JP2001095461A - Method for preventing fog and system for preventing fog - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a method for preventing fog by which crops are directly not exposed to a pest control agent sprayed from a moving sprayer. SOLUTION: This method for preventing the fog comprises preliminarily setting spray-stopping requirements R for preventing that a pest control agent LQ sprayed from a moving sprayer 1 is directly exposed to crops V, and automatically stopping the spraying of the pest control agent from a spray nozzle 5 with a spray-stopping means on the basis of a signal from a spray-stopping requirement detection means 30 (30a, 30b, 30c), when it is detected with the spray-stopping requirement detection means 30 to satisfy the spray-stopping requirements R.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a fume control method, a fume control system and a mobile fume machine suitable for use as a control method and a control apparatus for cultivating greenhouses such as vegetables.

[0002]

2. Description of the Related Art For example, when controlling vegetables grown in a house, the operation is performed in a closed space. Therefore, a room temperature fog machine has been proposed as a device suitable for unmanned pest control work in a house. The fogger is a device for spraying a chemical solution such as a bactericide into ultrafine particles (so-called fumes) of about 5 to 20 μm. The ultrafine particulate control agent supplied into the house from the fogger adheres to the surface of a growing crop while floating in the air in the house and exerts a control action.

[0003] When spraying is performed while the fogging machine is gently moved in the house, the ultra-fine particulate control agent can be evenly distributed to every corner in the house. It is suitable because of its excellent control effect. In this case, from the characteristics of the control using the fogging machine, unlike the case of so-called conventional spraying, in which the control agent is directly immersed in the crop, it is possible to prevent the crop from being directly immersed in the crop. desirable. For this reason, for example, it is desirable to move the fogger along the ridge in the house in a state where the direction of travel of the body of the fogger and the spraying direction of the pesticide are matched with each other.

[0004]

However, in the case where the fogging machine is moved while rotating around a large number of furrows, for example, when entering the next furrow, the spray direction of the controlling agent is inevitably changed. May temporarily turn to the crop.

The present invention has been made in view of the above circumstances, and provides a fume control method, a fume control system, and a mobile fume machine in which crops are not directly exposed to a pesticide sprayed from a moving fume machine. It is something to offer.

[0006]

Means for Solving the Problems In order to solve the above-mentioned problems, a fume control method according to the present invention is a fog control method performed while moving a fume machine, wherein a control agent sprayed from the fume machine is used as a crop. In order to prevent the spray from directly hitting, the spraying is temporarily stopped when the spraying direction by the fogger becomes the direction of the crop (claim 1).

According to the present invention, the spraying of the fogger is temporarily stopped when the spraying direction of the fogger becomes the direction of the crop with the movement of the fogger.
The crop is prevented from being directly exposed to the pesticide.

Another form of the fog control method is a fog control method in which a fog machine is moved while moving the fume machine. In order to prevent a pesticide sprayed from the fog machine from directly hitting a crop, Spraying can be temporarily stopped when the traveling direction of the fogger is changed (claim 2).

According to this method, when the traveling direction of the fogging machine is changed, even if the spraying direction of the pesticide is directed to the crop, the spraying by the fogging machine is temporarily stopped at that time. Therefore, the crop is not directly exposed to the pesticide.

The suspension of the spraying by the fogging machine can be performed, for example, by manually operating a remote operation member at hand of the worker while monitoring the movement of the fogging machine. For example, it is possible to use a control means such as a microcomputer or the like to automatically perform the spraying when a predetermined spray stop requirement is satisfied (claim 3).

On the other hand, the fume control system according to the present invention comprises:
A predetermined spray stoppage requirement to prevent the pesticide sprayed from the mobile fogger from directly hitting the crop;
A spray stop requirement detecting means for detecting that the spray stop requirement is satisfied, and a spray stop means for automatically stopping the spray of the mobile fogger based on a signal from the spray stop requirement detecting means. It is provided (claim 4).

In the fume control system, the spray stop requirement is predetermined in order to prevent the control agent sprayed from the mobile fogger from directly hitting the crop. Then, when the spray stop requirement detecting means detects that the spray stop requirement is satisfied at the time of movement of the mobile fogger, the spray fog stop means based on the detection signal indicates that the mobile fume stop means is used. Spraying is automatically stopped. Therefore, the crop is not directly exposed to the pesticide.

