JP2010268712A - Spraying controller of pest control machine and method for controlling spraying - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a spraying controller of a pest control machine, by which the abnormality of various sensors used in the spraying controller can be simply ascertained at a working site. <P>SOLUTION: In this spraying controller of the pest control machine, a control means 10 has a sensor abnormality detection means 11 for detecting the abnormality of each sensor on the basis of the output of the sensors (a pressure sensor 21, a flow rate sensor 22, a vehicle speed sensor 23); and the sensor abnormality detection means 11 specifies a sensor to be detected, compares the detection value of the sensor with a target value in a state operating a spraying device 1 or a travel machine frame so that spraying conditions for detecting with the sensor become set target values, and detects the abnormality of the sensor when the difference between the detection value of the sensor and the target value is not included in a set tolerance. <P>COPYRIGHT: (C)2011,JPO&amp;INPIT

Description

  The present invention relates to a spray control device and a spray control method for a control machine.

  In a control machine that sprays chemicals on crops etc. in a field while self-propelled, the spraying amount per unit area is limited for the purpose of suppressing drift of chemicals scattered around the area and minimizing the amount of chemical spraying. A device equipped with a speed-linked spray control device that controls the spray amount in accordance with the work speed of the control machine (vehicle speed in consideration of the slip ratio) so as to achieve a set target value is known. Specifically, such a spraying control device is provided in a riding type boom sprayer or the like.

  In the following Patent Document 1, sensors that detect the vehicle speed, spraying flow rate, spraying pressure, boom length or number of operating nozzles, which are spraying conditions, are provided in the control machine and sprayed from the chemical tank based on the detection signals from each sensor. A control device that controls the flow rate of the chemical solution supplied to the nozzle is described, which enables spraying according to the target spray amount per unit area even if either the spray width or the moving speed changes.

JP 2006-230337 A

  In the conventional spraying control device, spraying control is performed so that the detection value of the spraying condition matches the target value of the spraying condition input in advance to the control device. At this time, characteristic information (discharge amount data) of the spray nozzle is input to the spray control device, and the actual spray amount calculated based on the output from the sensor for detecting the spray condition and the spray nozzle characteristic information is the target spray amount. The spray flow rate or spray pressure is controlled so that

  In such a spray control device, in order to properly control the spray amount, it is indispensable that various sensors that detect the spray condition are normal, and the set spray condition intended by the operator that the sensor output is abnormal You will not be able to work in On the other hand, the speed-linked spray control device described above includes a flow sensor, a pressure sensor, a vehicle speed sensor, an electric pressure regulating valve, and the like. However, since these components are electrical and electronic parts, it is difficult to deal with troubles on site. There is a problem.

  For example, even if one sensor fails and the spray control device does not operate normally, it is not possible to identify the sensor that has failed from the appearance of the parts. In many cases, it is uneconomical, such as replacing parts, and even if a faulty sensor can be identified, it is not known whether the faulty part is the main body of the sensor or the disconnection or poor contact of the harness or connector. Even if the sensor body is normal, there has been a problem that the entire part including the sensor body must be replaced.

  In addition, as described above, the speed-linked spray control device uses a flow sensor and a pressure sensor, but sensor constants are input to the control device (controller) for each sensor, and a pulse output from the flow sensor is output. And the voltage output from a pressure sensor is converted into a flow value and a pressure value, respectively, and the detected value is obtained. These sensors have output errors due to individual differences in sensors and changes in output characteristics due to sensor aging, but the sensor constants input to the control device are constant. The value differs for each spraying control device, and if the output error is large, an error occurs between the actually controlled spraying amount and the target spraying amount, and there is a problem that an error also occurs in the tank remaining amount display.

  This invention makes it an example of a subject to cope with such a problem. That is, it is possible to easily check the abnormality of various sensors used in the spray control device at the work site, to identify a defective sensor by a series of abnormality confirmations, and to identify a defective sensor It is an object of the present invention to be able to confirm whether the sensor main body is defective or its peripheral components, and the sensor output error can be easily corrected at the work site.

