JP5831655B2 - Control machine - Google Patents

Description

  The present invention relates to a control work machine for spraying a medicine on a field.

  The control machine is a machine that sprays agricultural chemicals and fertilizers on the field. For example, Patent Document 1 describes an agricultural work vehicle (corresponding to a control work machine) having left and right booms for spraying medicine.

JP 2008-29305 A

  The length of the left and right booms (hereinafter referred to as “spreading booms” as appropriate) for spraying the medicine can be adjusted according to the width of the region in the field where the medicine is sprayed. When the control work machine 1 sprays the medicine on the field, the control work machine that has entered the field from outside the field travels back and forth within the field to spray the medicine on the entire field. When spraying chemicals after the control machine has entered the field, the spray boom that has been shrunk may be extended. Moreover, when the control work machine which sprayed the medicine on the predetermined area in the field enters the next area and sprays the medicine, the width of spraying the medicine may be changed. In such a case, the length of the spreading boom is adjusted.

  In the technique described in Patent Document 1, there is no description or suggestion about adjusting the length of the spray boom when spraying the medicine on the field, and there is room for improvement. An object of this invention is to reduce the load of the operation | work which adjusts the length of a spreading | diffusion boom.

The present invention is a control work machine for spraying a medicine on a field,
A plurality of nozzles for spraying the medicine are attached, and a pair of spraying booms provided on both sides with respect to the front-rear direction of the control work machine,
A GPS receiver for receiving radio waves transmitted from GPS satellites;
The area where the field medicine is sprayed is defined by a rectangle defined by a boundary connecting four points with a straight line, and 1/2 of the spraying width is subtracted in a direction perpendicular to the boundary along the traveling direction of the first aircraft. Then, a position obtained by adding a predetermined distance from the first boundary to the direction along the traveling direction of the aircraft from the boundary in the direction orthogonal to the first boundary is obtained as a medicine spraying start position,
When it is determined from the position information of the control work machine acquired from the GPS receiver that the control work machine has reached a position shifted from the drug spray start position, the drug spray start position and the actual entry position And a control unit that adjusts the length of at least one of the pair of spraying booms based on the width of the drug spraying region where the drug is sprayed first and the drug spraying start position,
When the spraying of the medicine spraying area in the forward path is completed , the control unit obtains the medicine spraying start position on the return path of the adjacent next process,
If it is determined from the position information of the control work machine acquired from the GPS receiving unit that the position where the turn is finished has reached a position deviated from the medicine distribution start position on the return path, the drug distribution start position on the return path and the actual turn end The difference between the position and the length of at least one of the pair of spray booms is adjusted based on the width of the spray area on the return path and the medicine spray start position on the return path ,
According to the configuration in which the forward drug spraying and the backward drug spraying are repeated according to the field area,
The control unit obtains a final medicine spraying start position based on a medicine spraying area in which the control work machine sprays the medicine last in the field,
If it is determined from the position information of the control work machine acquired from the GPS receiver that the position where the turn is finished has reached a position deviated from the final medicine spraying start position, the final medicine spraying start position and the actual turning The difference from the end position is obtained, and the length of at least one of the pair of spray booms is adjusted based on the width of the last spray area and the final drug spray start position. Control equipment.
For example, the length of the spreading boom (5L, 5R) on the outer side in the turning direction is adjusted.

In the present invention, it has a vehicle speed sensor (90) for detecting the vehicle speed of the control work machine (1) based on the rotation of the wheels (3FL, 3FR, 3RL, 3RR) of the control work machine (1),
The control unit (40) obtains the slip rate of the wheels 3FL, 3FR, 3RL, 3RR) based on the vehicle speed, and the travel distance of the control work machine (1) based on the obtained slip rate. The control work machine according to claim 1, wherein the control work machine is corrected.

  The present invention can reduce the work load for adjusting the length of the spreading boom.

FIG. 1 is a side view of a control work machine according to the present embodiment. FIG. 2 is a plan view of the control work machine according to the present embodiment. FIG. 3 is a front view showing the posture when the control work machine sprays the medicine. FIG. 4 is a front view showing the posture when the control work machine sprays the medicine. FIG. 5 is a configuration diagram illustrating an example of a medicine supply system included in the control work machine according to the present embodiment. FIG. 6 is a schematic diagram illustrating a configuration example of a control device included in the control work machine according to the present embodiment. FIG. 7 is a schematic diagram illustrating a configuration example of a GPS receiving unit included in the control work machine according to the present embodiment. FIG. 8 is a schematic diagram illustrating an example of an operation panel included in the control work machine according to the present embodiment. FIG. 9 is a schematic diagram showing a region where a medicine is sprayed in a field where the medicine is sprayed. FIG. 10 is a plan view for explaining the spreading width of the control work machine according to the present embodiment. FIG. 11 is a diagram illustrating a state in which the control work machine according to the present embodiment sprays the medicine in the field. FIG. 12 is a diagram illustrating a state in which the control work machine according to the present embodiment sprays the medicine in the field. FIG. 13 is a diagram illustrating a state in which the control work machine according to the present embodiment sprays the medicine in the field. FIG. 14 is a flowchart illustrating a first adjustment example. FIG. 15 is a flowchart illustrating a second adjustment example. FIG. 16 is a flowchart illustrating a third adjustment example. FIG. 17 is a flowchart illustrating a fourth adjustment example. FIG. 18 is a flowchart illustrating a fifth adjustment example. FIG. 19 is a flowchart illustrating an example of adjusting the height of the spreading boom. FIG. 20 is an explanatory diagram showing an example of adjusting the height of the spreading boom. FIG. 21 is a flowchart illustrating an example of drug dispersion control. FIG. 22 is a flowchart illustrating a control example of the spreading boom. FIG. 23 is a flowchart illustrating a sixth adjustment example. FIG. 24 is a flowchart illustrating a seventh adjustment example. FIG. 25 is a flowchart illustrating an eighth adjustment example. FIG. 26 is a flowchart illustrating a ninth adjustment example. FIG. 27 is a flowchart illustrating a tenth adjustment example.

  DESCRIPTION OF EMBODIMENTS Embodiments (embodiments) for carrying out the present invention will be described in detail with reference to the drawings. Hereinafter, the drug refers to a liquid such as a liquid in which fertilizers, agricultural chemicals and the like are dissolved in a solvent (for example, water) and a liquid (for example, water) containing solids such as fertilizers and agricultural chemicals.

  FIG. 1 is a side view of a control work machine according to the present embodiment. FIG. 2 is a plan view of the control work machine according to the present embodiment. The control work machine 1 is a working vehicle that travels with the power generated by the power generation source and spreads the medicine on the field. The control work machine 1 transmits the power generated by the power generation source to the ground G and the internal combustion engine (for example, a diesel engine or a gasoline engine) 2 as a power generation source mounted on the vehicle body 1B. Including front wheels 3FL, 3FR and rear wheels 3RL, 3RR that cause the machine 1 to travel. The output of the internal combustion engine 2 is input to the hydraulic pump 2P. The hydraulic pump 2P is driven by the internal combustion engine 2 and discharges hydraulic oil for driving the hydraulic equipment.

  The front wheels 3FL, 3FR and the rear wheels 3RL, 3RR are attached to and support the vehicle body 1B. A hydraulic motor 3M is attached to each of the front wheels 3FL, 3FR and the rear wheels 3RL, 3RR. Further, as will be described later, the front wheels 3FL and 3FR are steering wheels of the control work machine 1. Thus, the vehicle body 1B has a steering wheel and a drive wheel. The hydraulic motor 3M is rotated by the hydraulic oil discharged from the hydraulic pump 2P, and rotates the front wheels 3FL, 3FR and the rear wheels 3RL, 3RR. With such a structure, the power of the internal combustion engine 2 is transmitted to the ground G, and the control work machine 1 is caused to travel. 1 shows a state in which the hydraulic motor 3M is attached to the front wheel 3FL and the rear wheel 3RL, but the hydraulic motor 3M is similarly attached to the front wheel 3FR and the rear wheel 3RR.

  In this embodiment, the control work machine 1 transmits the power of the internal combustion engine 2 to the front wheels 3FL, 3FR and the rear wheels 3RL, 3RR via the hydraulic pump 2P and the hydraulic motor 3M. May be transmitted to the front wheels 3FL, 3FR and the rear wheels 3RL, 3RR. In this case, a hydraulic continuously variable transmission (HST) is provided between the internal combustion engine 2 and the transmission, and the power from the internal combustion engine 2 is input to the variable hydraulic pump of the hydraulic continuously variable transmission (HST). Then, the power output from the fixed hydraulic motor of the hydraulic continuously variable transmission (HST) is input to the transmission, and the power is transmitted to the front wheels 3FL, 3FR and the rear wheels 3RL, 3RR via the auxiliary transmission in the transmission. May be.

  The control work machine 1 includes a plurality of nozzles 4 for spraying a medicine and a first spraying boom 5L, a second spraying boom 5R, and a third spraying boom as a pair of spraying booms to which the plurality of nozzles 4 are attached and support them. And a spreading boom 5C. The first spreading boom 5L is arranged on the left side in the front-rear direction of the control work machine 1, and the second spreading boom 5R is arranged on the right side in the front-rear direction of the control work machine 1. The front-rear direction of the control work machine 1 is a direction parallel to the direction from the driver's seat 6 mounted on the vehicle body 1B of the control work machine 1 toward the handle 7. Thus, the first spraying boom 5L and the second spraying boom 5R are a pair of spraying booms provided on both sides with respect to the front-rear direction of the vehicle body 1B of the control work machine 1. Thus, the pair of first spreading boom 5L and the second spreading boom 5R are provided on both sides with respect to the front-rear direction of the control work machine 1.

  The third spreading boom 5C is disposed on the traveling direction side of the control work machine 1 and between the first spreading boom 5L and the second spreading boom 5R. The traveling direction of the control work machine 1 is a direction from the driver's seat 6 mounted on the vehicle body 1B of the control work machine 1 toward the handle 7. The first spraying boom 5L, the second spraying boom 5R, and the third spraying boom 5C each have a plurality of nozzles 4. In the present embodiment, the plurality of nozzles 4 have spray ports for spraying the medicine facing the ground G, but the direction of the spray ports is not limited to this and depends on the spray target of the drug. It can be adjusted as appropriate.

  The first spraying boom 5L includes a swirl spraying boom 5BL that is pivotably attached to the control work machine 1, and an extended spraying boom 5SL that is supported by the swirl spraying boom 5BL so as to be extendable and contractible. Similarly to the first spraying boom 5L, the second spraying boom 5R also has a swirl spraying boom 5BR that is pivotably attached to the control work machine 1, and an extended spraying boom 5SR that is supported by the swirl spraying boom 5BR in a telescopic manner. . As shown in FIG. 2, the first spraying boom 5L and the second spraying boom 5R are folded on both sides with respect to the front-rear direction of the vehicle body 1B of the control work machine 1 when the medicine is not sprayed in the field.

