JP2006271320A - Application controller for agricultural working vehicle - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To control the shakes of right and left booms (4R and 4L) so as to prevent damage, to suppress interference of the right and left booms (4R and 4L) with crop and to improve application precision of a riding type tending machine by controlling a reduced traveling speed when the booms (4R and 4L) are largely shaken. <P>SOLUTION: A riding type tending machine (boom sprayer) (1) furnished with an actuator (47) for a speed change is equipped with an application apparatus (7) composed of a tank (2) for storing a chemical fluid, etc., and the long right and left booms (4R, 4L). A body 2 is provided with a speed sensor (14). The application apparatus (7) is equipped with an acceleration sensor (44) for detecting the shake of the application apparatus. When a shake of a specified value or more is detected by the acceleration sensor (44), the traveling speed of the riding type tending machine (1) is reduced. <P>COPYRIGHT: (C)2007,JPO&INPIT

Description

  The present invention relates to a spray control device for agricultural vehicles provided with a spray boom for spraying liquid, powder medicine, fertilizer and the like.

2. Description of the Related Art Conventionally, in a farming machine spraying control device, a farm speed machine and a spraying amount detection sensor are provided on a farming machine in which a spraying device is mounted on a traveling vehicle body having a traveling speed change means, and a detection value of the spraying amount detection sensor and detection of the vehicle speed sensor are provided. It is known that the actual spraying amount per unit area is detected based on the value, and the vehicle speed is controlled so that the actual spraying amount per unit area maintains the set spraying amount (Patent Document 1).
JP-A-9-37700

  In the above-mentioned spraying work, the farm vehicle is driven at a constant speed, but since the spreading boom is expanded to the left and right, if the farm is uneven, the left and right booms will swing excessively, causing the boom to move. There was a problem that it was damaged or interfered with crops, resulting in poor spraying accuracy. Therefore, the present invention is intended to solve such a problem.

  According to the first aspect of the present invention, an agricultural vehicle (1) having a traveling speed change actuator (47) has a tank (2) for storing a chemical solution and the like and a spreading device (7L, 4R) comprising long left and right booms (4L, 4R). ) And a farm vehicle (1) is provided with vehicle speed detecting means (14) and spraying device shake detecting means (44) for detecting shaking of the spraying device (7), and the spraying device shake detecting means (44) A farm vehicle spray control device is provided with a control means (46) for reducing the traveling speed of the farm vehicle (1) when a swing of a predetermined value or more is detected.

  According to the said structure, a farm work vehicle (1) spread | disperses a chemical | medical solution etc. from the spreading | diffusion apparatus (7) which consists of a left and right long left and right boom (4L, 4R), drive | working with a predetermined | prescribed working speed. When the spraying device shake detection means (44) detects a swing of the spraying device (7) exceeding a predetermined value during the spraying operation, the traveling speed of the farm vehicle (1) is decelerated.

  According to the invention of claim 2, a farm vehicle (1) having a traveling speed change actuator (47) has a tank (2) for storing a chemical solution and the like and a spreading device (4L, 4R) comprising long left and right booms (4L, 4R). 7) is mounted, and the farm vehicle (1) is provided with vehicle speed detecting means (14), spraying amount detecting means (41) and cumulative spraying amount calculating means (46), and the cumulative spraying amount is greater than a predetermined value. When the amount is detected, the agricultural vehicle scatter control device is provided with a control means (46) for reducing the traveling speed of the agricultural vehicle (1).

  According to the said structure, a farm work vehicle (1) spread | disperses a chemical | medical solution etc. from the spreading | diffusion apparatus (7) which consists of a left and right long left and right boom (4L, 4R), drive | working with a predetermined | prescribed working speed. During the spraying operation, the cumulative spraying amount is calculated based on the detection value of the spraying amount detection means (41), and when the cumulative spraying amount exceeds a predetermined value, the traveling speed of the farm vehicle (1) is reduced.

  According to the first aspect of the present invention, when the left and right booms (4L, 4R) are greatly shaken, the running speed is controlled to be reduced, so that the booms (4L, 4R) are prevented from being shaken to prevent breakage and the left and right booms (4L, 4R). ) Can be suppressed and the spraying accuracy can be improved.