Various preferred embodiments of the spray stop requirement and the spray stop requirement detecting means can be considered. For example, the following means can be adopted.

The spray stop requirement is defined as a predetermined change amount of the direction of the body when the traveling direction of the mobile fogger is changed, and the spray stop requirement detecting means is configured to detect the change amount of the body direction by the predetermined change amount. An airframe direction detecting means for detecting that the amount has been reached (claim 5).

Further, the spray stop requirement is set to a predetermined change amount of the direction of the wheel when the traveling direction of the mobile fogger is changed, and the spray stop requirement detecting means is used to determine that the change amount of the wheel direction is the predetermined change amount. Wheel direction detecting means for detecting that the amount of change has been reached (claim 6).

[0016] In addition, the spray stop requirement is a predetermined direct spray distance at which the pesticide sprayed from the mobile fogging machine directly hits the crop, and the spray stop requirement detecting means is set to the direct spray distance. A detecting means for detecting that the mobile fogger has entered the range may be provided (claim 7).

The mobile fogger according to the present invention prevents a self-propelled vehicle, a fume nozzle mounted on the self-propelled vehicle, and a pesticide sprayed from the fume nozzle from directly hitting a crop. A predetermined spray stop requirement, a spray stop requirement detecting means for detecting that the spray stop requirement is satisfied, and spraying from the fog nozzle based on a signal from the spray stop requirement detecting means. And a spray stopping means for automatically stopping the spraying.

In the mobile fogging machine, the requirement for stopping the spraying is predetermined in order to prevent the pesticide sprayed from the fogging nozzle from directly hitting the crop. Then, when the spray stop requirement detecting unit detects that the spray stop requirement is satisfied during traveling of the self-propelled vehicle, based on the detection signal, the spray stop unit outputs the smoke from the fog nozzle. Spraying is automatically stopped. Therefore, the crop is not directly exposed to the pesticide.

Various preferred embodiments of the spray stop requirement and the spray stop requirement detecting means can be considered. For example, the following means can be adopted.

The spray stop requirement is defined as a predetermined amount of change in the direction of the chassis when the traveling direction of the self-propelled vehicle is changed. (A ninth aspect).

Further, the spray stop requirement is defined as a predetermined change amount of the direction of the wheel when the traveling direction of the self-propelled vehicle is changed, and the spray stop requirement detecting means is configured to detect the change amount of the wheel direction by the predetermined change amount. Wheel direction detecting means for detecting that the amount of change has been reached (claim 10).

In addition, the spray stop requirement is a predetermined direct spray distance at which the pesticide sprayed from the fog nozzle starts directly hitting the crop, and the spray stop requirement detecting means is set to a range of the direct spray distance. It may be a detecting means for detecting that the self-propelled vehicle has entered the vehicle (claim 11).

[0023]

Preferred embodiments of the present invention will be described below with reference to the accompanying drawings.

FIG. 1 is a left side view of a mobile fogger according to an embodiment of the present invention, FIG. 2 is a bottom view of a self-propelled vehicle of the mobile fume machine of FIG. 1, and FIG. It is a top view which shows the mode of the spraying operation using the mobile type | mold fogger.

The mobile fogging machine 1 according to the present embodiment has a self-propelled carriage 2 as a traveling body mounted with, for example, a two-fluid nozzle type fogging machine 3. It is suitable for use in unmanned pest control work. Since the fogger 3 sprays a very small amount of the spray liquid LQ such as a germicide, a small amount of liquid is carried at a time. For this reason, since the weight applied to the carriage 2 is small, it is particularly suitable for traveling spraying work mounted on the carriage 2.

First, referring to FIG. 1, in the present embodiment, the fogging machine 3 mounted on the carriage 2
Is a room temperature fogger for spraying the spray liquid LQ such as a controlling agent in the form of ultra-fine particles (so-called fume) of about 5 to 20 μm, and a tank 4 for storing the spray liquid LQ; A two-fluid spray nozzle 5 for fumes, which is itself known, for spraying the spray liquid LQ. The spray nozzle 5 is attached to an upper end of a nozzle column 7 erected at a front end of a chassis 6 of the carriage 2 so as to spray the spray liquid LQ forward of the carriage 2.

The tank 4 is a closed type tank, and a spray liquid pipe 8 and a stirring air supply pipe 9 made of a material having good chemical resistance are inserted into the tank 4.
The tank inner ends 8a, 9a of these pipes 8, 9 are located near the inner bottom of the tank 4 so that the spray liquid LQ can be sprayed until the remaining amount in the tank becomes extremely small.