  During the spraying of the medicine, the first spraying boom 5L and the second spraying boom 5R both turn to the position substantially parallel to the third spraying boom 5C toward the traveling direction side of the control work machine 1, that is, forward. (Direction indicated by arrow R in FIG. 2). In FIG. 2, the first spreading boom 5L and the second spreading boom 5R turn in the direction indicated by the arrow R in FIG. At this position, the first spraying boom 5L and the second spraying boom 5R are fixed to the control work machine 1. Then, since the 1st spreading boom 5L, the 2nd spreading boom 5R, and the 3rd spreading boom 5C are arranged on a substantially straight line, a plurality of nozzles 4 attached to these are also arranged on a substantially straight line.

  In addition, the control work machine 1 has an angle formed between the first spraying boom 5L or the second spraying boom 5R and a reference plane (for example, a plane or a horizontal plane including the axles of the front wheels 3FL, 3FR and the rear wheels 3RL, 3RR). Each can be adjusted independently. The control work machine 1 can adjust the distance between the field and the first spraying boom 5L or the second spraying boom 5R by adjusting the angle between the first spraying boom 5L or the second spraying boom 5R and the reference plane. Therefore, the distance between the crop in the field and the first spraying boom 5L or the second spraying boom 5R can also be adjusted.

  The control work machine 1 includes a left upper and lower actuator 12L as a first spreading boom height adjusting device and a right upper and lower actuator as a second spreading boom height adjusting device on both the traveling direction side and the front and rear direction of the vehicle body 1B. The actuator 12R is mounted. Further, the control work machine 1 includes a left opening / closing actuator 13L as a first spreading boom opening / closing device and a right opening / closing actuator 13R as a second spreading boom opening / closing device on both the traveling direction side and the front / rear direction of the vehicle body 1B. It is equipped with. The left up / down actuator 12L, the right up / down actuator 12R, the left opening / closing actuator 13L, and the right opening / closing actuator 13R are, for example, a hydraulic cylinder or an air cylinder.

  The control work machine 1 is equipped with a horizontal valve 14 on the traveling direction side of the vehicle body 1B. The horizontal valve 14 is formed by the first spray boom 5L, the second spray boom 5R, the third spray boom 5C, and a predetermined plane of the vehicle body 1B (for example, a plane including the axles of the front wheels 3FL, 3FR and the rear wheels 3RL, 3RR). It is a device that adjusts the angle. For example, when the control work machine 1 is performing control work in the field, when the control work machine 1 is inclined with respect to the planting surface of the field (the surface of the part where the crop is planted in the field), The 1 spraying boom 5L, the 2nd spraying boom 5R, and the 3rd spraying boom 5C may incline with respect to a farm field. In this case, the horizontal valve 14 adjusts the angles formed by the first spraying boom 5L, the second spraying boom 5R, the third spraying boom 5C, and the predetermined plane of the vehicle body 1B, so that the first spraying boom 5L, the second spraying boom 5R and the 3rd spreading | diffusion boom 5C and a planting surface are made parallel. By doing in this way, even if the prevention work machine 1 inclines with respect to a planting surface, the distance of a crop and the nozzle 4 can be hold | maintained substantially constant.

  The control work machine 1 has a boom stroke sensor 95, a link angular velocity sensor 96, and a link inclination sensor 97 mounted on the traveling direction side of the vehicle body 1B. Further, the control work machine 1 is equipped with a boom angle right sensor 98R and a boom angle left sensor 98L on both the traveling direction side and the front-rear direction of the vehicle body 1B, and the boom opening / closing right sensor 99R and the boom opening / closing left side. The sensor 99L is mounted. The boom stroke sensor 95 detects the lengths of the first spreading boom 5L and the second spreading boom 5R. The link angular velocity sensor 96 detects the angular velocity of the link that attaches the first spreading boom 5L, the second spreading boom 5R, and the third spreading boom 5C to the vehicle body 1B. The link inclination sensor 97 detects the inclination with respect to the horizontal surface of the link that attaches the first spreading boom 5L, the second spreading boom 5R, and the third spreading boom 5C to the vehicle body 1B. The boom angle right sensor 98R detects the inclination angle of the second spreading boom 5R with respect to the reference plane, and the boom angle left sensor 98L detects the inclination angle of the first spreading boom 5L with respect to the reference plane. The boom opening / closing right sensor 99R detects whether the second spraying boom 5R is closed or open, and the boom opening / closing left sensor 99L detects whether the first spraying boom 5L is closed or open. The boom stroke sensor 95, the link angular velocity sensor 96, the link tilt sensor 97, the boom angle right sensor 98R, the boom angle left sensor 98L, the boom open / close right sensor 99R, and the boom open / close left sensor 99L are electrically connected to a control device 9 described later. Has been. The control device 9 acquires values detected by these sensors and uses them to control the control work machine 1.

  The control work machine 1 includes a control device 9, a GPS receiver 10, a display / operation panel 11, and a vehicle speed sensor 90 as speed detection means for detecting the speed (vehicle speed or vehicle speed) at which the control work machine 1 travels. And a steering angle sensor 91 as steering angle detection means for detecting the steering angle of the steering wheel. The control device 9 obtains an entry position when the control work machine 1 enters the region where the control work machine 1 sprays the medicine on the field based on the control of the control work machine 1, for example, information obtained from the GPS receiver 10, or from the nozzle 4 The supply amount of the sprayed medicine is controlled, and the internal combustion engine 2 is controlled. The GPS receiver 10 receives radio waves transmitted from GPS satellites. The display / operation panel 11 receives input from an operator, displays the operating conditions of the control work machine 1, and displays the state of the control work machine 1. The control device 9, the GPS receiving unit 10, and the display / operation panel 11 will be described later. The vehicle speed sensor 90 detects the speed (vehicle speed) of the control work machine 1 from, for example, the rotational speed of the front wheels 3FL, 3FR, the rear wheels 3RL, 3RR or the rotation of gears in the transmission. The steering angle sensor 91 detects the steering angle of the front wheels 3FL and 3FR from the rotation angle of the handle 7. That is, in the control work machine 1, the front wheels 3FL and 3FR are the steering wheels.

  FIG. 3 and FIG. 4 are front views showing postures when the control work machine sprays the medicine. FIG. 3 shows a state where the extension spraying booms 5SL and 5SR are not extended from the turning spraying booms 5BL and 5BR shown in FIG. FIG. 4 shows a state in which the extension spraying booms 5SL and 5SR are extended from the turning spraying booms 5BL and 5BR. In any state, the control work machine 1 on the ground G has the first spray boom 5L, the second spray boom 5R, and the third spray boom 5C arranged in a substantially straight line from the plurality of nozzles 4. Spray medicine. That is, the control work machine 1 sprays the medicine from the plurality of nozzles 4 with the first spraying boom 5L and the second spraying boom 5R opened to the left and right. In the control work machine 1, the first spraying boom 5L and the second spraying boom 5R provided on both sides in the front-rear direction of the vehicle body 1B are between the state in which the first spraying boom 5R and the second spraying boom 5R are stored in the vehicle body 1B and the state in which they are opened to the left and right. Even in the existing state, the medicine can be sprayed from the plurality of nozzles 4.

  As shown in FIG. 4, when the extended spraying booms 5SL and 5SR are extended from the swing spraying booms 5BL and 5BR, respectively, the distance between the tip of the first spraying boom 5L and the tip of the second spraying boom 5R is the extension spraying boom 5SL, It becomes larger than the case where 5SR does not extend. The distance between the root of the first spraying boom 5L (the connection part with the third spraying boom 5C) and the tip and the distance between the base of the second spraying boom 5R (the connection part with the third spraying boom 5C) and the tip are as follows: The stroke sensor 95 detects.

  In the present embodiment, the distance that the extension spray booms 5SL and 5SR extend from the swirl spray booms 5BL and 5BR can be adjusted steplessly or stepwise, and the swirl spray booms 5BL and 5BR and the extension spray booms can be adjusted. It is comprised so that supply of the chemical | medical agent to the nozzle which exists in the turning spraying booms 5BL and 5BR side of the location which 5SL and 5SR overlap can be interrupted | blocked. As such a configuration, for example, each nozzle of the swirling spray booms 5BL and 5BR is provided with a switching cock, and a switching member for operating switching of the switching cock is disposed outside the machine, and the extension spraying booms 5SL and 5SR side. An operating piece is provided in As such a configuration, the cock can be switched by contacting the switching cock when the extended spreading booms 5SL and 5SR are moved back and forth. With such a structure, the control work machine 1 can adjust the width (spreading width) for spraying the drug according to the spraying area of the drug in the field. Further, the control work machine 1 can select a nozzle for spraying the drug from the plurality of nozzles 4 and spray the drug. Thus, the control work machine 1 can cope with various spraying conditions of the medicine by adjusting the spraying width of the medicine and the number and position of the nozzles for spraying the medicine. Next, the medicine supply system 8 will be described.

  FIG. 5 is a configuration diagram illustrating an example of a medicine supply system included in the control work machine according to the present embodiment. The control machine 1 has a medicine supply system 8. The medicine supply system 8 is a system that supplies medicine to the plurality of nozzles 4. The medicine supply system 8 includes a tank 20, a water supply hose 21, a water discharge hose 22, a spraying hose 23, a stirring hose 24, a surplus water hose 25, a water supply cock 26, a pump 27, a filter 28, and a flow rate. Control valve 29, branch device 30, safety valve 31, pressure sensor 92, flow rate sensor 93, and valve opening sensor 94 are included. In the following, “water” includes a drug. The tank 20 stores the chemical liquid sprayed by the nozzle 4. The water supply hose 21 is a pipe for guiding the medicine in the tank 20 from the tank 20 through the filter 28 to the pump 27. The water discharge hose 22 is a pipe for guiding the medicine from the pump 27 to the branch device 30. The spray hose 23 is a pipe for guiding the medicine from the branch device 30 to the first spray boom 5L, the second spray boom 5R, and the third spray boom 5C. The spraying hose 23 for guiding the drug to the plurality of nozzles 4 attached to the extended spraying boom 5SL of the first spraying boom 5L and the extended spraying boom 5SR of the second spraying boom 5R has flexible hoses 23EL and 23ER, respectively. Yes. With such a structure, the flexible hoses 23EL and 23ER allow the movement of the extended spreading booms 5SL and 5SR even when the extended spreading booms 5SL and 5SR expand and contract. The stirring hose 24 is a pipe for constantly flowing a chemical at a predetermined flow rate into the tank 20 in order to stir the chemical solution in the tank 20. The stirring hose 24 branches from the water discharge hose 22 and is connected to the tank 20. The spillage hose 25 is a pipe for returning the medicine that has not been used for spraying and stirring to the tank 20.