  In the invention of claim 2, since the traveling speed of the agricultural machine (1) is automatically decelerated when the accumulated amount of sprayed chemical solution reaches a predetermined value and the remaining amount of the tank (2) decreases, the operator can experience the tank The decrease in the remaining amount of the chemical solution or the like in (2) can be known, and the supply of the chemical solution or the like to the tank (2) is executed in a timely manner without impairing the work efficiency.

Hereinafter, a configuration in which this light is provided in a farm vehicle for field management (hereinafter referred to as a riding management machine 1) will be described.
The passenger management machine 1 has a configuration in which a spraying device 7 including a tank 2 for storing a chemical solution, a boom 4 having a spray nozzle 3, a pump 6 for sending the chemical solution in the tank 2 to the spray nozzle 3, and the like is mounted on the vehicle body. It is.

Next, the passenger management machine 1 will be described.
This riding management machine 1 is provided with main frames 8 and 8 extending in the front-rear direction so as to be parallel in the left-right direction. 11 are provided. On the left and right main frames 8 and 8, a floor 12 on which an operator puts his / her foot is provided. On the floor 12, left and right brake pedals 13 and 13 are provided.

  An engine 17 is mounted in the hood 16 on the front side of the vehicle body, and the power of the engine 17 is transmitted into the transmission case 18, and passes through the hydrostatic continuously variable transmission T and the gear type auxiliary transmission in the transmission case 18. Power is transmitted to the front wheels 9 and 9 and the rear wheels 11 and 11. Further, a vehicle speed sensor 14 for detecting the vehicle speed from the rotational speed of a traveling transmission shaft (not shown) is provided in the mission case 18.

  A handle 21 protrudes from the rear of the bonnet 16, and a handle turning angle sensor 22 is provided at the base of the handle 21. A display panel 23 is provided on the rear side of the bonnet 16, an HST speed change lever 24 for adjusting the output of the HST is provided on the left side of the cockpit 19, and a speed change lever position for detecting an operation position at the base of the HST speed change lever 24. A sensor 26 is provided, and on the right side of the cockpit 19, a spray setting device 27 for setting a spray amount and a spray width is provided.

  The tank 2 of the spraying device 7 is formed in a U-shape in plan view so as to surround the cockpit 19 from the rear side, and an inlet for introducing a chemical solution is provided in the upper part of the tank 2, and a pipe 28 is connected from the lower part of the tank 2. It communicates with the pump 6 via. The pump 6 is configured electrically, and the chemical liquid discharged from the pump 6 is sent to the pressure regulator 31 via the pipe 29. The pressure adjusting device 31 adjusts the discharge pressure of the chemical solution, and includes an air chamber 32, a relief valve 33, a flow rate control valve 34, an open / close cock (not shown), a return hose 36, and the like.

  Further, a part of the discharged chemical solution from the pump 6 is refluxed to the bottom of the tank 2 through the stirring pipe 37 to stir the precipitated chemical solution. The discharged chemical solution from the pressure adjusting device 31 is sent to a plurality of high-pressure hoses 38, 38... Via a flow sensor 41, and a pressure sensor 49 is provided at a communicating portion immediately before the branching of the high-pressure hoses 38, 38. The chemical solutions 38... Are sent to the spraying booms 4 through intermediate high pressure hoses 39, 39.

  The spreading boom 4 of the spreading device 7 is supported by a boom support member 42 provided on the front side portion of the main frame 8 of the riding management machine 1. The boom support member 42 has a configuration in which the spraying height can be adjusted by the hydraulic cylinder 43. The spreading boom 4 is composed of a central boom 4C and left and right booms 4L, 4R, provided with spray nozzles 3, 3,... At predetermined intervals, and detecting the vibration state of the boom 4 at the center of the boom support member 42. An acceleration sensor 44 is provided. The left and right booms 4 </ b> L and 4 </ b> R are configured to switch between a sprayed state that is expanded to the left and right sides as shown in FIG. 2 and a stored state along the left and right sides of the riding management machine 1.

