JP2009178101A - Apparatus for applying granule - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To prevent excess vertical motion and hunting in a horizontal control of spray tubes of a granule applicator. <P>SOLUTION: The apparatus for applying granule includes a control part 15 that calculates spray tube angles to make right and left spray tubes 14R and 14L in horizontal attitudes, respectively, based on the detected value m of an inclination sensor 64, operates right and left actuators 48R and 48L by using calculated spray tube angles θ1R and θ1L as a control target value, and when the detected value m by the inclination sensor 64 exceeds a preset fixed angle α, operates the actuators 48R and 48L by using a prescribed angle β, in which the end sides of the right and left spray tubes 14R and 14L face upward, as a control target value in the spray tube angles of the right and left spray tubes 14R and 14L. Otherwise when a detected value ω by an angular velocity sensor 65 exceeds a preset angular velocity value γ, the activators 48R and 48L are operated by using a prescribed angle δ in which the end sides of the right and left spray tubes 14R and 14L face upward, as a control target value in the spray tube angles of the right and left spray tubes 14R and 14L. <P>COPYRIGHT: (C)2009,JPO&INPIT

Description

  TECHNICAL FIELD The present invention relates to a powder and particle material spraying device that sprays a granular material such as granular fertilizer accommodated in a tank to a field by a jet tube while feeding the granular material.

Conventionally, a control boom is provided at the front of the machine body so that it can freely roll in the left and right direction. The controller that controls the control boom has a tilt sensor detection information for detecting the swing angle of the control boom, and the left and right rolling angle of the machine. The detection information of the angular velocity sensor for detecting the angle is input, and the control boom is maintained in a predetermined rolling posture (for example, Patent Document 1).
JP 2004-350567 A

  According to the conventional configuration, the movement on the machine side is monitored not only by the inclination sensor but also by the angular velocity sensor, and the control boom is always maintained in the set posture regardless of the right and left inclination of the machine. The amount of spraying can be made uniform.

  By the way, in the spraying device configured to spray powder and granular materials, the long jet tube corrects the angle up and down with the body support part as a fulcrum, so when frequent rolling fluctuations of the body are involved It is difficult to follow the angle correction described above, it is difficult to fall into hunting, it is difficult to obtain the desired horizontal maintenance, and as a result, powder particles tend to stagnate inside the injection pipe, and the discharge amount from each injection port varies greatly. Will occur.

  In view of the above, the invention described in claim 1 includes a tank (10) that stores granular fertilizer in the traveling machine body, and a feeding device (11) that is provided in a pair of left and right and feeds the granular material in the tank (10). The blower (12) for conveying the granular material by air blowing, and the dust and particle distribution device including the left and right injection tubes (14L, 14R) for distributing the granular material, the jet tube (14L, 14R) A tilt sensor (64) for detecting the tilt angle of the aircraft to the ground and the left and right jet tubes (14L, 14R) are provided so that the vertical angle can be changed independently by operating the actuators (48L, 48R). ) And the right and left jet tubes (14L, 14R) based on the detection value (m) of the tilt sensor (64). ) Horizontal each The angle of the tube is calculated, the left and right actuators (48L, 48R) are operated with the calculated tube angle (θ1L, θ1R) as the control target value, and the detection value (m) by the tilt sensor (64). If the angle exceeds a predetermined angle (α) set in advance, the actuator angle is set such that the angle of the left and right jet tubes (14L, 14R) is the constant angle (β) at which the tip side of the left and right jet tubes (14L, 14R) faces upward. (48L, 48R) A control unit (15) for operating is provided.

  When configured as described above, the right and left jet tube angles (θL, θR) are calculated to keep the left and right jet tubes (14L, 14R) horizontal based on the detection of the tilt sensor (64) that detects the left / right tilt angle of the fuselage. Then, based on the calculated angle, the actuators (48L, 48R) independently adjust the left and right jet tubes (14L, 14R) with respect to the airframe, respectively, and these are horizontally controlled. When the tilt sensor (64) is equal to or greater than the predetermined angle (α), the tube angles (θL, θR) are maintained at a constant angle (β) in which the tip ends of the left and right tube tubes (14L, 14R) face upward.