  The water supply cock 26 is provided between the tank 20 and the filter 28 and is used to stop water supply from the tank 20 when the filter 28 is exchanged, cleaned, or the like. The filter 28 removes dust and the like from the medicine in the tank 20. The pump 27 pressurizes the medicine that has passed through the filter 28, pressurizes it, and discharges it toward the flow rate control valve 29 via the water discharge hose 22. The flow rate control valve 29 is a device that adjusts the flow rate of the medicine that flows to the branching device 30 and is controlled by the control device 9 shown in FIGS. 1 and 2. The branching device 30 branches the medicine sent from the flow control valve 29 to the three spraying hoses 23, and has a plurality of first spraying booms 5L, 5R, and third spraying booms 5C. The medicine is supplied to the nozzle 4.

  A first spreading cock 32L, a second spreading cock 32R, and a third spreading cock 32C are provided on the outlet side of the branching device 30. The first spreading cock 32L is disposed between the branching device 30 and the nozzle 4 of the first spreading boom 5L, and switches between supply and non-supply of the medicine from the branching device 30 to the nozzle 4 of the first spreading boom 5L. . The second spray cock 32R is disposed between the branch device 30 and the nozzle 4 of the second spray boom 5R, and switches between supply and non-supply of the medicine from the branch device 30 to the nozzle 4 of the second spray boom 5R. . The third spray cock 32C is disposed between the branch device 30 and the nozzle 4 of the third spray boom 5C, and switches between supply and non-supply of the medicine from the branch device 30 to the nozzle 4 of the third spray boom 5C. . The first spray cock 32L, the second spray cock 32R, and the third spray cock 32C may be a system in which an operator directly opens / closes them, or a system in which an actuator opens / closes them. The first spray cock 32L, the second spray cock 32R, and the third spray cock 32C are provided with open / close sensors for detecting these states (closed or open). The output of the opening / closing sensor is acquired, and the states of the first spray cock 32L, the second spray cock 32R, and the third spray cock 32C are grasped. The safety valve 31 is a device for returning the medicine to the tank 20 and suppressing an increase in the pressure of the medicine in the water discharge hose 22 when the pressure of the medicine in the water discharge hose 22 increases excessively.

  The flow sensor 93 is provided between the flow control valve 29 and the branch device 30. The flow rate sensor 93 detects the flow rate of the medicine flowing into the branching device 30, that is, the flow rate of the medicine sprayed from the nozzle 4, and transmits the detected flow rate to the control device 9 shown in FIGS. The pressure sensor 92 is provided in the branch device 30. The pressure sensor 92 detects the pressure of the medicine sent to the spray hose 23 and transmits it to the control device 9 shown in FIGS. The valve opening sensor 94 is provided in the flow control valve 29. The valve opening sensor 94 detects the opening of the flow control valve 29 and transmits it to the control device 9 shown in FIGS. The control device 9 controls the pump 27 and the flow rate control valve 29 based on the information detected by the pressure sensor 92, the flow rate sensor 93, and the valve opening degree sensor 94 to adjust the flow rate of the sprayed medicine. Next, the control device 9 will be described.

  FIG. 6 is a schematic diagram illustrating a configuration example of a control device included in the control work machine according to the present embodiment. The control device 9 includes a control processor 40, a storage unit 41, input interfaces 42a to 42q, an input / output interface 43, and output interfaces 44a to 44n. The control processor 40 is an arithmetic device (hardware) that operates software in a computer, and has a function of interpreting and executing instructions of a computer program. The control processor 40 controls the entire control work machine 1 by interpreting and executing instructions of a computer program for controlling the internal combustion engine 2 and the medicine supply system 8 and the like included in the control work machine 1. In addition, the control processor 40 controls the raising and lowering and opening / closing of the first spraying boom 5L and the second spraying boom 5R, and the tilt of the first spraying boom 5L, the second spraying boom 5R, and the third spraying boom 5C. It also functions as a control unit for controlling the above. In this case, the control processor 40 interprets and executes an instruction of a computer program in which an instruction for controlling the operation of the first spraying boom 5L, the second spraying boom 5R, and the third spraying boom 5C is described. Thus, the function of the control unit described above is realized.

  The storage unit 41 includes a RAM (Random Access Memory) 41A, a ROM (Read Only Memory) 41B, and an EEPROM (Electrically Erasable Programmable Read Only Memory) 41C. The RAM 41A is a volatile memory whose stored contents are lost when the supply of power is cut off, and the ROM 41B and the EEPROM 41C are non-volatile memories that retain the stored contents without supplying power. The EEPROM 41C can electrically erase stored contents and store new information. The storage unit 41 stores a computer program and data for realizing control of the control work machine 1 and a computer program and data for realizing a function as a spraying control device. In the present embodiment, the ROM 41B stores a computer program and the like, and the EEPROM 41C stores data and the like obtained during the operation of the control device 9. The RAM 41A expands the computer program stored in the ROM 41B during the operation of the control device 9.

  The input interfaces 42a to 42q are a telescopic switch 88, a steering angle sensor 91, a pump switch 81, a vehicle speed sensor 90, a pressure sensor 92, a flow rate sensor 93, a valve opening sensor 94, a setting switch 82, a boom stroke sensor 95, and a link, respectively. An angular velocity sensor 96, a link tilt sensor 97, a boom angle right sensor 98R, a boom angle left sensor 98L, a boom opening / closing right sensor 99R, and a boom opening / closing left sensor 99L are connected. The input interfaces 42 a to 42 q convert information input to the input interface 42 a to 42 q into a form that can be used by the control processor 40 and inputs the converted information to the control processor 40. The input / output interface 43 is connected to the transmission / reception circuit 56 of the GPS receiver 10. As will be described later, the GPS receiver 10 generates a GPS vehicle speed Vg. The transmission / reception circuit 56 transmits the GPS vehicle speed Vg to the input / output interface 43, and receives a command from the control processor 40 via the input / output interface 43. The input / output interface 43 is interposed between the GPS receiver 10 and the control processor 40 so that information can be exchanged between them.

  The output interfaces 44a, 44c to 44m are respectively a flow control motor 29M, a pump 27, a buzzer 83, a display unit 11D, a horizontal valve 14, a right up / down actuator 12R, a left up / down actuator 12L, a right open / close actuator 13R, a left open / close actuator 13L, Connected to the right telescopic actuator 15R and the left telescopic actuator 15L. The output interface 44n is connected to the entire lifting / lowering actuator 16. The flow control motor 29M is a device for adjusting the valve opening degree of the flow control valve 29 shown in FIG. The output interface 44b converts the information generated by the control processor 40 for switching the rotation direction of the flow control motor 29M into a motor rotation direction switching output RD and outputs the motor rotation direction switching output RD. The rotation direction of the flow control motor 29M is switched by a motor rotation direction switching output RD. The output interfaces 44a to 44m provide commands for controlling the flow rate control motor 29M generated by the control processor 40, the pump 27, the right up / down actuator 12R, the left up / down actuator 12L, the entire up / down actuator 16 and the like. Convert to usable form and output.

  The control work machine 1 controls the spraying amount of the medicine in conjunction with the vehicle speed. Such control is referred to as vehicle speed-linked spray control. The control processor 40 implements vehicle speed-linked spraying control using an arithmetic expression using the flow rate (spraying amount per unit time) of the medicine sprayed from all the nozzles 4 as a parameter. That is, the control processor 40 sprays the drug in conjunction with the vehicle speed of the control work machine 1 based on the drug spraying conditions. From the display / operation panel 11, the operator uses the nozzle constant (spray amount L / min per nozzle at a spray pressure of 10 kgf / cm 2), spray pressure (kgf / cm 2), and target spray amount per 10 ares (L / 10a). The processor 40 for control calculates the setting pressure of the chemical | medical agent sent to the spraying hose 23 shown in FIG. 5 using the vehicle speed of the control work machine 1, the said target spraying quantity, etc. And the processor 40 for control adjusts the quantity of the chemical | medical agent supplied to the distribution hose 23 so that it may become the calculated setting pressure. The amount of the medicine is adjusted by the control processor 40 driving the flow control motor 29M to adjust the opening degree of the flow control valve 29. Here, the vehicle speed of the control work machine 1 is the vehicle speed of the control work machine 1 generated by the GPS receiver 10 or detected by the vehicle speed sensor 90. Next, the GPS receiving unit 10 will be described.

  FIG. 7 is a schematic diagram illustrating a configuration example of a GPS receiving unit included in the control work machine according to the present embodiment. The GPS receiving unit 10 outputs information on the position of the control work machine 1 (position information), the GPS vehicle speed Vg, and the like based on radio waves received from a plurality of GPS satellites SG1, SG2, and the like. The GPS receiver 10 includes a reception antenna 50, a reception circuit 51, a signal processing circuit 52, a clock circuit 53, a memory 54, a GPS processor 55, and a transmission / reception circuit 56.

  The receiving antenna 50 receives radio waves transmitted from a plurality of GPS satellites SG1, SG2, and the like. The receiving circuit 51 is connected to the receiving antenna 50, and converts radio waves transmitted by the GPS satellites SG1, SG2, etc. received by the receiving antenna 50 into electrical signals. The signal processing circuit 52 converts the electrical signal output from the receiving circuit 51 into a form that can be used by the GPS processor 55 and outputs the converted signal. The clock circuit 53 measures the time and inputs it to the GPS processor 55. The memory 54 stores data necessary for the processing of the GPS processor 55 and develops a computer program necessary for the processing of the GPS processor 55.

  The GPS processor 55 calculates information about the position of the GPS receiving unit 10 based on radio waves transmitted from a plurality of GPS satellites SG 1, SG 2, etc., and outputs the information to the transmission / reception circuit 56. Further, the GPS processor 55 calculates the speed of the GPS receiving unit 10 based on the information on the position of the GPS receiving unit 10, and outputs it to the transmission / reception circuit 56. Since the GPS receiving unit 10 is mounted on the control work machine 1, information on the position of the GPS receiving unit 10 is information (position information) regarding the position of the control work machine 1. Moreover, the said speed is the vehicle speed of the control work machine 1 obtained based on the radio wave of GPS satellite SG1, SG2, and this is the above-mentioned GPS vehicle speed Vg.

  The transmission / reception circuit 56 is connected to the control processor 40 included in the control device 9 via the input / output interface 43 of the control device 9. The transmission / reception circuit 56 outputs the position information obtained by the GPS processor 55 to the control processor 40 via the input / output interface 43 of the control device 9. The control processor 40 uses the position information to control the control work machine 1 and to send a data change request to the GPS receiver 10. Note that the GPS vehicle speed Vg may be obtained based on the position information obtained from the GPS receiver 10 by the control processor 40 of the control device 9.