Next, the control configuration of the spray control device will be described with reference to FIG.
The input part of the controller 46 as a control means includes a chemical flow rate sensor 41, a vehicle speed sensor 14, a pressure sensor 49, an acceleration sensor 44, a steering angle sensor 22, an HST shift lever position sensor 26, a spray amount setting device 27, and the like. These settings information and detection information are input to the controller 46. Further, the output section of the controller 46 includes a liquid crystal monitor 51 for displaying the dispersion state, a flow control valve opening adjusting means 52, a flow control valve closing adjusting means 53, and an electric cylinder (traveling shift actuator) for adjusting the trunnion shaft of the HST. 47, the alarm buzzer 48 is connected, and the control command of the controller 46 is output.

Next, the control contents of the controller 46 will be described.
During work, the power of the engine 17 is transmitted to the left and right front wheels 9 and 9 and the left and right rear wheels 11 and 11 via the HST continuously variable transmission T, and travels at a predetermined work speed. Are delivered to the central boom 4C and the left and right booms 4L, 4R through the adjusting device 31, the high pressure hose 38, the intermediate high pressure hose 39,...

  During spraying work, the boom 4 is detected by the acceleration sensor 44 every predetermined time, and when the shake exceeding the specified value is detected, the deceleration actuator 47 is decelerated by a command signal from the controller 46 and the hydrostatic continuously variable transmission is performed. The device T is decelerated to a predetermined speed. In addition, when a predetermined time has elapsed and the vibration becomes weaker than a predetermined value or more, traveling control is performed to return to the previous predetermined traveling speed.

  In addition, when the traveling speed deceleration control is performed, the chemical solution spray amount is adjusted to be proportionally decreased, and during the return acceleration control, the spray solution amount is proportionally increased and adjusted to equalize the chemical solution spray amount to the crop. it can.

  In the chemical spraying operation in the bad paddy field, the body rolls to the left and right when the front wheels 9 and 9 or the rear wheels 11 and 11 travel on the unevenness of the field. Then, the left and right booms 4L and 4R are greatly shaken back and forth and up and down, and the left and right booms 4L and 4R are damaged, or the tip part interferes with the crop and the spraying accuracy is reduced.

However, when the left and right booms 4L and 4R are greatly shaken as described above, the electric cylinder 47 is driven to control the traveling speed to be decelerated.
This eliminates the above-mentioned problems while reducing the operation burden on the operator, and prevents excessive riding of the riding management machine 1 even when traveling on the road, while suppressing excessive shaking of the left and right booms 4L, 4R at an appropriate speed. You can travel.

Next, other spraying control will be described.
During the spraying operation, the chemical flow rate sensor 41 detects the spray flow rate every predetermined time, calculates the spray flow rate per unit time by a predetermined calculation formula, and sequentially calculates and stores the sprayed cumulative flow rate. When the accumulated spray flow rate exceeds a predetermined value, the decelerating actuator 47 is decelerated by a command signal from the controller 46, and the HST continuously variable transmission T is controlled to decelerate to a predetermined speed. In addition, you may make it alert | report with the alarm buzzer 48 with this deceleration control.

  During the control work, the remaining amount of the chemical solution in the tank 2 is difficult to understand, and the chemical solution sometimes disappears in the center of the field, which causes uneven dispersion and reduced efficiency. However, as described above, when the accumulated flow rate of the sprayed chemical solution reaches a predetermined value and the remaining amount of the chemical solution in the tank 2 decreases, the traveling speed of the riding management machine 1 is automatically reduced, so that the operator can experience the remaining chemical solution in the tank 2 sensibly. It is possible to know the decrease in the amount, and to replenish the medicine to the tank 2 in a timely manner, so that the work efficiency can be improved.

Next, another spraying control will be described based on FIG. 5 and FIG.
During the spraying operation by the riding management machine 1, the pressure (or flow rate) is detected by the pressure sensor 49 (or the chemical flow rate sensor 41), and these detected values are a predetermined value with respect to the set value K as shown in FIG. When the above increase / decrease is repeated a plurality of times, a stop command is output from the controller 46 to the driving means of the pump 6, the pump 6 is stopped, and the spraying operation is automatically stopped.