  In addition, the invention according to claim 2 is a tank (10) for storing granular fertilizer in a traveling machine body, a feeding device (11) for feeding powdered granular material provided in a pair of left and right tanks (10), powder In the blower (12) for conveying the granular material by blowing, and the spraying device for the granular material provided with the left and right jet tubes (14L, 14R) for spraying the granular material, the jet tube (14L, 14R) is used as a body. A tilt sensor (64) for detecting the left / right tilt angle of the aircraft with respect to the ground and an angular velocity sensor (for detecting the angular velocity based on the left / right tilt of the aircraft) are provided so that the vertical angle can be changed independently by the operation of the actuators (48L, 48R). 66) and jet tube angle sensors (65L, 65R) for detecting the upper and lower jet tube angles (θL, θR) of the left and right jet tubes (14L, 14R) with respect to the fuselage, respectively, and the tilt sensor (64) Inspection The left and right actuators (48L, 48R) are calculated based on the output value (m), and the left and right nozzles (14L, 14R) are each set in a horizontal posture, and the calculated jet tube angles (θ1L, θ1R) are set as control target values. ) And the detected value (ω) of the angular velocity sensor (64) exceeds a predetermined angular velocity value (γ) set in advance, the right and left jet tubes (14L, 14R) are changed to the right and left jet tubes (14L). , 14R) is provided with a control unit (15) that operates the actuators (48L, 48R) with a constant angle (δ) at which the tip side is directed upward as a control target value.

  According to this configuration, the actuators (48L, 48R) are provided with the right and left jet tubes (14L, 48R) for maintaining the horizontal left and right jet tubes (14L, 14R) based on the detection of the tilt sensor (64) for detecting the left / right tilt angle of the fuselage. 14L and 14R) are independently adjusted in the vertical direction to be horizontally controlled. When the angular velocity sensor (66) becomes equal to or higher than the predetermined angular velocity (γ), the tube angles (θL, θR) are maintained at a constant angle (δ) in which the distal ends of the left and right tube tubes (14L, 14R) face upward.

  According to the first aspect of the present invention, the left and right jet tubes (14L, 14R) are maintained in a horizontal posture regardless of the left / right tilt angle of the traveling aircraft and perform a desired spraying operation, and the tilt angle m of the aircraft is predetermined. When the inclination is greater than the value (α), the horizontal control is not performed, and the right and left jet tubes (14L, 14R) are fixed in a posture in which the tip ends upward, so that contact with the crop can be prevented.

  According to the second aspect of the present invention, the left and right jet tubes (14L, 14R) swing with the left and right movement of the fuselage, but the hunting phenomenon associated with the control operation hardly occurs, and the left and right jet tubes (14L, 14R) The powder and granular material is less likely to stagnate.

Embodiments of the present invention will be described below with reference to the drawings.
First, as shown in FIGS. 1 and 2, the granular spraying device 1 is mounted on the rear part of the riding management machine 2. A pair of left and right tanks 10 and 10 are mounted on the rear part of the two riding management machines which are equipped with the engine 3 at the front and transmit the front and rear wheels 4 and 5 by appropriately changing the engine speed. The granular spraying device 1 includes the tank 10, a feeding device 11, a blower 12, a first jet tube 13, a second jet tube 14, a control unit 15, and the like.

  Each of the pair of tanks 10 and 10 is provided with a feeding device 11 for feeding a predetermined amount of sprayed granule from the tank 10. The feeding device 11 has a known configuration in which a plurality of rolls 20 are formed on the roll drive shaft 21, and a plurality of feeding recesses are formed in the circumferential direction with the same capacity. The first roll 20a and the second roll 20b have a long axial length, and the third roll 20c and the fourth roll 20d have a short axial length.