  FIG. 8 is a schematic diagram illustrating an example of an operation panel included in the control work machine according to the present embodiment. The display / operation panel 11 includes a display unit 11D, a manual switch 80, a pump switch 81, a setting switch 82, a cumulative reset switch 87, a display changeover switch 85, an automatic switch 86, and a telescopic switch 88. . The display unit 11D displays the entry position obtained by the control processor 40 shown in FIG. 6 where the control work machine 1 enters the region where the medicine on the field is sprayed. In addition, the display unit 11D displays information on the field where the control work machine 1 sprays the medicine, information about the medicine to be sprayed, information about the operation state of the control work machine 1, and the like. Examples of the information on the field include the position and area of the field. Information on the latter includes, for example, the type of medicine, the amount of application, the set value (set pressure) of the discharge pressure of the pump 27 shown in FIG. Further, the display unit 11D displays an index of the current position and the entry position of the control work machine 1 when the control work machine 1 is performing a chemical solution spraying work in the field. By doing in this way, display part 11D guides an operator's operation. As the display unit 11D, for example, a liquid crystal display, an organic EL display, or the like can be used.

  The manual switch 80 is an input means that is operated when the operator changes the spraying condition of the medicine or adjusts the spraying width in the spraying of the medicine. When the manual switch 80 is operated, the control device 9 shown in FIG. 6 sets the setting switch 82 to accept the change of the spraying condition or the adjustment of the spraying width. The pump switch 81 is an input means for starting the pump 27 shown in FIG. When the pump switch 81 is operated, the pump 27 is activated, and the spraying of the medicine is started by operating the first spray cock 32L, the second spray cock 32R, and the third spray cock 32C to the open side. The setting switch 82 is an input means for inputting the spraying conditions of the medicine. The setting switch 82 is a spray amount setting switch 82A for setting the spray amount of the medicine, a pressure setting switch 82B for setting the discharge pressure of the pump 27, an increase / decrease switch 82C for increasing / decreasing the set value, and confirming the setting. Setting switch 82D. The cumulative reset switch 87 is an input unit used when resetting the cumulative amount of the spread medicine. The display changeover switch 85 is an input unit used when switching information displayed on the display unit 11D. The automatic switch 86 is an input means that is operated when the medicine is automatically sprayed under the set spraying conditions in the spraying of the medicine. When the automatic switch 86 is operated so as to be turned on while the airframe is stopped, the pump 27 is driven (pump switch 81 is turned off). And if the 1st spreading cock 32L, the 2nd spreading cock 32R, and the 3rd spreading cock 32C are operated to the opening side, it will be the composition that preparation for automatic spreading is completed. Even if the first spray cock 32L, the second spray cock 32R, and the third spray cock 32C are operated to the open side, the medicine is not sprayed because the electromagnetic clutch integrated with the pump 27 is OFF. When the traveling state of the airframe is detected from the vehicle speed sensor, the electromagnetic clutch integrated with the pump 27 is turned on, and the spray amount is adjusted to be uniform based on the information from the vehicle speed sensor and automatically sprayed. In the traveling stop state, the spraying is automatically stopped. The manual switch 80 may not be provided. In this case, manual spraying is performed when the automatic switch 80 is turned off.

  The telescopic switch 88 is a switch for expanding and contracting the first spraying boom 5L and the second spraying boom 5R. The expansion / contraction switch 88 includes a first expansion / contraction switch 88L and a second expansion / contraction switch 88R. The first telescopic switch 88L expands and contracts the first spraying boom 5L, and the second telescopic switch 88R extends and contracts the second spraying boom 5R.

  FIG. 9 is a schematic diagram showing a region where a medicine is sprayed in a field where the medicine is sprayed. In the example shown in FIG. 9, the X axis indicates a line parallel to the latitude line, and the Y axis indicates a line parallel to the meridian. A region where the control work machine 1 shown in FIGS. 1 and 2 sprays the medicine onto the field FW is referred to as a medicine spraying region AW. In this example, the medicine spraying area AW is a rectangular area defined by P1 (X1, Y1), P2 (X2, Y2), P3 (X3, Y3), and P4 (X4, Y4). The medicine spraying area AW and the other areas are partitioned by boundaries B1, B2, B3, and B4. The shape of the medicine spraying area AW is not limited to a rectangle, and there are various shapes such as a trapezoid, a parallelogram, a pentagon, a hexagon, a circle, and an ellipse.

  In this embodiment, when the control work machine 1 sprays the medicine on the medicine spraying area AW of the field FW, the control device 9 shown in FIG. 6 includes the position information (spreading area position information) of the medicine spraying area AW of the field FW. The approach position when the control work machine 1 enters the medicine spraying area AW of the field FW is determined using at least the spraying width of the medicine. The control device 9 may display the obtained approach position on the display unit 11D shown in FIG. Since the medicine spraying area AW is defined by the above-described P1 (X1, Y1), P2 (X2, Y2), P3 (X3, Y3), and P4 (X4, Y4), these are set as the spraying area position information.

  P1 (X1, Y1), P2 (X2, Y2), P3 (X3, Y3), and P4 (X4, Y4) are positions in the field FW determined by the X coordinate and the Y coordinate. Since the X axis indicates a line parallel to the latitude line, and the Y axis indicates a line parallel to the meridian, the X coordinate indicates latitude and the Y coordinate indicates longitude. In order to obtain P1 (X1, Y1), P2 (X2, Y2), P3 (X3, Y3), and P4 (X4, Y4), first, GPS receiving units are installed at the four corners of the medicine spraying area AW. And the latitude and longitude obtained from the GPS receiver at each position are the latitudes of P1 (X1, Y1), P2 (X2, Y2), P3 (X3, Y3), P4 (X4, Y4), respectively. And longitude. P1 (X1, Y1), P2 (X2, Y2), P3 (X3, Y3), and P4 (X4, Y4) obtained in this way are set as the spray region position information. 8 is stored in the storage unit 41 of the control device 9 shown in FIG. 6, more specifically, at least one of the RAM 41A and the EEPROM 41C from the display / operation panel 11 shown in FIG. The control processor 40 can obtain the shape and area of the medicine spraying area AW, the lengths and the boundaries of the boundaries B1, B2, B3, and B4 from the spraying area position information stored in the storage unit 41.

  FIG. 10 is a plan view for explaining the spreading width of the control work machine according to the present embodiment. The direction orthogonal to the traveling direction of the control work machine 1 is the width direction of the control work machine 1. The total spray width Wsa of the medicine is the distance between the pair of nozzles 4 and 4 existing on the outermost side in the width direction among the nozzles 4 of the first spray boom 5L and the second spray boom 5R of the control work machine 1 (shortest distance). ). In spraying medicine, the first spray boom 5L and the second spray boom 5R are usually the same length. Accordingly, the distance W1 from the width direction center CL of the control work machine 1 to the nozzle 4 existing on the outer side in the width direction of the first spray boom 5L (hereinafter referred to as the first spray width) and the width direction center of the control work machine 1 A distance W2 from the CL to the nozzle 4 existing outside the second spreading boom 5R in the width direction (hereinafter referred to as a second spreading width) is Wsa / 2. The first spreading width W1 is the spreading width on the left side in the traveling direction of the control work machine 1, and the second spreading width W2 is the spreading width on the right side in the traveling direction of the control work machine 1. During the spraying of the medicine, the first spray width W1 and the second spray width W2 may be different. In the present embodiment, the spraying width is a width when the control work machine 1 sprays the medicine on the field FW, and includes a total spraying width Wsa, a first spraying width W1, and a second spraying width W2. It is.

  FIG. 11 to FIG. 13 are views showing a state in which the control work machine according to the present embodiment sprays the medicine in the field. The size (field width) in the X direction of the medicine spraying area AW of the field PW is W. In the example shown in FIG. 11, the control work machine 1 that has entered the medicine spraying area AW of the field PW advances in the X direction from the approach position S in the vicinity of P1 (X1, Y1), and is in the vicinity of P2 (X2, Y2). After changing the traveling direction by 90 degrees at the medicine spraying start position A, the medicine is sprayed in the Y direction. In spraying the medicine, it is preferable to extend the first spray boom 5L and the second spray boom 5R to the maximum length and spray the medicine with the maximum spray width Wm. At this time, the length from the center in the width direction of the control work machine 1 to the tip nozzle of the first spraying boom 5L and the length from the center in the width direction of the control work machine 1 to the tip nozzle of the second spraying boom 5R are: Each is Wm / 2. The control processor 40 of the control device 9 shown in FIG. 6 obtains the medicine spraying start position A based on the maximum spraying width Wm. Since the position information of the medicine spraying area AW is known in advance by measurement or the like, for example, the medicine spraying start position A in the X direction subtracts Wm / 2 from the position outside the medicine spraying area AW1 where the medicine is sprayed first. It will be in the position.

  Reference numeral AW1 indicates a region where the medicine is first sprayed in the medicine spraying region AW. When the drug is sprayed over the entire drug spray area AW1, the control work machine 1 sprays the drug in the drug spray area AW2 adjacent to the drug spray area AW1 in the X-axis direction. For this reason, the control work machine 1 completes the spraying of the medicine on the medicine spraying area AW1 at the turning start position (spreading end position) B and changes its direction. Then, the medicine enters the medicine spraying area AW2, and starts spraying medicine from the turning end position (spreading start position) C. The distance (adjacent spray area distance) between the adjacent drug spray areas AW1 and AW2 is Wa. When entering the next medicine spraying area AW2 from the medicine spraying area AW1, for example, when the worker of the control work machine 1 enters the wrong position, the control processor 40 of the control device 9 shown in FIG. If necessary, at least one of the first spray boom 5L and the second spray boom 5R is expanded and contracted to adjust the drug spray width Ws. In this case, the control processor 40 sets the spraying width Ws of the medicine based on the adjacent spraying area distance Wa and the position information of the control work machine 1 acquired from the GPS processor 55 of the GPS receiving unit 10 shown in FIG. Based on this, at least one of the first spraying boom 5L and the second spraying boom 5R is expanded and contracted. In this way, the control processor 40 obtains the entry position where the control work machine 1 enters the next medicine spraying area in the field based on the position information of the medicine spraying area and the medicine spraying width, and the GPS receiving unit 10 If it is determined from the position information of the control work machine 1 acquired from the above that the control work machine 1 has reached the medicine spray start position, the length of at least one of the first spray boom 5L and the second spray boom 5R is sprayed with the medicine. Adjust based on area width and spray start position. By doing in this way, a chemical | medical agent can be reliably sprayed with respect to the chemical | medical agent distribution area | region AW1. In addition, since the operator does not need to adjust the length of the first spreading boom 5L and the like, the burden on the operator can be reduced and the operator can concentrate on the operation of the control work machine 1.

  FIG. 12 shows a case where the control work machine 1 enters a position different from the medicine spraying start position A. When the control work machine 1 enters the medicine spraying area AW1 where the medicine is first sprayed, for example, when the operator of the control work machine 1 enters the wrong position, the control device 9 shown in FIG. The processor 40 adjusts the spraying width Ws of the medicine by expanding and contracting at least one of the first spraying boom 5L and the second spraying boom 5R as necessary. In this case, the control processor 40 is based on the adjacent scattering area distance Wa and information on the position (entry position) Ar of the control work machine 1 acquired from the GPS processor 55 of the GPS receiver 10 shown in FIG. A difference (entry position deviation amount) α between the medicine spraying start position A and the actual approach position Ar is obtained.