  When cleaning the tank 2 or the chemical flow path after changing the medicine or after the last spraying operation of the season, water is sprayed into the tank 2 for spraying and cleaning, but when the tank 2 becomes empty at that time, the pump 6 is stopped. It is necessary to stop spraying water. However, it was inconvenient that the tank 2 was not empty and had to be confirmed by the side.

  However, by controlling as described above, the pump 6 is automatically stopped when the tank 2 is empty even if it is away from the riding management machine 1 during the cleaning and spraying work, so that the pump 6 is prevented from being damaged and is safe. .

Next, the operation configuration of the HST type transmission T by the HST speed change lever 71 will be described with reference to FIGS.
An operating shaft 73 is supported on the handle post 72 along the left-right direction, and the shift lever 71 is axially supported on one end of the operating shaft 73 by a pin 71 a extending in the front-rear direction. A lever guide is provided on one end of the operating shaft 73. 74, the lever guide 74 is pivotable in the front-rear direction along the guide surface 76 on the handle post 72 side, the lever guide 74 is pressed by a lever spring 77 that can adjust the load, and the T-operating lever 71 is predetermined. It is comprised so that it may hold | maintain in this rotation operation position.

  Further, an arm 73 a attached to the other end of the operating shaft 73 and a first trunnion arm 64 a for operating the trunnion shaft 63 of the HST type continuously variable transmission T are linked and connected by a rod 79.

  Further, a reduction arm 61 is pivotally supported on the mission case 18, and an operation reduction pedal 81 is attached to the reduction arm 61. 7 is the constant speed position, and when it is stepped counterclockwise from this state, the pin at the tip of the deceleration arm 61 presses the first trunnion arm 64, and the output of the transmission T Is configured to be decelerated. Further, a spring 81a is attached to the base of the deceleration pedal 81 so as to return from the deceleration operation position to a constant speed position.

  Further, a second trunnion arm 64b is attached to the other end portion of the trunnion shaft 63 of the HST type continuously variable transmission T, and the tip end portion of the second trunnion arm 64b and the free end side of the speed reduction arm 61 are brought into contact with each other and fixed. The front end portion of the speed holding mechanism 66 is pivotally supported by the mission case 18, and the rear end portion of the constant speed holding mechanism 66 is pivotally connected to the intermediate portion of the second trunnion arm 64b. The constant speed holding mechanism 66 includes a cylinder 66a that expands and contracts in the front-rear direction, a spring 66b that holds the cylinder 66a at a constant extension length, and a load adjustment bolt 66c that adjusts the strength of the spring 66b.

  Then, the set load of the lever spring 77 that holds the HST speed change lever 71 is set larger than the set load when the deceleration pedal 81 of the spring 66b in the constant speed holding mechanism 66 is stepped on.

  According to the above configuration, when the speed reduction pedal 81 is not depressed, the speed reduction pedal 81 and the second trunnion arm 64b are rotated to the constant speed position (position shown in FIG. 7) by the constant speed holding mechanism 66, and the HST type The continuously variable transmission T is held at a constant shift position, and the riding management machine 1 travels at a constant speed. When the deceleration pedal 81 is stepped counterclockwise from the position of FIG. 7, the second trunnion arm 64b is rotated to the deceleration side via the deceleration arm 61, and the HST continuously variable transmission T is shifted to the deceleration side. The At this time, the cylinder 66a of the constant speed holding mechanism 66 extends and follows the spring 66b.

  Further, when the operator removes his / her foot from the deceleration pedal 81, the extended constant speed holding mechanism 66 is shortened to a constant length by the action of the spring 66b, and the second trunnion arm 64b is the original set by the speed change lever. Returning to the position, the deceleration arm 61 also returns to the constant speed position by the spring 81a.

  Accordingly, since the set load of the lever spring 77 that holds the HST speed change lever 71 is set larger than the set load when the deceleration pedal 81 of the spring 66b in the constant speed holding mechanism 66 is depressed, the deceleration pedal 81 As the second trunnion arm 64b rotates to the deceleration side during the stepping operation, the lever spring 77 securely keeps the force to rotate to the deceleration side by the lever spring 77. When the foot is released from the deceleration pedal 81, the HST type continuously variable transmission T can be maintained at the original constant speed and the spraying accuracy can be improved.