The spray liquid pipe 8 communicates with the spray nozzle 5, and is provided in the middle of the spray liquid pipe 8 as a spray stopping means for automatically opening and closing the discharge flow path of the spray liquid LQ. A spray control valve 10 of an electromagnetic type or the like is interposed.

On the other hand, the stirring air supply pipe 9 communicates with a first air outlet 11b of an air pressure regulator 11 mounted on the rear part of the carriage 2. An air inlet 11 a of the air pressure regulator 11 is connected to an intermediate air hose 13 extending from a hose reel 12 mounted on the carriage 2.
The intermediate air hose 13 passes through an air supply hose 14 which is unwound and wound by the hose reel 12, from a compressed air source 15 including an air compressor or the like fixed outside the carriage 2 (for example, outside the house H). Compressed air is supplied. The hose reel 12 idles when the carriage 2 moves forward (moves to the left as viewed in FIG. 1) and draws out the air supply hose 14, and when the carriage 2 moves backward, the hose reel 12 The air supply hose 14 is wound up according to the reverse speed of the carriage 2 using an electric motor 17 powered by the mounted battery 16 as a power source.

The second air outlet 11c of the air pressure regulator 11 is connected to the spray nozzle 5 via a spray air supply pipe 18.

In the above-described fluid circuit, the pneumatic pressure regulator 11 constantly supplies a large amount to the atomizing air supply pipe 18 and the stirring air supply pipe 9 during the spraying operation.
Compressed air is supplied little by little. The compressed air (stirring air) supplied to the stirring air supply pipe 9 in small amounts is converted into bubbles to form the spray liquid LQ in the tank 4.
The spray liquid LQ is agitated to agitate the spray liquid LQ to make its components uniform, and the spray liquid LQ is pressurized in the closed tank 4 and directed toward the spray nozzle 5 through the spray liquid pipe 8. To send out the spray liquid LQ.

On the other hand, a large amount of compressed air (spray air) supplied from the air pressure regulator 11 to the spray air supply pipe 18 is blown out from the spray nozzle 5 so as to pass through the spray liquid pipe 8. Reduce the pressure. This allows
The spray liquid LQ in the tank 4 is sucked by the spray liquid pipe 8 and is ejected from the spray nozzle 5 as fume F together with the spray air.

In FIG. 1, reference numeral 19 denotes a handle portion of the movable fogger 1 disposed at the rear end of the carriage 2.

Next, the bogie 2 will be described with reference to FIG. 2. The bogie 6 of the bogie 2 includes a pair of left and right front wheels 20, 20 and a pair of right and left rear wheels 21, 21. It is movably supported. These wheels 20, 20,
The directions of 21 and 21 are always fixed in a direction that matches the direction of the cart 2. Each of the wheels 20, 20,
The motors 21 and 21 are driven forward and backward separately for four wheels by using an electric motor rotatable in forward and reverse directions as a driving motor 22 for driving the vehicle. In this way, the wheels 20, 20, 21, 21 are made to be capable of differential traveling so that stable traveling and smooth turning traveling in a field with irregularities are performed.

Each of the driving motors 22 operates using the battery 16 as a power supply, and a control box 23 (see FIG. 1) serving as automatic control means mounted on the chassis 6.
It is automatically controlled by a control circuit including a microcomputer and the like. The traveling speed of the truck 2 is extremely low so as to be suitable for spraying by the fogger 3.

The traveling pattern of the mobile fogger 1 in the house H is arbitrary. For example, the carriage 2 is moved in a predetermined pattern along the ridge so that the controlling agent is evenly distributed in the house H. What is necessary is just to drive automatically. As an example, in the present embodiment, as shown in FIG. 3, the carriage 2 is caused to automatically travel along an induction cable 24 laid in advance in the house H. For this reason, as shown in FIG. 2, a pair of left and right follow-up sensors 25 and 26 for detecting a magnetic field generated by a current flowing through the induction cable 24 are provided at the front part and the rear part of the bottom surface of the chassis 6, respectively. . The pair of right and left tracking sensors 2
5 and 26, as the detection signal, the induction cable 2
An induced voltage that increases or decreases in accordance with the distance to 4 is obtained. Therefore, from the level difference between the detection signals of the pair of right and left tracking sensors 25 and 26, the lateral displacement of the carriage 2 with respect to the guide cable 24 is known, and based on this, the control circuit in the control box 23 performs By controlling the rotation speed of each of the driving motors 22, the carriage 2 can travel along the guide cable 24.