  In the medicine spraying area AW1 where the medicine is first sprayed, the medicine spraying is started with the maximum spraying width Wm. However, as shown in FIG. 12, when the actual entry position Ar is shifted to the outside of the medicine spraying area AW1, 2 It is necessary to adjust the length of the spray boom 5R. The control processor 40 sets the length (Wm / 2−α) obtained by subtracting the approach position deviation amount α obtained from the position information of the approach position Ar from Wm / 2 as the length of the second spraying boom 5R. The control processor 40 extends and contracts at least one of the second spreading boom 5R so that the length of the second spreading boom 5R becomes (Wm / 2−α). By doing in this way, a chemical | medical agent can be reliably sprayed with respect to chemical | medical agent dispersion | distribution area | region AW1. In addition, since the operator does not need to adjust the length of the first spreading boom 5L and the like, the burden on the operator can be reduced and the operator can concentrate on the operation of the control work machine 1.

  The control work machine 1 enters the medicine spraying area AW1 with the second spraying boom 5R as the maximum length. For this reason, when the actual approach position Ar is shifted to the inside (P1 (X1, Y1) side) of the medicine spraying area AW1, the second spraying boom 5R cannot be extended. In this case, the control processor 40 determines the control work machine from the position information of the control work machine 1 acquired from the GPS processor 55 of the GPS receiver 10 shown in FIG. 7, the detected value of the steering angle sensor 91 shown in FIG. When 1 is about to enter before the medicine spraying start position A, the operator of the control work machine 1 is warned by sounding the buzzer 83 shown in FIG. By doing in this way, the possibility that the control work machine 1 will enter before the medicine spraying start position A can be reduced.

  FIG. 13 shows a state in which the control work machine 1 sprays the medicine on the last medicine spraying area AWn. In the X direction, the control work machine 1 that has sprayed the drug to the drug spraying area AWn-1 adjacent to the last drug spraying area AWn has a drug for the drug spraying area AWn-1 at the spraying end position (turning start position) N-1. As soon as you finish spraying, change direction. Then, the medicine enters the last medicine spraying area AWn and starts spraying medicine from a spraying start position (also referred to as a turning end position or a final approach position) N. The distance (adjacent spray area distance) between the adjacent drug spray areas AWn-1 and AWn is Wa. In the last medicine spraying area AWn, the control processor 40 of the control device 9 shown in FIG. 6 uses the adjacent spraying area distance Wa and the control work machine 1 obtained from the GPS processor 55 of the GPS receiver 10 shown in FIG. Based on the position information, in the last medicine spraying area AWn, the medicine spraying width Ws is obtained, and based on this, at least one of the first spraying boom 5L and the second spraying boom 5R is expanded and contracted. As described above, the control processor 40 obtains the final entry position at which the control work machine 1 enters the area where the medicine is finally sprayed in the field based on the position information of the medicine spray area and the spread width of the medicine. Furthermore, the control processor 40 acquires the position information of the control work machine 1 from the GPS receiver 10, and before the control work machine 1 reaches the final entry position, the first spray boom 5L and the second spray boom 5R. Is adjusted based on the width of the medicine spraying region and the final entry position. By doing in this way, a chemical | medical agent can be reliably sprayed to the whole last chemical | medical agent distribution area | region AWn. In addition, since the operator does not need to adjust the length of the first spreading boom 5L and the like, the burden on the operator can be reduced and the operator can concentrate on the operation of the control work machine 1. Next, an example of adjusting the length of the first spraying boom 5L and the like when the control work machine 1 sprays the medicine will be described.

(First adjustment example)
FIG. 14 is a flowchart illustrating a first adjustment example. In step S101, the control processor 40 of the control device 9 shown in FIG. 6 acquires the position information (GPS data) of the control work machine 1 from the GPS processor 55 of the GPS receiver 10 shown in FIG. Next, in step S <b> 102, the control processor 40 determines a field where the control work machine 1 spreads the medicine from the acquired position information. For example, information on a plurality of fields is stored in the storage unit 41 of the control device 9 in advance, and the control processor 40 compares the field information with the position information of the control work machine 1 acquired in step S101. Then, the control field machine 1 determines the field where the medicine is sprayed.

  Next, in step S103, the processor 40 for control acquires the field width W from the data of the field where the control work machine 1 spreads a chemical | medical agent. Next, in step S104, the control processor 40 sets the maximum spreading width Wm and temporarily stores it in the RAM 41A of the storage unit 41, for example. The maximum spreading width Wm is a spreading width when the first spreading boom 5L and the second spreading boom 5R of the control work machine 1 are extended to the maximum length.

  Next, proceeding to step S105, the control processor 40 calculates the medicine spraying start position A. The method of obtaining the position of the medicine spraying start position A in the X direction is as described above. Since the position information of the medicine spraying area AW is known in advance by measurement or the like, the medicine spraying start position A in the Y direction is set to La in FIG. 11 on the outer side in the Y direction of the medicine spraying area AW1 where the medicine is sprayed first. It becomes the position added to the position.

  When the medicine spraying start position A is obtained, in step S106, the control processor 40 sets the medicine spraying start position A and temporarily stores it in the RAM 41A of the storage unit 41, for example. Next, in step S107, the control processor 40 displays the medicine spraying start position A on the display unit 11D shown in FIG. 8, and in step S108, displays the medicine spraying path. Step S107 and step S108 may not be executed. Next, proceeding to step S109, the control processor 40 displays the current position of the control work machine 1 on the display unit 11D. This position is, for example, the approach position S shown in FIG. After step S109, the control work machine 1 starts running and spraying medicine.

  Next, proceeding to step S110, the control processor 40 acquires the position information (GPS data) of the control work machine 1 from the GPS processor 55 of the GPS receiving unit 10, and in step S111, the control unit 40 controls the display unit 11D for the current control. The position of the work machine 1 is displayed. Next, it progresses to step S112 and the processor 40 for control determines whether the control work machine 1 arrived at the chemical | medical agent spraying start position A. FIG.

  When the control work machine 1 has not reached the medicine spraying start position A (step S112, No), the control processor 40 repeats steps S110 to S112 until the control work machine 1 reaches the medicine spraying start position A. . When the control work machine 1 reaches the medicine spraying start position A (step S112, Yes), the process proceeds to step S113, and the control processor 40 sets at least the first spraying boom 5L and the second spraying boom 5R as necessary. Adjust one length. For example, when the control work machine 1 is traveling with the first spraying boom 5L and the second spraying boom 5R shortened, when the control work machine 1 reaches the medicine spraying start position A, the control processor 40 performs the first spraying. The boom 5L and the second spraying boom 5R are each extended to the maximum length. By doing in this way, the control work machine 1 can spray the medicine in the medicine spraying area AW1 with the maximum spraying width Wm immediately after reaching the medicine spraying start position A. As described above, when the control processor 40 determines from the position information of the control work machine 1 acquired from the GPS receiver 10 that the control work machine 1 has reached the medicine spray start position A, the pair of spray booms. That is, the length of at least one of the first spraying boom 5L and the second spraying boom 5R is adjusted based on the medicine spraying start position A. By doing in this way, while being able to distribute a chemical | medical agent to the chemical | medical agent spraying area | region AW1 reliably, the burden of an operator can be reduced.

(Second adjustment example)
FIG. 15 is a flowchart illustrating a second adjustment example. As described with reference to FIG. 12, the second control example is processing when the medicine spraying start position A and the actual entry position Ar are deviated. Since Steps S201 to S211 of the second adjustment example are the same as Steps S101 to S111 of the first adjustment example, description thereof will be omitted. In step S212, when the control work machine 1 reaches the medicine spraying start position A (step S212, Yes), the process proceeds to step S216, and the control processor 40, as necessary, the first spraying boom 5L and the second spraying boom. The length of at least one of 5R is adjusted. This adjustment process is the same as the process of step S113 in the first adjustment example.

  When the control work machine 1 has not reached the medicine spraying start position A (No in step S212), the process proceeds to step S213. In step S213, when the control work machine 1 has not started spraying medicine (step S213, No), the control processor 40 repeats steps S210 to S213. When the control work machine 1 has started spraying the medicine (step S213, Yes), it can be determined that the control work machine 1 has passed the medicine spray start position A. In this case, the process proceeds to step S214, and the control processor 40, for example, receives the position information (GPS data) of the entry position Ar from which the control work machine 1 has actually entered the medicine spraying area AW1 from the GPS processor 55 of the GPS receiving unit 10. ), And based on this, the position at which the spraying of the medicine is started is corrected. Then, the process proceeds to step S215, and the control processor 40 obtains an approach position deviation amount α which is a difference between the medicine spraying start position A and the actual approach position Ar, and corrects the medicine spraying width based on this. Thereafter, the process proceeds to step S216, and the control processor 40 adjusts the length of the first spreading boom 5L so as to obtain the corrected spreading width. By doing in this way, even if the control work machine 1 passes through the medicine spraying start position A and enters the medicine spraying area AW1, the medicine can be sprayed to the medicine spraying area AW1 without waste. In addition, since the operator does not need to adjust the length of the first spreading boom 5L and the like, the burden on the operator can be reduced and the operator can concentrate on the operation of the control work machine 1.

(Third adjustment example)
FIG. 16 is a flowchart illustrating a third adjustment example. As described with reference to FIG. 11, the third control example is a process when the control work machine 1 moves to the next medicine spraying region. Steps S301 to S304 in the third adjustment example are the same as steps S101 to S104 in the first adjustment example, and thus description thereof is omitted. In step S305, the control processor 40 waits until the control work machine 1 starts spraying the medicine (step S305, No). When the control work machine 1 starts spraying the medicine (step S305, Yes), the processing is performed. Advances to step S306.

  In step S306, the control processor 40 acquires position information (GPS data) of the control work machine 1 from the GPS processor 55 of the GPS receiver 10 shown in FIG. Next, proceeding to step S307, the control processor 40 calculates and sets the medicine application start position A, and temporarily stores it in the RAM 41A of the storage unit 41, for example. Next, proceeding to step S308, the control processor 40 executes a medicine spraying process. The chemical spraying process is, for example, a process of actually spraying the chemical on the control work machine 1 in addition to the processes in steps S106 to S113 in the first control example.

  Next, proceeding to step S309, the control processor 40 acquires the detection values (corresponding to the lengths of the first spraying boom 5L and the second spraying boom 5R) of the boom stroke sensor 95 shown in FIG. In step S310, the control processor 40 obtains the actual spread width Ws of the medicine. Next, proceeding to step S311, the control processor 40 executes a turning start process. The turning start process is, for example, the following process. In the turning start process, first, the control processor 40 obtains the turning start position B shown in FIG. 11 based on the field width W, the spreading width Ws, etc., sets the turning start position B, and temporarily stores it in the RAM 41A of the storage unit 41. To save. Next, the control processor 40 displays the turning start position B and the route during turning on the display unit 11D shown in FIG. These may not be displayed on the display unit 11D. Next, the control processor 40 displays the current position of the control work machine 1 on the display unit 11D. Then, when the control work machine 1 reaches the turning start position B, the control processor 40 stops the spraying of the medicine and the position information of the control work machine 1 from the GPS processor 55 of the GPS receiver 10 shown in FIG. Is obtained and used for calculation of the subsequent turning end position C, spreading width, turning start position B, etc., spraying control, and the like.