  When the roll drive shaft 21 is driven forward, the first and fourth rolls 20a and 20d are driven by the interlocking action of the one-way clutches 22 and 22, so that all the first to fourth rolls 20a to 20d are driven. It is the composition which is done. Conversely, when the roll drive shaft 21 is driven in reverse, the first and fourth rolls 20a and 20d are stopped, and the second roll 20b or the third roll 20c is driven.

  On the other hand, the inside of the tank 10 is provided with a partition wall 10a having a U-shape in plan view, and a section A corresponding to the first to second rolls 20a to 20b of the feeding device 11 and a section B corresponding to the third roll 20c to the fourth roll 20d. The structure is divided into The section A is used for a general fertilizer granule, and the section B is used for a herbicide that requires a small amount of spraying. Accordingly, when the roll drive shaft 21 rotates in the forward direction, the first roll 20a to the second roll 20b rotate in conjunction with each other so that a large amount of the granule in the section A is brought out, and when reverse, only the second roll 20b in the section A is rotated. It will be in the extended state. Note that when the herbicide is introduced into the section B, the feeding amount is different in the forward and reverse directions, and in particular, only a small amount of the third roll 20c is sprayed by reverse rotation.

  The pair of left and right roll drive shafts 21 and 21 are configured to be independently driven and rotated by roll drive motors 25L and 25R provided respectively, and these motors 25L and 25R are configured to be linked to forward / reverse switching.

  Below the pair of feeding devices 11, 11, through-cylinders 30, 30 whose rear sides are extended obliquely inward with respect to the advancing direction of the machine body are looked into. The air cylinder 31 is provided with the device 12 and communicates with it. The other downstream end of each through-cylinder 30, 30, that is, the front side of the machine body is configured to communicate with the first injection tube 13.

  The blower device 12 is constituted by a blower fan 12a that is linked to the PTO shaft 32 of the passenger management machine 2 via an electromagnetic clutch 12b, and the blast air enters the through-cylinder 30 through the blower cylinder 31 and is fed out. Is transferred to the first jet tube 13 by being carried in an air stream.

  The left and right first jet tubes 13 are arranged in a space between the tank 10 and a passenger seat 33 provided on the upper part of the two passenger management machines, with a cylindrical shaft core in the plane of the aircraft in plan view. The second injection tube 14 is connected to the left and right first injection tubes 13 via a bellows tube 40 so as to be bent.

  That is, a cylindrical body 42 is provided at the distal end of the bellows tube 40, and the cylindrical body 42 is configured to be rotatable around a longitudinal support shaft 44 via an arm body 43, and projects sideways from the arm body 43 from the machine frame side. An electric telescopic cylinder 45 is interposed between the support bracket 34 and the second support tube 34. The second jet tube 14 is laterally expanded to be in a working posture by shortening the electric motor 46 by forward rotation, and is extended by reverse rotation. It is the structure which accommodates the jet tube 14 in the state along an airframe. Reference numeral 35 denotes a bracket for supporting a rotation fulcrum around the vertical axis by the electric telescopic cylinder 45.

  When the second jet tube 14 is housed in a state along the fuselage along with the reverse rotation of the electric motor 46, the second jet tube 14 in the stowed state is moved to the fuselage side by placing the pivot fulcrum at a position approaching the fuselage. Since it can be made to approach, in plane view, it can be accommodated inside the raising / lowering step 36 provided in the body side, and raising / lowering to the body at the time of accommodation is easy.

  The electric telescopic cylinder 45 and the electric motor 46 are disposed between the rear wheel 5 and the tank 10. Although the mud is splashed up during traveling, it is located inside the rear wheel 5 and can be avoided from the jumping-up location, and it is difficult to cause adverse effects due to mud adhesion to the electric telescopic cylinder 45 and the electric motor 46.

  The cylindrical body 42 is provided with a lateral support shaft 47, and the second jet tube 14 is connected via the lateral support shaft 47, and rotates around the lateral support shaft 47 in addition to the movement to the storage posture. It is the structure which can be rotated up and down by making it. That is, electric telescopic cylinders 48L and 48R are provided between the mast portions 16 and 16 standing on the left and right first jet tubes 13 and 13 and the second jet tubes 14L and 14R, respectively. On the basis of the above, the second jet tube 14 can be rotated up and down around the lateral support shaft 47 with respect to the machine and can be operated in a rolling manner.

