second drop prediction amount by correcting the first drop prediction amount based on a second drop correction amount obtained by substituting the supply amount of liquid per unit time calculated in the supply amount calculation step into a second drop correction amount calculation formula; a closure command output step of calculating an integrated filling amount, which is an integrated amount of the liquid to be supplied to the container, and outputting the closure command based on a closed filling amount obtained by subtracting the second predicted drop amount calculated in the second predicted drop amount calculation step during a predetermined period before outputting a closure command to the filling valve from a predetermined set filling amount, and the integrated filling amount; an actual drop amount calculation step of calculating an actual drop amount, which is the amount of liquid from when the close command is output by the close command output step until the filling valve is closed; a first drop prediction amount calculation step of correcting the first drop prediction amount to calculate a new first drop prediction amount based on a first drop correction amount obtained by substituting the actual drop calculated in the actual drop calculation step and the second drop prediction amount at the time when the close command was output into a first drop correction amount calculation formula; A method for controlling a filling device comprising:

7. A filling device including a filling valve for filling a container with a liquid and a control device for controlling opening and closing of a passage through which the liquid flows in the filling valve, comprising: a supply amount calculation means for calculating a supply amount of liquid per unit time to the container; a second drop prediction amount calculation means for calculating a second drop prediction amount obtained by correcting the first drop prediction amount based on a second drop correction amount obtained by substituting the supply amount of liquid per unit time calculated by the supply amount calculation means into a second drop correction amount calculation formula; a filling amount management means for calculating an accumulated filling amount, which is an accumulated amount of the liquid supplied to the container, and outputting the closure command based on the closed filling amount obtained by subtracting the second predicted drop amount calculated by the second predicted drop amount calculation means during a predetermined period before a closure command is output to the filling valve from a predetermined set filling amount, and the accumulated filling amount, and calculating an actual drop amount, which is the amount of liquid from when the closure command is output to when the filling valve is closed; a first drop prediction amount calculation means for correcting the first drop prediction amount to calculate a new first drop prediction amount based on a first drop correction amount obtained by substituting the actual drop amount calculated by the filling amount management means and the second drop prediction amount at the time when the closure command was outputted into a first drop correction amount calculation formula; A program to function as a

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