  Next, proceeding to step S312, the control processor 40 calculates the turning end position C shown in FIG. Then, the process proceeds to step S313, and the control processor 40 acquires the position information (GPS data) of the control work machine 1 from the GPS processor 55 of the GPS receiver 10 shown in FIG. In step S314, when the position of the control work machine 1 (position information acquired in step S314) has not reached the turning end position C calculated in step S312 (No in step S314), the control processor 40 performs step S313. Step S314 is repeated.

  In step S314, when the position of the control work machine 1 reaches the turning end position C calculated in step S312 (step S314, Yes), the process proceeds to step S315, and the control processor 40 keeps the buzzer 83 shown in FIG. Turn on time. In this way, the control processor 40 can notify the operator that the turning of the control work machine 1 has been completed and has reached the position at which the medicine spraying starts in the next medicine spraying area. In the third control example, the buzzer 83 may not be turned on for a certain time.

  Next, proceeding to step S316, the control processor 40 executes a turning end process (such as storing in the storage unit 41 that the turning has ended). Next, proceeding to step S317, the control processor 40 acquires the position information (GPS data) of the control work machine 1 at the end of turning from the GPS processor 55 of the GPS receiver 10 shown in FIG. 7, and step S318. 11, the turning end position C shown in FIG. 11 is set, and temporarily stored in the RAM 41A of the storage unit 41, for example. Proceeding to step S319, the control processor 40, based on the field width W, the spreading width Ws, the turning start position B, the turning end position C, and the like, a medicine spraying region (symbol AW2 in the example shown in FIG. 11). (Spreading area Ws) is calculated.

  Next, proceeding to step S320, the control processor 40 determines the target values (the lengths of the first and second spraying booms 5L and 5R) of the boom stroke sensor 95 shown in FIG. 6 based on the spraying width Ws obtained in step S319. Set to the equivalent). In step S321, the control processor 40, if necessary, at least one of the first spraying boom 5L and the second spraying boom 5R until the detected value of the boom stroke sensor 95 reaches the target value set in step S320. Adjust the length. In addition, when the detection value of the boom stroke sensor 95 has already reached the target value set in step S320, the length of the first spreading boom 5L and the like is not adjusted. The lengths of the first spreading boom 5L and the like need only be adjusted until the control work machine 1 finishes turning (until it reaches the turning end position C). For this reason, after the turning of the control work machine 1 is completed, the length of the first spreading boom 5L and the like may be adjusted in a state where the control work machine 1 is stopped.

  By performing like the 3rd adjustment example, a chemical | medical agent can be reliably sprayed to the whole adjacent chemical | medical agent dispersion | distribution area | region. In addition, since the operator does not need to adjust the length of the first spreading boom 5L and the like, the burden on the operator can be reduced and the operator can concentrate on the operation of the control work machine 1.

(Fourth adjustment example)
FIG. 17 is a flowchart illustrating a fourth adjustment example. The fourth adjustment example is processing when the position information of the control work machine 1 generated by the GPS receiving unit 10 is not used. The fourth adjustment example can also be used as a backup when the GPS receiving unit 10 cannot generate the position information of the control work machine 1 due to the radio wave condition or the like. In step S501, the control processor 40 acquires a set value of the field width W of the field from which the medicine is to be dispersed. In step S502, the control processor 40 sets the field width W and temporarily stores it in the RAM 41A of the storage unit 41, for example. The set value of the field width W is stored in the storage unit 41 shown in FIG. 6 as information on the field where the medicine is sprayed, for example. Note that information on a plurality of fields (information on the field width W, position, planted crops, etc.) may be stored in the storage unit 41.

  Next, it progresses to step S503, and the processor 40 for control waits until the control work machine 1 starts spreading of a chemical | medical agent (step S503, No), and if the control work machine 1 starts spreading of a chemical | medical agent (step S503, Yes), the process proceeds to step S504. In step S504, the control processor 40 executes a medicine spraying process. The chemical spraying process is, for example, a process of actually spraying the chemical on the control work machine 1.

  Next, proceeding to step S505, the control processor 40 acquires the detection values (corresponding to the lengths of the first spraying boom 5L and the second spraying boom 5R) of the boom stroke sensor 95 shown in FIG. In step S506, the control processor 40 obtains the actual spread width Ws of the medicine. Next, it progresses to step S507 and the processor 40 for control repeats step S504-step S507, when the prevention work machine 1 has not started turning (step S507, No). The turning of the control work machine 1 can be determined from the detection value of the steering angle sensor 91 shown in FIG. When the control work machine 1 starts turning (step S507, Yes), the process proceeds to step S508, where the control processor 40 interrupts the spraying process, more specifically, the spraying of the medicine.

  Next, in step S509, the control processor 40 calculates the turning end position C shown in FIG. The turning end position C can be obtained from the spreading width Ws, for example. Next, proceeding to step S510, the control processor 40 calculates the travel distance traveled by the control work machine 1 from the turning start position B. The travel distance can be calculated from the product of both based on the detection value (vehicle speed pulse) of the vehicle speed sensor 90 shown in FIG. 6 and the travel time of the control work machine 1, for example. The control processor 40 calculates the travel distance only when the control work machine 1 is moving forward, and does not calculate when the control work machine 1 is moving backward. By doing in this way, the travel distance of the control work machine 1 can be calculated | required correctly. The same applies to the following examples. Next, proceeding to step S511, the control processor 40 executes a turning end position determination. The turning end position determination is a determination as to whether or not the control work machine 1 has reached the turning end position C. The turning end position C calculated in step S509 and the travel distance of the control work machine 1 calculated in step S510 are determined. Based on.

  If the control work machine 1 has not reached the turning end position C, turning is not finished (No at Step S512), and the control processor 40 repeats Steps S510 to S511. When the pest control work machine 1 reaches the turning end position C, the turning is finished (step S512, Yes), and the process proceeds to step S513. In step S513, the processor 40 for control calculates the length of the 1st spreading | diffusion boom 5L etc. in the chemical | medical agent spraying area | region which spreads a chemical | medical agent next.

  The length of the first spreading boom 5L and the like can be obtained based on the field width W and the sum of the spreading width Ws in the medicine spreading area where the medicine has been spread so far (total spread width ΣWs). For example, a value obtained by subtracting the total sprayed width ΣWs from the field width W is the width of the medicine spraying area where the medicine is to be sprayed. From now on, when the width of the medicine spraying region for spraying the medicine is larger than the maximum spraying width Wm, the spraying width Ws = Wm, so that the width from the center of the control work machine 1 to the tip nozzle of the first spraying boom 5L. The lengths of the first spraying boom 5L and the second spraying boom 5R are determined so that the length and the length to the tip nozzle of the second spraying boom 5R are each Wm / 2. When the width of the medicine spraying area for spraying the medicine is smaller than the maximum spraying width Wm, the value obtained by subtracting Wm / 2 from the width of the medicine spraying area for spraying the medicine is controlled from the center in the width direction of the control work machine 1 The distance to the tip nozzle of the spray boom on the outer side in the turning direction of the work machine 1 is set. Further, the length of the spraying boom on the inner side in the turning direction of the control work machine 1 is the distance from the center in the width direction of the control work machine 1 to the tip nozzle of the spraying boom on the inner side in the turning direction of the control work machine 1 is Wm / 2. Like that. In step S513, for example, as described above, the length of the first spreading boom 5L and the like is calculated. Next, the process proceeds to step S514, and at least one of the first spraying boom 5L and the second spraying boom 5R is expanded and contracted based on the length obtained in step S513.

  By such control, the fourth adjustment example can reliably spray the medicine on the medicine spraying area AW1 even when the GPS receiving unit 10 cannot generate the position information of the control work machine 1. . In addition, since the operator does not need to adjust the length of the first spreading boom 5L and the like, the burden on the operator can be reduced and the operator can concentrate on the operation of the control work machine 1.

  In the fourth adjustment example, the travel distance of the control work machine 1 calculated in step S510 may be corrected based on the slip ratio. Assuming that the vehicle speed is Vb and the wheel speed is Vw, the slip ratio SR is (Vw−Vb) / Vb, so it can be obtained by the vehicle speed Vb = Vs / (1 + SR). The wheel speed Vw can be obtained from the detection value (vehicle speed pulse) of the vehicle speed sensor 90 shown in FIG. As the slip ratio SR, for example, an average value of the field is stored in the storage unit 41 of FIG. 6 for each type of field, the state of the field, and the like. And the processor 40 for control correct | amends the vehicle speed of the control work machine 1 based on the slip rate set from the kind of agricultural field and the state of an agricultural field, when spraying a chemical | medical agent. By doing in this way, since a more exact vehicle speed can be obtained, the precision of control improves.

  In the fourth adjustment example, when the control work machine 1 reaches a predetermined position before the turning end position C in the turning end position determination in step S511, the buzzer 83 shown in FIG. The operator of the control work machine 1 may be warned. By doing in this way, the control work machine 1 can be reliably entered into the turning end position C.

(Fifth adjustment example)
FIG. 18 is a flowchart illustrating a fifth adjustment example. The fifth adjustment example is a process before spraying the medicine when the position information of the control work machine 1 generated by the GPS receiver 10 is not used. The fifth adjustment example can also be used as a backup when the GPS receiving unit 10 cannot generate the position information of the control work machine 1 due to the radio wave condition or the like. Since step S601 and step S602 of the fifth adjustment example are the same as step S501 and step S502 of the fourth adjustment example, description thereof will be omitted.

  In step S603, the control processor 40 sets the maximum spreading width Wm and temporarily stores it in the RAM 41A of the storage unit 41, for example. Next, in step S604, the control processor 40 calculates a medicine spraying start position A (medicine spraying start position A in the X direction) shown in FIG. Then, the process proceeds to step S605, and the control processor 40, for example, based on the calculated medicine spraying start position A and the field width W, travels to the medicine spraying start position A (target travel distance) D (see FIG. 11). In step S606, the control processor 40 stands by until the control work machine 1 starts work, more specifically, spraying of the medicine (step S606, No), and when the control work machine 1 starts work (step S606). In step S606, Yes), the process proceeds to step S607.

  In step S607, the control processor 40 acquires a detection value (vehicle speed pulse) of the vehicle speed sensor 90 shown in FIG. In step S608, the control processor 40 sets a slip ratio. As the slip ratio SR, for example, an average value of the field is stored in the storage unit 41 of FIG. 6 for each type of field, the state of the field, and the like. The processor 40 for control acquires the corresponding slip rate from the memory | storage part 41 based on the kind of agricultural field, the state of a agricultural field, etc., and sets it as a slip rate of the agricultural field which spreads a chemical | medical agent from this.