  The electric cylinder 47 is installed in the vicinity of the speed reduction arm 61, and is configured to rotate the second trunnion arm 64b to the speed reduction side in the same manner as the arm by extending the piston in response to an energization command from the controller 46. ing.

Next, another embodiment of the operating device of the riding management machine 1 will be described with reference to FIG.
A clutch pedal 56 is pivotally supported on the main frame 8, a clutch arm 57 for turning on and off the traveling clutch is pivotally supported on the side of the transmission case 18, and the clutch pedal 56 and the clutch arm 57 are coupled by a clutch rod 58. A long hole 58a is provided in the linkage portion between the clutch pedal 56 and the clutch rod 58 so that the traveling clutch is not disengaged when the clutch pedal 56 is initially depressed. Is configured to be turned off.

  A rotating arm 59 is attached to the base of the clutch pedal 56 and is linked to the deceleration arm 61 via a link arm 62. In the same manner as described above, the free end of the speed reduction arm 61 is in contact with the second trunnion arm 64b for operating the trunnion shaft 63 of the HST type continuously variable transmission T. Further, the rear end of the constant speed holding mechanism 66 that pivotally supports the front end of the transmission case 18 is pivotally connected to the second trunnion arm 64b.

  Accordingly, when the clutch pedal 56 is stepped on from the clutch engagement position 56A to the clutch disengagement start position 56B, the link arm 62, the reduction arm 61, and the second trunnion arm 64b are moved to the reduction side by the rotating arm 59. The HST continuously variable transmission T is rotated and decelerated. When the clutch pedal 56 is further stepped on and the clutch disengagement position is exceeded, the travel clutch is disengaged.

With the configuration described above, the clutch pedal 56 can also perform the deceleration operation of the continuously variable transmission T, thereby reducing the number of pedals on the vehicle and simplifying the operation.
Note that the members having the same reference numerals in FIG.

Next, the configuration of the spraying device 7 will be described with reference to FIG.
The high-pressure hoses 38, 38... And the intermediate high-pressure hoses 39, 39... Are sent to the spray booms 4, and the high-pressure hoses 38, 38. The chemical solution is sent to the first central boom 4C1 and the first left and right booms 4L1, 4R1 through the intermediate hoses 39, 39, and a small amount of chemical solution is sprayed from the spray nozzles 3, 3,. Further, a chemical solution is sent from the switching cocks 86, 86... To the second central boom 4C2 and the second left and right booms 4L2, 4R2 via the second intermediate hoses 39a, 39a. It is configured to spray. The first booms 4C1, 4L1, 4R1 and the second booms 4C2, 4L2, 4R2 are arranged in parallel, and the spray nozzles 3, 3,.

  Therefore, when spraying a small amount, the switching cocks 86, 86... Are switched, and the chemical solution is sent from the intermediate high pressure hoses 39, 39... To the first central boom 4C1 and the first left and right booms 4L1, 4R1 through the intermediate hoses 39. A small amount of chemical solution is sprayed from the nozzles 3, 3. Further, when spraying at a medium level, the switching cocks 86, 86... Are switched to the second central boom 4C2 and the second left and right booms 4L2, 4R2 via the high pressure hoses 38, 38. And spray a medium amount of chemical solution from the spray nozzles 3, 3. Further, at the time of mass spraying, the switching cocks 86, 86... Are switched to send the chemical solution from the high pressure hoses 38, 38... To the intermediate hoses 39, 39. , 4R1 and the second boom 4C2, 4L2, 4R2 are sprayed in large quantities.

  Conventionally, when the spraying amount is adjusted, the spraying nozzles 3, 3,... Having different spraying amounts are exchanged. However, by adopting the above-described configuration, the spraying amount can be easily adjusted, and the chemical solution can be sprayed and sprayed even when spraying a small amount, thereby improving the spraying adjustment accuracy.