In the example of FIG. 3, the mobile fogger 1 sprays the spray liquid LQ into a so-called fume F from the spray nozzle 5 oriented in the direction of travel, while By the operation of each driving motor 22,
The vehicle travels forward to the terminal end 27ae of the furrow 27a. Then, the rotation direction of each of the driving motors 22 is automatically switched at the terminal end 27ae, and the bogie 2 travels backward in the ridge 27a to start the leading end 27a of the ridge 27.
Returning to s, the operation is automatically stopped once. Thereafter, the vehicle enters the next ridge 27b in a curved manner through the headland 28 extending to the start end 27bs of the next ridge 27b. Since then
By repeating such an operation of the cart 2, the spray liquid LQ can be uniformly supplied to the entire inside of the house H as the fume F.

For switching the direction of travel of the truck 2, for example, a magnetic sensor (not shown) is provided on the truck 2, and the magnetic sensor is mounted on a sensor plate 29 previously disposed at a traveling direction switching point of the truck 2. (See FIG. 3) by automatically inputting a detection signal obtained by sensing (see FIG. 3) to a control circuit in the control box 23.

In addition, the automatic traveling control of the carriage 2 in the house H may be performed by a radio control operation by an operator from outside the house H.

By the way, as shown in FIG.
When the vehicle goes in a curve from the headland 28 to the next furrow 27b in the forward traveling, and when the bogie 2 curves out from the furrow 27b to the headland 28 in the reverse traveling, etc. In the course of the change of the traveling direction of the carriage 2, there is a moment when the spray nozzle 5 faces the direction of the crop V at the end of the ridge. In this case, if the crop V is directly immersed in the spray liquid LQ, the crop V will be immersed in a large amount of the pesticide at a time, and depending on the concentration of the spray liquid LQ or the like, chemical damage may occur. Which is not desirable.

Therefore, as a countermeasure against this problem, in the present embodiment, spraying is automatically performed when the spraying direction of the spray nozzle 5 becomes the direction of the crop V in the course of changing the traveling direction of the bogie 2. A means of temporarily stopping is adopted. That is, as shown in the block diagram of FIG. 4, a spray stop requirement R for preventing the pesticide LQ sprayed from the spray nozzle 5 from directly hitting the crop V is set in advance. Is satisfied, the spray stop requirement detecting means 30 (30a, 30b, 30c)
The spray from the spray nozzle 5 is sprayed based on a signal from the spray stop requirement detecting means 30,
It stops automatically by 0.

Specifically, for example, the above-mentioned spray stop requirement R
Is a predetermined amount of change in the direction of the undercarriage 6 when the traveling direction of the carriage 2 is changed, and in response to this, as shown in FIG. A chassis orientation detecting means 30a for detecting that the variation has reached the predetermined variation R1 is employed. An appropriate type of angle sensor can be used as the chassis orientation detecting means 30a.

That is, since the spray distance by the spray nozzle 5 is known in advance, the bogie 2 moves from the headland 28 to the ridges 27a, 2
7b, the crop V at the end of the ridges is
If the spraying of the ridge is directly taken and the direction is further changed by any angle, the starting end 27as,
It is determined in advance by an experiment or the like whether the crop V of 27 bs will not be directly exposed to the spray by the spray nozzle 5,
The operating range of the chassis orientation detecting means 30a may be set in advance.

In the present embodiment, as shown in FIG. 3, the bogie 2 is
When entering smoothly into the furrow 27a from the
A predetermined angle, for example, 12 degrees, with respect to the direction of the undercarriage 6 when traveling straight on the headland 28,
Is changed to the left (the state of the undercarriage indicated by the solid line in FIG. 3), the undercarriage direction detecting means 30a detects the amount of change R1 to the spray control valve 10 as an example of the spray stopping means. Send spray stop signal. As a result, the spray control valve 10 is closed, and the spray from the spray nozzle 5 is stopped. Thereafter, the amount of change in the direction of the undercarriage 6 increases, and a predetermined angle, for example, the fume F from the spray nozzle 5 is directly applied to the undercarriage 6 when traveling straight on the headland 28. When the direction of the undercarriage 6 changes to 78 degrees at which the crop V is no longer exposed to the crop V (FIG. 3)
The state of the undercarriage indicated by a virtual line) is detected again by the undercarriage direction detecting means 30a, and a spray start signal is sent to the spray control valve 10. Thus, the spray control valve 1
0 is opened and spraying from the spray nozzle 5 is started.