  Next, proceeding to step S609, the control processor 40 calculates the travel distance D traveled by the control work machine 1 from the entry position S. The travel distance D can be calculated from the product of both based on the detection value (vehicle speed pulse) of the vehicle speed sensor 90 and the travel time of the control work machine 1. In the calculation of the travel distance D, the control processor 40 corrects the vehicle speed of the control work machine 1 using the slip rate set in step S608. Next, proceeding to step S610, the control processor 40, when the travel distance of the control work machine 1 calculated in step S609 is not (D-γ) (step S610, No), steps S607 to S611. repeat. In step S610, the control processor 40 proceeds to step S611 when the travel distance of the control work machine 1 calculated in step S609 is (D-γ) (step S610, Yes).

  In step S611, the control processor 40 may warn the worker of the control work machine 1 by ringing the buzzer 83 shown in FIG. 6 for a predetermined time. By doing in this way, the control work machine 1 can be reliably entered into the turning end position C. Next, proceeding to step S612, if the control work machine 1 has not started turning (No at step S612), the control processor 40 waits until the control work machine 1 starts turning. The presence / absence of a turn is determined from, for example, the detection value of the steering angle sensor 91 shown in FIG. When the control work machine 1 starts turning (step S612, Yes), the control processor 40 proceeds to step S613, and adjusts the length of the first spraying boom 5L and the like to the maximum spraying width Wm.

  In the fifth adjustment example, even when the GPS receiver 10 cannot generate the position information of the control work machine 1, the control work machine 1 is surely entered into the medicine spraying area AW1 and the medicine is sprayed reliably. be able to. In addition, since the operator does not need to adjust the length of the first spreading boom 5L and the like, the burden on the operator can be reduced and the operator can concentrate on the operation of the control work machine 1.

(Example of adjusting the height of the spreading boom)
FIG. 19 is a flowchart illustrating an example of adjusting the height of the spreading boom. FIG. 20 is an explanatory diagram showing an example of adjusting the height of the spreading boom. When an operator gets on the control work machine 1, the spreading boom is raised to make it easier to get on (the height indicated by hu in FIG. 20). Thereafter, the raised spraying boom is returned to the original height (the height indicated by hc in FIG. 20), but this adjustment example is effective for accurately returning the height of the spraying boom to the original height. . In this adjustment example, an example in which the first spraying boom 5L on the left side in the traveling direction of the control work machine 1 is raised and lowered will be described. However, the spraying boom in this adjustment example is not limited to the first spraying boom 5L. The first spreading boom 5 </ b> L can be lifted and lowered by a lift switch provided in the control work machine 1. This lift switch is provided in a switch box 100 attached to an arm 101 erected from the machine body side of the control work machine 1 shown in FIGS. When an operator operates a lift switch provided in the switch box 100, the first spraying boom 5L is lifted and lowered.

  In step S701, the control processor 40 waits until the key switch is turned on (No in step S701). When the key switch is turned on (step S701, Yes), the process proceeds to step S702. In step S702, the control processor 40 acquires the detection value of the boom angle left sensor 98L shown in FIG. Next, it progresses to step S703 and the processor 40 for control complete | finishes the process which concerns on this adjustment example, when the boom height h is not larger than hc (boom reference position) (step S703, No).

  When the boom height h is larger than hc (boom reference position) (step S703, Yes), the control processor 40 proceeds to step S704 and lowers the first spraying boom 5L. Next, proceeding to step S705, the control processor 40 acquires the detection value of the boom angle left sensor 98L. In step S706, the control processor 40 stands by until the boom height h becomes equal to or less than hc + β (step S706, No), and continues to lower the first spreading boom 5L. In step S706, when the boom height h becomes equal to or less than hc + β (step S706, Yes), the control processor 40 proceeds to step S707 and stops the lowering of the first spraying boom 5L.

  When the first spraying boom 5L stops descending, there is a possibility that the first spraying boom 5L stops at a position that exceeds the target stop position due to inertia. As in this adjustment example, the first spreading boom 5L is stopped at a position higher than the target position in consideration of the movement of the first spreading boom 5L due to inertia. Can be stopped. Β described above is set to a value corresponding to the amount of movement of the first spreading boom 5L due to inertia.

(Example of drug application control)
FIG. 21 is a flowchart illustrating an example of drug dispersion control. In this control example, the spraying of the medicine is controlled by the slip rate. In step S801, the control processor 40 waits until the pump 27 shown in FIG. 6 is turned on (No in step S801). When the pump 27 is turned on (step S801, Yes), the control processor 40 proceeds to step S802, and acquires the slip ratio from the storage unit 41 shown in FIG. 6, for example. The slip ratio is as described in the fourth adjustment example and the fifth adjustment example.

  Next, it progresses to step S803, and the processor 40 for control acquires the detected value of the vehicle speed sensor 90 shown in FIG. 6, and calculates the vehicle speed of the control work machine 1 in step S804. In step S805, the control processor 40 corrects the calculated vehicle speed using the slip ratio acquired in step S802. Thereafter, the process proceeds to step S806, where the control processor 40 obtains a set value of the spread amount of the drug, calculates the spray pressure of the drug in step S807, and then sprays the drug (spreads the drug) in step S808. Process).

  Next, in step S809, the control processor 40 acquires the detected value of the steering angle sensor 91 shown in FIG. 6, and calculates the steering angle fluctuation value in step S810. In step S811, the control processor 40 sets the slip ratio based on the fluctuation value of the steering angle. Since there is a correlation between the fluctuation of the steering angle and the slip ratio (the slip ratio increases as the fluctuation of the steering angle increases), it is more correct by setting the slip ratio based on the fluctuation of the steering angle. The slip ratio value can be known. When the slip ratio is set, the process proceeds to step S812, where the control processor 40 corrects the vehicle speed of the control work machine 1 using the newly set slip ratio, and calculates the corrected vehicle speed.

  In step S813, the control processor 40 obtains a set value of the amount of medicine sprayed, calculates the spraying pressure of the medicine based on the corrected vehicle speed in step S814, and then in step S815 the medicine spraying process (medicine Execute the process of spraying. As described above, by performing the spraying control of the medicine based on the slip ratio, it is possible to suppress variation in the amount of the medicine sprayed. Moreover, since the vehicle speed sensor 90 is used, even if the GPS receiving unit 10 cannot generate the position information of the control work machine 1, it is possible to reduce variation in the amount of sprayed medicine.

(Example of spray boom control)
FIG. 22 is a flowchart illustrating a control example of the spreading boom. This control example is a control example of the spraying boom before the control work machine 1 sprays the medicine, and when the vehicle speed of the control work machine 1 exceeds a certain value, the spraying boom is not operated. Steps S901 to S903 are the same as steps S801 to 803 in the above-described example of the medicine spraying control, and thus description thereof is omitted.

  In step S904, when the vehicle speed of the control work machine 1 is equal to or higher than a certain value (step S904, Yes), the control processor 40 ends the processing for controlling the spreading boom. In step S904, the control processor 40 advances the process to step S905 when the vehicle speed of the control work machine 1 is smaller than a certain value (step S904, No). In step S905, the control processor 40 acquires initial values of the positions of the first spraying boom 5L, the second spraying boom 5R, and the third spraying boom 5C from the storage unit 41, and in step S906, the first spraying boom 5L, Initial values of the positions of the second spraying boom 5R and the third spraying boom 5C are set. Next, in step S907, the control processor 40 operates the overall lifting actuator 16 shown in FIG. 6 to raise the first spraying boom 5L, the second spraying boom 5R, and the third spraying boom 5C.

  Next, proceeding to step S908, the control processor 40 waits until a predetermined time elapses, and continues to raise the first spraying boom 5L, the second spraying boom 5R, and the third spraying boom 5C (step S908, No). When a predetermined time has elapsed in step S908 (step S908, Yes), the process proceeds to step S909, and the control processor 40 stops the rising of the first spraying boom 5L, the second spraying boom 5R, and the third spraying boom 5C. In step S910, the control processor 40 opens the first spraying boom 5L and the second spraying boom 5R, and in step S911, lowers the first spraying boom 5L and the second spraying boom 5R. Thereafter, in step S912, the control processor 40 extends the first spraying boom 5L and the second spraying boom 5R. In step S913, the control processor 40 defines the first spraying boom 5L, the second spraying boom 5R, and the third spraying boom 5C. Lower to position. Thus, when the vehicle speed of the control work machine 1 is equal to or higher than a certain value, the booms (the first spraying boom 5L, the second spraying boom 5R, and the third spraying boom 5C) are not operated, so that safety is improved. .

(Sixth adjustment example)
FIG. 23 is a flowchart illustrating a sixth adjustment example. Steps S1001 and S1002 are the same as steps S501 and S502 in the fourth adjustment example, and thus description thereof is omitted. Next, it progresses to step S1003, and the processor 40 for control acquires the work start input of the control work machine 1, and repeats step S1003 and step S1004 until the work start input turns ON (step S1004, No). When the work start input is turned ON (step S1004, Yes), the process proceeds to step S1005, and the control processor 40 acquires the detection value (vehicle speed pulse) of the vehicle speed sensor 90 shown in FIG. In step S1006, the control processor 40 calculates the travel distance D traveled by the control work machine 1 from the entry position S. The calculation of the travel distance D is as described in the fifth adjustment example. When the travel distance D is calculated, the slip ratio may be corrected.

  Next, proceeding to step S1007, the control processor 40 acquires the detection value of the steering angle sensor 91 shown in FIG. 6, and determines whether or not the control work machine 1 is turning in step S1008. In step S1008, when the control work machine 1 is not turning (step S1008, No), the control processor 40 repeats steps S1005 to S1008.

  In step S1008, when the control work machine 1 is turning (step S1008, Yes), the process proceeds to step S1009, where the control processor 40 sets the position at that time as the medicine spraying start position A and reaches the medicine spraying start position A. The travel distance D traveled by the control work machine 1 is set in the storage unit 41 and stored in the storage unit 41. Next, in step S1010, the control processor 40 calculates the spreading width Ws based on the field width H and the travel distance D set in step S1009. In step S1011, the control processor 40 adjusts the lengths of the first spreading boom 5L and the second spreading boom 5R so that the spreading width Ws calculated in step S1010 is obtained. By doing in this way, even if it is a case where the GPS receiving part 10 cannot produce | generate the positional information on the control work machine 1, while being able to spray a chemical | medical agent to the chemical | medical agent spraying area | region AW1 reliably, it is burdened by an operator Can be reduced.

(Seventh adjustment example)
FIG. 23 is a flowchart illustrating a seventh adjustment example. The seventh control example is the same as the fifth control example, except that the correction of the vehicle speed of the control work machine 1 based on the slip ratio is not executed. Steps S1101 to S1107 are the same as steps S601 to S607 in the fifth control example. In step S1108, the control processor 40 calculates the travel distance D based on the detection value of the vehicle speed sensor 90 shown in FIG. Steps S1109 to S1112 are the same as steps S610 to S613 in the fifth control example.