  Further, the left or right second jet tubes 14L and 14R can be switched to the vertical posture (non-working posture) or the horizontal posture (working posture) based on the operation of the operation lever not shown at hand. The second nozzle tube 14 is formed with nozzle holes 50, 50... Having a predetermined diameter at predetermined intervals.

  Next, the control unit 15 of the granular spraying device 1 having the above configuration will be described. The control unit 15 inputs operation information of the spray switch 51, drive information of the blower fan 12a by the fan switch 52, remaining amount sensors 54 and 54 detection signals provided in the tank 10, and the like, to the roll drive motors 25L and 25R, respectively. A motor rotation output pulse signal, a motor rotation direction switching signal, etc. are output (FIG. 8).

The machine controller 15C is configured to transmit the vehicle speed data from the means for detecting the vehicle speed to the fertilizer controller 15A.
In addition, the fertilizer controller 15 </ b> A inputs information on switches disposed on the operation panel 55. A variable switch 57, a fertilizer setting switch 58, increase / decrease switches 59U and 59D, and a cumulative reset switch 60 are disposed in the vicinity of the liquid crystal display unit 56 in the operation panel 55 in the figure, and these operation switch signals are transmitted from the fertilizer controller. This is a configuration input to 15A. The display content of the liquid crystal display unit 56 can display a fertilizer application set value, specific gravity value, memory value, and cumulative value, and is output so as to be sequentially switched and displayed when the display switch 61 is turned on.

  The fertilizer controller 15A incorporates a control mode. That is, when the key switch 62 is turned on and the spraying switch 51 is turned on, the automatic mode is entered. In this automatic mode, a motor rotation output pulse (roll) is applied to each of the roll drive motors 25L and 25R that drive the roll of the feeding device 11 in accordance with the fertilizer application set value and the vehicle speed so that the fertilizer application amount per unit area is constant. Drive motor rotation signal).

  Before starting work, turn on the fertilizer setting switch 58 to display the currently set fertilizer amount (counter-attack fertilizer amount (kg)) and check whether the fertilizer amount is suitable for the work to be done. When the change is made in units of 1 kg by the switch 59U or the decrease switch 59D and the fertilizer setting switch 58 is turned on again for a predetermined time (for example, 2 seconds or more), the value A (kg) is stored.

Next, the specific gravity is set. When the display changeover switch 61 is turned on and “specific gravity” is selected, the current set value is displayed. It is confirmed whether or not the specific gravity value is suitable for the work to be performed. If the specific gravity value is different, it is changed in increments of 0.01 by the increase switch 59U or the decrease switch 59D, and the fertilization setting switch 58 is set again for a predetermined time (for example, 2 seconds or more). When turned on, the value D (g / cm ³ ) is stored.

  Thereafter, the controller is configured to perform the feeding amount control of the feeding device 11 necessary for spraying the set fertilizer amount while taking in the vehicle speed data. The feeding amount increase / decrease control is performed by controlling the number of revolutions of the feeding valve.

  Next, horizontal control of the second jet tubes 14L and 14R will be described. A tilt sensor 64 is provided at the center of the left and right sides of the fuselage to detect the left and right angle of the fuselage with respect to the ground. In the vicinity of the lateral support shafts 47 and 47, the upper and lower jet tube angles θL and θR with respect to the fuselage are detected. The tube angle sensors 65L and 65R are provided.

  Based on the detection value m by the tilt sensor 64 and the jet tube angles θL and θR by the jet tube angle sensors 65L and 65R, the control unit 15 extends and contracts the electric telescopic cylinders 48L and 48R serving as actuators. In this configuration, the jet tubes 14L and 14R are horizontally controlled while being moved up and down independently.