In the same manner as described above, when the mobile fogger 1 exits while curving from the furrow 27a to the headland 28 by backward traveling, the spray nozzle 5
Spray from is suspended.

The preferred embodiment of the spray stop requirement R and the spray stop requirement detecting means 30 is as follows.
For example, the following means can be adopted.

The embodiment shown in FIG.
To the self-propelled truck 2 when the traveling direction of the mobile fume machine 1 is changed.
An example in which the predetermined amount of change in the direction of the wheel 20a is used, and the spray stop requirement detecting means is the wheel direction detecting means 30b that detects that the amount of change in the direction of the wheel 20a has reached the predetermined change amount R2. It is. The wheel direction detecting means 30b
For example, an angle sensor of an appropriate type can be used.

In the embodiment of FIG. 5, the front wheel of the bogie 2 is a caster-type steering wheel 20a, and when the direction of the steering wheel 20a reaches a predetermined change amount R2,
When the wheel direction detecting means 30b sends a spray stop signal to the spray control valve 10 and the direction of the steered wheels 20a returns to within the range of the predetermined change amount R2, the wheel direction detecting means 30b sets the A spray start signal is sent to the spray control valve 10.

In FIG. 5, the steering front wheel 20a
May naturally change directions due to the difference in the rotational speeds of a pair of left and right rear wheels 21a, 21a driven forward and reverse by separate traveling drive motors 22a, respectively. An electric servomotor controlled by a signal from the pair of tracking sensors 25 and 26 may be controlled to be a steering control prime mover (not shown).

In addition, as shown in FIG. 3, the spray stop requirement R is set to a predetermined direct spray distance at which the control agent LQ (haze F) sprayed from the mobile fume machine 1 directly hits the crop V. L, the spray stop requirement detecting means,
Detection means 30c for detecting that the mobile fogger 1 has entered the range of the direct spray distance L can also be used. Specifically, for example, as shown in FIG. 1, a beam sensor 30 c is attached to the spray nozzle 5, and when the bogie 2 curves into the ridges 27 a and 27 b from the headland 28, When the beam sensor 30c detects the crop V within the range of the predetermined direct spray distance L, a spray stop signal is sent to the spray control valve 10. Further, when the direction of the carriage 2 changes greatly and the beam sensor 31 does not detect the crop V within the range of the predetermined direct spray distance L, a spray start signal is sent to the spray control valve 10. You just have to make it.

Although not shown, the house H
A position display plate for displaying a spray stop position and a spray start position according to the predetermined direct spray distance L is provided at a predetermined position on the traveling route of the truck 2 on the ground in the inside of the truck 2. In addition, as the spray stop requirement detecting means,
The position control plate is detected and the spray control valve 10 is detected.
For example, a method of providing a non-contact type sensor for sending a spray stop signal and a spray start signal to the sensor may be used.

[Brief description of the drawings]

FIG. 1 is a left side view of a mobile fogger according to an embodiment of the present invention.

FIG. 2 is a bottom view of the self-propelled carriage of the mobile fogger in FIG.

FIG. 3 is a plan view showing a state of a spraying operation using the mobile fogger of FIG. 1;

FIG. 4 is a block diagram of spray control of the mobile fogger of FIG. 1;

FIG. 5 is a bottom view of a self-propelled carriage according to another embodiment of the present invention.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Mobile fogging machine 2 Airframe (trolley) 3 Fogging machine 5 Smoke nozzle 6 Undercarriage 10 Spray stop means (spray control valve) 20a Wheel 30 Spray stop requirement detecting means 30a Body direction detecting means (vehicle direction detecting means) 30b Wheel direction Detecting means 30c Beam sensor (direct spraying distance detecting means) L Direct spraying distance LQ Control agent R Spray stop requirement R1 Predetermined amount of change in body direction R2 Predetermined amount of change in direction of wheel V crop