  As described above, in the seventh adjustment example, similarly to the fifth adjustment example, even when the GPS receiving unit 10 cannot generate the position information of the control work machine 1, the control work is reliably performed in the medicine spraying area AW1. The machine 1 can be entered to reliably spray the medicine. In addition, since the operator does not need to adjust the length of the first spreading boom 5L and the like, the burden on the operator can be reduced and the operator can concentrate on the operation of the control work machine 1.

(Eighth adjustment example)
FIG. 25 is a flowchart illustrating an eighth adjustment example. The eighth adjustment example is the same as the fifth adjustment example, except that it corresponds to a case where the actual entry position Ar of the control work machine 1 is different from the medicine spraying start position A. Steps S1201 to S1207 are the same as steps S601 to S607 in the fifth adjustment example, and a description thereof will be omitted. In step S1208, the control processor 40 calculates the travel distance D traveled by the control work machine 1 from the approach position S based on the detection value of the vehicle speed sensor 90 shown in FIG. Steps S1209 to S1210 are the same as steps S610 to S611 in the fifth adjustment example, and thus description thereof is omitted.

  In step S1211, when the distance traveled by the control work machine 1 is equal to or less than the travel distance (target travel distance) D set in step S1205 (step S1211, Yes), the control processor 40 performs control in step S1212. The presence or absence of turning of the work machine 1 is monitored. In step S1212, when the control work machine 1 has not started turning (No in step S1212), the control processor 40 repeats steps S1211 to S1212. The presence / absence of a turn is determined from, for example, the detection value of the steering angle sensor 91 shown in FIG. When the control work machine 1 starts turning (step S1212, Yes), the control processor 40 proceeds to step S1217 and adjusts the length of the first spraying boom 5L and the like so as to become the maximum spraying width Wm.

  In step S1212, when the distance traveled by the control work machine 1 exceeds the target travel distance D set in step S1205 (step S1211, No), the control processor 40 proceeds to step S1213. In step S1213, the control processor 40 acquires the detection value of the vehicle speed sensor 90, and in step S1214, calculates the travel distance ΔD that has traveled beyond the target travel distance D based on the detection value of the vehicle speed sensor. Next, proceeding to step S1215, the control processor 40 monitors whether the control work machine 1 is turning. In step S1215, when the control work machine 1 has not started turning (No in step S1215), the control processor 40 repeats steps S1213 to S1215. When the control work machine 1 starts turning (step S1215, Yes), the control processor 40 proceeds to step S1216 and adjusts the spreading width Ws based on the travel distance ΔD. For example, the spreading width Ws is set to be smaller than the maximum spreading width Wm by the traveling distance ΔD, and the length of the spreading boom on the outer side in the turning direction is set to Wm / 2−ΔD. Next, proceeding to step S1217, the control processor 40 adjusts the length of the first spreading boom 5L and the like so that the spreading width Ws is adjusted based on the travel distance ΔD.

  The eighth adjustment example is a case where the control work machine 1 passes through the medicine spraying start position A and enters the medicine spraying area AW1 when the GPS receiving unit 10 cannot generate the position information of the control work machine 1. However, the medicine can be sprayed to the medicine spraying area AW1 without waste. In addition, since the operator does not need to adjust the length of the first spreading boom 5L and the like, the burden on the operator can be reduced and the operator can concentrate on the operation of the control work machine 1.

(Ninth adjustment example)
FIG. 26 is a flowchart illustrating a ninth adjustment example. The ninth adjustment example corresponds to the case where the control work machine 1 moves to the adjacent medicine spraying region. Steps S1301 and S1302 are the same as steps S501 and S502 in the fifth adjustment example, and steps S1303 to S1305 are the same as steps S504 to S506 in the fifth adjustment example, and thus description thereof is omitted.

  In step S1306, the control processor 40 performs a turning start process (turning of the control work machine 1), and calculates a turning end position C (see FIG. 11) in step S1307. Next, in step S1308, the control processor 40 acquires a vehicle speed pulse (vehicle speed) from the vehicle speed sensor 90 shown in FIG. 6, and in step S1309, from the turning start position B (see FIG. 11) to the turning end position C. Start calculating the mileage. When the next medicine spraying area to enter is not the last medicine spraying area, the travel distance from the turning start position B to the turning end position C is, for example, the spraying width Ws. Moreover, it is good also as Ws / 2 + Wm / 2. When the next medicine spraying area to enter is not the last medicine spraying area, the travel distance from the turning start position B to the turning end position C is, for example, Ws / 2 + Wm / 2.

  Next, when the control work machine 1 reaches the turning end position C in step S1310, the control processor 40 determines that the turning is finished (step S1310, Yes), and proceeds to step S1311. In step S1311, the control processor 40 may warn the worker of the control work machine 1 by sounding the buzzer 83 shown in FIG. 6 for a predetermined time. By doing in this way, the control work machine 1 can be reliably entered into the turning end position C. The warning to the worker by sounding the buzzer 83 may not be executed.

  Next, proceeding to step S1312, the control processor 40 calculates the travel distance D of the control work machine 1 from the turning start position B to the position where the turning of the control work machine 1 is completed. In step S <b> 1313, the control processor 40 calculates the spray width Ws in the medicine spraying region where the medicine is sprayed next based on the field width W, the spraying width Ws, and the travel distance D.

  Next, in step S1314, the control processor 40 sets the target value of the boom stroke sensor 95 shown in FIG. 6 so as to be the spreading width Ws calculated in step S1313. In step S1315, the control processor 40 turns on the boom extension output and adjusts the length of the first spreading boom 5L and the like. Next, proceeding to step S1316, the control processor 40 acquires the detection value of the boom stroke sensor 95, and in step S1317, whether or not the detection value acquired in step S1316 is the target value set in step S1314. Determine.

  When the detected value is not the target value (No at Step S1317), the control processor 40 repeats Steps S1316 and S1317. When the detected value is the target value (step S1317, Yes), the control processor 40 turns off the boom expansion / contraction output and stops the expansion / contraction of the first spreading boom 5L and the like. In the ninth adjustment example, when the GPS receiving unit 10 cannot generate the position information of the control work machine 1, the medicine can be reliably sprayed on the medicine spraying area AW1. In addition, since the operator does not need to adjust the length of the first spreading boom 5L and the like, the burden on the operator can be reduced and the operator can concentrate on the operation of the control work machine 1.

(Tenth adjustment example)
FIG. 27 is a flowchart illustrating a tenth adjustment example. In the ninth adjustment example, when the control processor 40 automatically adjusts the length of the first spreading boom 5L, etc., the operator performs an operation to adjust the length of the first spreading boom 5L, etc. Priority is given to the operator's operation. Steps S1401 to S1409 are the same as steps S1301 to S1309 in the ninth adjustment example, and steps S1410 to S1413 are the same as steps S1312 to S1315 in the ninth adjustment example, and thus description thereof is omitted.

  In step S1414, if there is an input (manual operation input) by the operator's operation for adjusting the length of the first spreading boom 5L or the like, the control processor 40 proceeds to step S1415, and the first spreading boom 5L or the like is entered. Turn off the boom telescopic output to adjust the length. The length of the first spreading boom 5L and the like is adjusted based on the garden result and the input by the operator's operation. Steps S1416 and S1417 are the same as steps S1316 and S1317 of the ninth adjustment example, and thus description thereof is omitted. In the tenth adjustment example, priority is given to the adjustment of the length of the first spraying boom 5L and the like by the operator, so that the operation intended by the operator can be realized.

  Although the present embodiment has been described above, the present embodiment is not limited to the above-described content. In addition, the above-described components include those that can be easily assumed by those skilled in the art, those that are substantially the same, and those in a so-called equivalent range. Furthermore, the above-described components can be appropriately combined. In addition, various omissions, substitutions, or changes of components can be made without departing from the scope of the present embodiment.

DESCRIPTION OF SYMBOLS 1 Control work machine 3FL, 3FR Front wheel 3RL, 3RR Rear wheel 4 Nozzle 5L 1st spreading | diffusion boom 5R 2nd spreading | diffusion boom 5C 3rd spreading | diffusion boom 8 Chemical supply system 9 Control apparatus 10 Reception part 11 Display / operation panel 11D Display part 27 Pump 40 Control Processor 41 Storage Unit 50 Reception Antenna 51 Reception Circuit 52 Signal Processing Circuit 55 GPS Processor 80 Manual Switch 81 Pump Switch 82 Setting Switch 83 Buzzer 88 Telescopic Switch 90 Vehicle Speed Sensor 91 Steering Angle Sensor 92 Pressure Sensor 93 Flow Sensor 95 Boom Stroke sensor

Claims (2)

It is a control machine that sprays chemicals on the field,
A plurality of nozzles for spraying the medicine are attached, and a pair of spraying booms provided on both sides with respect to the front-rear direction of the control work machine,
A GPS receiver for receiving radio waves transmitted from GPS satellites;
The area where the field medicine is sprayed is defined by a rectangle defined by a boundary connecting four points with a straight line, and 1/2 of the spraying width is subtracted in a direction perpendicular to the boundary along the traveling direction of the first aircraft. Then, a position obtained by adding a predetermined distance from the first boundary to the direction along the traveling direction of the aircraft from the boundary in the direction orthogonal to the first boundary is obtained as a medicine spraying start position,
When it is determined from the position information of the control work machine acquired from the GPS receiver that the control work machine has reached a position shifted from the drug spray start position, the drug spray start position and the actual entry position And a control unit that adjusts the length of at least one of the pair of spraying booms based on the width of the drug spraying region where the drug is sprayed first and the drug spraying start position,
When the spraying of the medicine spraying area in the forward path is completed , the control unit obtains the medicine spraying start position on the return path of the adjacent next process,
If it is determined from the position information of the control work machine acquired from the GPS receiving unit that the position where the turn is finished has reached a position deviated from the medicine distribution start position on the return path, the drug distribution start position on the return path and the actual turn end The difference between the position and the length of at least one of the pair of spray booms is adjusted based on the width of the spray area on the return path and the medicine spray start position on the return path ,
According to the configuration in which the forward drug spraying and the backward drug spraying are repeated according to the field area,
The control unit obtains a final medicine spraying start position based on a medicine spraying area in which the control work machine sprays the medicine last in the field,
If it is determined from the position information of the control work machine acquired from the GPS receiver that the position where the turn is finished has reached a position deviated from the final medicine spraying start position, the final medicine spraying start position and the actual turning The difference from the end position is obtained, and the length of at least one of the pair of spray booms is adjusted based on the width of the last spray area and the final drug spray start position. Control work machine. A vehicle speed sensor for detecting a vehicle speed of the control work machine based on rotation of a wheel of the control work machine;
The said control part calculates | requires the slip ratio of the said wheel based on the said vehicle speed, and correct | amends the travel distance of the said control work machine based on the obtained said slip ratio. Control work machine.

Images