  Referring to FIG. 6, first, various set values are input (for example, the set fertilizer amount and specific gravity of the sprayed powder fertilizer to be sprayed. Step 101), and the fan switch 52 and the spray switch 51 are turned on (Steps 102 and 103). The aircraft is advanced (step 104). The control unit 15 controls the rotation of the left and right roll drive motors 25L and 25R based on the detected vehicle speed (Step 105) (Step 106), and controls the fertilizer fed from the tank 10 via the feeding device 11 while controlling the first jet tube. 13 and 13, and fertilizer is distributed through the second jet tubes 14L and 14R.

  In the above spraying operation, the aircraft inclination angle is detected by the inclination sensor 64 in step 107, and the absolute value | m | of the detected value m is compared with a predetermined value α (> 0) set in advance (step 108). When it is within the predetermined range, the left and right second jet tubes 14L and 14R are horizontally controlled. That is, the control unit 15 calculates the right jet tube angle θ1L = fL (m) and the left jet tube angle θ1R = fR (m) on the basis of the detection value m as a function of the detection value m. In order to make the detected values θL and θR of the sensors 65L and 65R coincide with the calculated jet tube angles θ1L and θ1R, the electric telescopic cylinders (actuators) 48L and 48R are extended and contracted (step 109).

  When the detected value m of the tilt sensor 64 is greatly tilted beyond the predetermined value α, the horizontal control is interrupted, and the jet tube angles θL and θR are fixed to β (> 0) set in advance. Accordingly, the left and right second jet tubes 14L and 14R are to extend and contract the electric telescopic cylinders (actuators) 48L and 48R so that the tip ends face upward (step 110).

  Therefore, while monitoring the left and right tilt angle of the aircraft, if the tilt angle is within the specified range, perform horizontal control taking this tilt angle into account and spread fertilizer evenly across the field regardless of the tilt of the aircraft. it can. In addition, when the tilt angle of the fuselage is increased to a predetermined level, the vertical movement of the jet tube accompanying the horizontal control of the fuselage will cause hunting, but in the above embodiment, the jet tube angle is fixed at a predetermined angle and the left and right sides of the fuselage are Regardless of the inclination, the horizontal control operation by the actuator is interrupted, so that hunting can be prevented as described above, and phenomena based on hunting, for example, contact between the crop and the tube and fertilizer stagnation in the tube can be prevented. That is, since the front end side is fixed in an upward posture, even if the aircraft fluctuates left and right, it is difficult to assume a downward posture and there is no risk of contact with the growing crop.

  If the time set in advance by the timer elapses (steps 111 and 112) or the aircraft tilt angle falls within a predetermined range (step 113), the normal state of the horizontal control at step 109 is restored without interruption. it can.

  While the turning-on operation of the spray switch 51 and the fan switch 52 is the start condition of the horizontal control of the second jet tube, the horizontal control of the series of second jet tubes is performed by turning off either the spray switch 51 or the fan switch 52. It is set as the structure which stops (steps 114 and 115).

  FIG. 7 shows a configuration including an angular velocity sensor 66 in addition to the tilt sensor 64. The angular velocity sensor 66 can detect the inclination angular velocity ω of the airframe, and when the angular velocity ω is large, it detects a state in which the lateral movement of the airframe is large. Therefore, in FIG. 7, when the angular velocity ω is equal to or greater than a predetermined value γ, the left and right jet tube angles θL and θR are set to a predetermined value δ (constant). With this configuration, the angular velocity ω of the left-right motion of the airframe is increased and hunting is caused by the horizontal control operation. As a result, the powder particles are stagnated in the jet tube, but this can be prevented.

  Whether the operation panel 55 employs control for fixing the right and left jet tube angles in addition to horizontal control for the vertical control of the second jet tubes 14L and 14R by the electric telescopic cylinders (actuators) 48L and 48R. The automatic tube switch 68 for setting the right and left, the fixed angle values β and δ of the left and right tube tubes can be arbitrarily set, and any of the left and right tube tubes 14L and 14R is targeted for angle adjustment. There is provided a jet tube selection dial 70 for setting whether to perform simultaneous operation or not.