Next, another spraying control will be described based on FIG. 5, FIG. 10, and FIG.
The central boom 4C and the left and right booms 4L, 4R are configured to spray a chemical solution by upper nozzles 3a, 3a,... Sprayed downward and suspended nozzles 3b, 3b,. In addition, the controller 46 is configured so that the spray amount can be adjusted, the rotational speed of the traveling transmission shaft (not shown) of the riding management machine 1 is detected by the vehicle speed sensor 14, and the vehicle speed is calculated by the controller 46. Yes.

  In addition, the controller 46 is provided with a mode changeover switch 92 that selects between normal spraying from the upper nozzles 3a, 3a... Or special spraying with special nozzles. In the special spraying mode equipped with the suspension nozzle, an operator inputs a numerical value necessary for vehicle speed interlocking spraying to the controller 46 at the initial stage of operation, and the spraying amount is interlocked with the vehicle speed of the riding management machine 1 by a dedicated arithmetic expression. It is the structure which controls.

Next, the control by the special spraying mode will be described based on the flow of FIG.
When the vehicle is switched to the special spray mode of the vehicle by the switch 92, the planned counter hit spray amount (F) is input to the controller 46 from the spray amount setting device 27 along the guidance of the liquid crystal monitor 51 (step S1). The interval (L1) between the hanging nozzles 3b, 3b... Is input (step S2).

  Next, the vehicle speed pulse (V) of the farm vehicle 1 is input from the vehicle speed sensor 14 to the controller 46 (step S3), and the pressure control function (P) is calculated by a predetermined arithmetic expression (step S4). Next, the current pressure (PR) is detected by the pressure sensor 49, the difference between the pressure setting function (P) and the current pressure is determined (step S5), and when the pressure setting function (P) and the current pressure are equal, Control is performed to maintain the flow rate control valve 34 as it is (step S6).

  If the pressure setting function (P) is not equal to the current pressure, it is determined whether or not the current pressure is greater than the pressure setting function (P) (step S6), and the current pressure is the pressure setting function (P). If larger, the flow control valve 34 is adjusted to open (step S7). If the current pressure is not larger than the pressure setting function (P), it is next determined whether or not the current pressure is smaller than the pressure setting function (P) (step S8), and the current pressure is the pressure setting function (P). If it is smaller, the flow control valve 34 is closed (step S9).

  Since it is configured as described above, it is possible to perform spray control related to the vehicle speed just by inputting a predetermined item even in the spraying operation in which the suspension nozzles 3b, 3b,... Are added, and spray accuracy can be improved while improving operability. Can be increased.

The side view of a passenger management machine. The front view of a passenger management machine. The top view of a spreading device. The figure which shows the circuit of a dispersion device. Control block diagram. The figure which shows the detected value of a pressure sensor. The side view of an operating device. The front view of an operating device. The side view of an operating device. The front view of a passenger management machine. flowchart.

Explanation of symbols

T Travel speed shifting means (hydrostatic continuously variable transmission)
DESCRIPTION OF SYMBOLS 1 Farm vehicle 2 Tank 4C Center boom 4L Left boom 4R Right boom 7 Spreading device 14 Vehicle speed sensor (vehicle speed detection means)
41 Spray amount detection means (chemical flow rate sensor)
44 Dispersing device shaking detection means (acceleration sensor)
46 controller

Claims (2)

Agricultural vehicle (1) equipped with a traveling speed change actuator (47) is equipped with a tank (2) for storing chemicals and the like and a spraying device (7) consisting of long left and right booms (4L, 4R). (1) is provided with a vehicle speed detection means (14) and a spraying device shake detection means (44) for detecting a shake of the spraying device (7), and the spraying device shake detection means (44) detects a shake of a predetermined value or more. Then, the spraying control device for the agricultural vehicle is provided with a control means (46) for reducing the traveling speed of the agricultural vehicle (1). Agricultural vehicle (1) equipped with a traveling speed change actuator (47) is equipped with a tank (2) for storing chemicals and the like and a spraying device (7) consisting of long left and right booms (4L, 4R). (1) is provided with a vehicle speed detecting means (14), a spraying amount detecting means (41) and a cumulative spraying amount calculating means (46), and when a cumulative spraying amount of which the cumulative spraying amount is a predetermined value or more is detected, a farm vehicle (1 ) Is provided with a control means (46) for decelerating the traveling speed.

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