Continued on the front page (72) Inventor Hitoshi Maeda 6-11, Shimbashi, Minato-ku, Tokyo F-Term in U-Shin Co., Ltd. (Reference) 2B043 AA04 AB08 AB19 BA01 BA07 BA09 BB07 DA07 DC03 2B121 CB02 CB23 CB33 CB35 CB62 CC02 CC03 DA63 EA12 FA04 FA14 3D030 EA22 EA29 EA33 EA44 4D074 AA05 BB06 CC04 CC33 CC56 CC60 5H301 AA03 BB01 CC03 CC06 CC10 DD06 EE05 FF04 GG08 GG16 GG28 GG29 HH01 HH20

Claims (11)

[Claims] 1. A method for controlling fumes while moving a fogging machine (3), wherein the method for preventing a pesticide (LQ) sprayed from the fogging machine (3) from directly hitting a crop (V). The method of controlling fumes further comprising temporarily stopping the spraying when the direction of spraying by the fogging machine (3) becomes the direction of the crop (V). 2. A method for controlling fumes which is performed while moving a fogger (3), in order to prevent a pesticide (LQ) sprayed from the fogger (3) from directly hitting a crop (V). The method for controlling fumes, wherein spraying is temporarily stopped when the traveling direction of the fogger (3) is changed. 3. The temporary stop of spraying of the fogger (3)
The fog control method according to claim 1 or 2, wherein the method is automatically performed when a predetermined spray stop requirement (R) is satisfied. 4. A predetermined spray stoppage requirement (R) for preventing the pesticide (LQ) sprayed from the mobile fogger (1) from directly hitting the crop (V), and the spray stoppage. The spray stop requirement detecting means (30) for detecting that the requirement (R) is satisfied, and the spraying of the mobile fogger (1) is automatically performed based on a signal from the spray stop requirement detecting means (30). And a spray stopping means (10) for stopping the spraying. 5. The spray stop requirement is a predetermined change amount (R1) in the direction of the body (2) when the traveling direction of the mobile fume machine (1) is changed, and the spray stop requirement detecting means includes: The change amount of the direction of the body (2) is the predetermined change amount (R
(1) The body orientation detection means (30)
The fume control system according to claim 4, which is a). 6. The spray stop requirement is a predetermined change amount (R2) of the direction of the wheel (20a) when the traveling direction of the mobile fogger (1) is changed, and the spray stop requirement detecting means includes: The fume control system according to claim 4, wherein the fog control system is a wheel direction detecting means (30b) for detecting that the amount of change in the direction of the wheel (20a) has reached the predetermined amount of change (R2). 7. The spray stop requirement is a predetermined direct spray distance (L) at which the pesticide (LQ) sprayed from the mobile fogger (1) starts directly hitting the crop (V), The fume control according to claim 4, wherein the spray stop requirement detecting means is a detecting means (30c) for detecting that the mobile fogger (1) has entered the range of the direct spray distance (L). system. 8. A self-propelled vehicle (2), a fume nozzle (5) mounted on the self-propelled vehicle (2), and a control agent (LQ) sprayed from the fume nozzle (5) are crops. (V) a predetermined spray stop requirement (R) for preventing direct hit, a spray stop requirement detecting means (30) for detecting that the spray stop requirement (R) is satisfied, A spray stopping means (10) for automatically stopping the spray from the fog nozzle (5) based on a signal from the spray stopping requirement detecting means (30). 9. The spray stop requirement is a predetermined change amount (R1) of the direction of the undercarriage (6) when the traveling direction of the self-propelled vehicle (2) is changed, and the spray stop requirement detecting means includes: The change amount of the direction of the chassis (6) is the predetermined change amount (R
(1) Undercarriage orientation detection means (30)
9. The mobile fogger according to claim 8, which is a). 10. The spray stop requirement is a predetermined change amount (R2) of the direction of the wheel (20a) when the traveling direction of the self-propelled vehicle (2) is changed, and the spray stop requirement detecting means includes: 9. The mobile fogger according to claim 8, wherein the mobile fogger is a wheel direction detecting means (30b) for detecting that the amount of change in the direction of the wheel (20a) has reached the predetermined amount of change (R2). 11. The spray stop requirement is a predetermined direct spray distance (L) at which the pesticide (LQ) sprayed from the fog nozzle (5) starts directly hitting the crop (V). The mobile fogging machine according to claim 8, wherein the spray stop requirement detecting means is a detecting means (30c) for detecting that the self-propelled vehicle (2) has entered the range of the direct spray distance (L). .