  3 includes the first and second large rolls 20a and 20b, and the third and fourth small rolls 20c and 20d, and improves the feedability of the particulate matter in the through-cylinder 30. The improved configuration shown is shown. That is, the large rolls 20a and 20b and the small rolls 20c and 20d can be sprayed at the same time. At this time, a small amount of herbicide is filled in the partition wall 10a in the tank 10, and the tank 10 is filled with a large amount. Fill with spray fertilizer. Since the herbicide has a large specific gravity and a large amount of fertilizer consists of relatively light components, the herbicide is fed out to the front side of the air blower in the through-cylinder 30 and the fertilizer is applied to the rear side. It is configured to feed out. With this configuration, clogging can be reduced. In addition, as shown in FIG. 9, an inclined guide plate 70 is provided in the through-cylinder 30 so that the front side is inclined downward and the rear side is inclined upward (FIG. 9 (A)). If comprised in this way, this inclination guide plate 70 will receive the fertilizer which falls from the large rolls 20a and 20b of the upper drawing | feeding-out apparatus 11, will guide it to a ventilation direction, and small roll 20c which made comparatively large the fall distance. It can be mixed with the herbicide falling from the 20d side, and a good uniform spraying of the mixed state of the fertilizer and the herbicide becomes possible. If the front-rear arrangement of the herbicide and the fertilizer is reversed (FIG. 9 (b)), the herbicide may be deposited below the inclined guide plate 70, resulting in transport resistance and hindering work. It becomes. Further, by providing the inclined guide plate 70 so as to be able to rotate up and down around the upper end portion of the inclination (FIG. 9C), it is possible to obtain a good mixing state and conveying state without further blowing resistance.

  10 and 11 relate to spraying control during turning. During the straight-ahead operation, the second jet tubes 14L and 14R are horizontally controlled, but the horizontal control is interrupted when the turning operation is started, for example, immediately before reaching the end of the field. A steering angle sensor 71 for detecting the steering angle of the front wheels is provided, and when the value of the steering angle sensor exceeds a predetermined value σ, the second jet tubes 14L and 14R are fixed in a posture in which the tips are directed upward as shown in FIGS. To do. With this configuration, the jet tubes 14L and 14R can avoid the hunting operation even when traveling on a rugged uneven surface at the end of the field, and can turn while maintaining a predetermined aircraft angle. The risk of contact with crops can be reduced.

  12 and 13, the second jet tube 14R (or 14L) inside the turning is horizontally controlled based on the detection that the turning operation has been started, and the second nozzle outside the turning is controlled. The jet tube 14L (or 14R) is automatically held at a predetermined angle with the tip end facing upward (step 406). If comprised in this way, in the turning inside, the overlapping spreading | diffusion of a front-end spreading | diffusion area can be avoided, and the dispersion | distribution of the spreading amount can be decreased. Moreover, about outer side spreading | diffusion, the spreading | diffusion to the four corners of a farming field is attained.

  Further, since the roll drive motors 25L and 25R correspond to the left and right second jet tubes 14L and 14R, respectively, fine increase / decrease control of the spray amount can be performed. For this reason, the amount of ejection from the left and right second nozzles 14L and 14R during turning can be adjusted, and the roll rotation number inside the turning is set to be small and the outside is set to be large according to the turning speed and skill level. Good. In other words, the movement speed V2 (> V1) of the second jet tube 14L (or 14R) outside the turning is larger than the movement speed V1 of the second jet pipe 14R (or 14L) inside the turning even when the vehicle speed is linked. This is taken into account for correction (steps 407 and 408).

  In the above example, the detection of the turning motion is based on the detection of the steering angle sensor. However, in the case of a work vehicle having a configuration in which the front and rear wheel steering modes can be selected, for example, front wheel steering during straight traveling is performed based on the traveling mode switching control during turning. When the vehicle is in the (FWS) mode but switched to the front / rear wheel steering (4WS) mode at the time of turning, the above-mentioned turning inner horizontal control and turning outer fixed rise are accompanied by the mode switching by the operation of the 4WS mode changeover switch 72. It is good to make it control.

Top view of a passenger management machine equipped with a granular fertilizer Side view of a passenger management machine equipped with a granular fertilizer (B) Rear view of feeding device and (b) Plan sectional view Rear view of a passenger management machine equipped with a granular fertilizer Control block diagram flowchart flowchart Operation panel front view FIG. 2 is a side sectional view of a cylinder through which (a) a side sectional view of an improved configuration, (b) a side sectional view of a conventional configuration, and (c) a side sectional view of a further improved configuration. Overall plan view showing action flowchart Rear view of a passenger management machine equipped with a granular fertilizer flowchart

Explanation of symbols

DESCRIPTION OF SYMBOLS 10, 10 Tank 11, 11 Feeding device 12 Blower 13, 13 1st injection tube 14L 2nd injection tube 14R 2nd injection tube 15 Control part 20a Feeding roll 20b Feeding roll 20c Feeding roll 20d Feeding roll 30,30 Through cylinder 48L Electric telescopic cylinder (actuator)
48R Electric telescopic cylinder (actuator)
64 Inclination sensor 65L Jet tube angle sensor 65R Jet tube angle sensor 66 Angular velocity sensor

Claims (2)

A tank (10) that accommodates the granular fertilizer in the traveling machine body, a feeding device (11) that is provided in a pair of left and right and feeds the granular material of the tank (10), and an air blower that conveys the granular material by blowing (12 ), In the powder and particle material spraying device provided with the left and right nozzles (14L and 14R) for spraying the powder and granular materials, the nozzles (14L and 14R) are respectively operated by the actuators (48L and 48R) with respect to the airframe. A tilt sensor (64) that detects the tilt angle of the aircraft to the left and right, and the upper and lower jet tube angles (θL, θR) of the left and right jet tubes (14L, 14R) relative to the fuselage are provided so that the vertical angle can be changed independently. A tube angle sensor (65L, 65R) for detecting each,
Based on the detection value (m) of the tilt sensor (64), the tube angles are calculated with the left and right tube tubes (14L, 14R) in a horizontal posture, and the calculated tube tube angles (θ1L, θ1R) are used as control target values. When the left and right actuators (48L, 48R) are operated and the detection value (m) by the tilt sensor (64) exceeds a predetermined angle (α) set in advance, the jet tube angles of the left and right jet tubes (14L, 14R) A control unit (15) for operating the actuators (48L, 48R) with a constant angle (β) at which the tip side of the left and right jet tubes (14L, 14R) faces upwards as a control target value is provided. Spraying equipment. A tank (10) that accommodates the granular fertilizer in the traveling machine body, a feeding device (11) that is provided in a pair of left and right and feeds the granular material of the tank (10), and an air blower that conveys the granular material by blowing (12 ), In the powder and particle material spraying device provided with the left and right nozzles (14L and 14R) for spraying the powder and granular materials, the nozzles (14L and 14R) are respectively operated by the actuators (48L and 48R) with respect to the airframe. An inclination sensor (64) that detects the inclination angle of the aircraft to the left and right, an angular velocity sensor (66) that detects an angular velocity based on the inclination of the aircraft, and the left and right nozzles for the aircraft. (14L, 14R) are provided with a tube angle sensor (65L, 65R) for detecting the upper and lower tube angles (θL, θR), respectively, and based on the detection value (m) of the tilt sensor (64) ( 14L and 14R) are respectively calculated in the horizontal posture, and the left and right actuators (48L and 48R) are operated using the calculated tube angles (θ1L and θ1R) as control target values, and the angular velocity sensor (64). ) Exceeds a predetermined angular velocity value (γ) set in advance, the angle of the left and right jet tubes (14L, 14R) is set to a fixed angle (δ) where the tip side of the left and right jet tubes (14L, 14R) faces upward. ) As a control target value, a control unit (15) for operating the actuators (48L, 48R) is provided.

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