  In order to achieve such an object, a spray control device and a spray control method for a control machine according to the present invention include at least the configurations according to the following independent claims.

  [Claim 1] A spraying control device for a control machine equipped with a spraying device having a plurality of spraying nozzles on a traveling machine body, spraying so that a detection value of a sensor for detecting spraying conditions becomes a set target value. Control means for controlling the amount, the control means comprises sensor abnormality detection means for detecting abnormality of the sensor based on the output of the sensor, and the sensor abnormality detection means specifies a sensor for detecting abnormality. The detection value of the sensor is compared with the target value in a state where the spraying device or the traveling machine body is operated so that the spraying condition detected by the sensor becomes a set target value. And a control value of the control device for detecting an abnormality of the sensor when the difference between the target value and the target value is outside a set allowable range.

  [Claim 7] A spraying amount control method for a control machine equipped with a spraying device having a plurality of spraying nozzles on a traveling machine body, so that a detection value of a sensor for detecting spraying conditions becomes a set target value. When controlling the spray amount, as a preparatory step, it has a sensor abnormality detection step for detecting abnormality of the sensor based on the output of the sensor, the sensor abnormality detection step specifies a sensor for detecting abnormality, In a state where the spraying device or the traveling machine body is operated so that the spraying condition detected by the sensor becomes a set target value, the detected value of the sensor is compared with the target value, and the detected value of the sensor A spray control method for a control machine, wherein an abnormality of the sensor is detected when a difference from the target value is outside a set allowable range.

It is explanatory drawing which showed the structure of the spraying control apparatus of the control machine which concerns on one Embodiment of this invention. It is explanatory drawing which showed the more specific structural example in the spraying control apparatus of the control machine which concerns on one Embodiment of this invention. It is explanatory drawing which showed the operation example of the sensor abnormality detection means for confirming the operation | movement of a pressure sensor. It is explanatory drawing explaining the abnormal cause item display means (display of an abnormal cause item confirmation screen) regarding a pressure sensor. It is explanatory drawing which showed the operation example of the sensor abnormality detection means for performing operation | movement confirmation of a flow sensor. It is explanatory drawing explaining the abnormal cause item display means (display of an abnormal cause item confirmation screen) regarding a flow sensor. It is explanatory drawing which showed the operation example of the sensor abnormality detection means for confirming operation | movement of an electric pressure regulating valve. It is explanatory drawing explaining the abnormal cause item display means (display of an abnormal cause item confirmation screen) regarding an electric pressure regulation valve. It is explanatory drawing which showed the operation example of the sensor abnormality detection means for confirming operation | movement of a vehicle speed sensor. It is explanatory drawing explaining the abnormality cause item display means (display of an abnormality cause item confirmation screen) regarding a vehicle speed sensor. It is explanatory drawing which showed the operation example of the pressure sensor output correction | amendment means.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings. FIG. 1 is an explanatory diagram showing the configuration of a spray control device for a control machine according to an embodiment of the present invention. A spraying amount control device for a control machine according to an embodiment of the present invention is a spray control device for a control machine equipped with a spraying device having a plurality of spraying nozzles on a traveling machine body, and a detection value of spraying conditions is set. A control means 10 is provided for controlling the spray amount so that the target value is obtained.

  The control means 10 receives a detection signal from a spray condition detection sensor 20 (a pressure sensor 21, a flow sensor 22, a vehicle speed sensor 23, etc.) provided in the control machine, and is preset with a detection signal related to the spray condition. The actual spray amount is obtained from the characteristic information of the spray nozzle, and a control signal for spray amount control is output so that the actual spray amount becomes the set target spray amount.

  The control unit 10 includes a sensor abnormality detection unit 11 that detects an abnormality of the spray condition detection sensor 20 based on the output of the spray condition detection sensor 20. The sensor abnormality detection unit 11 specifies a sensor (for example, any one of the pressure sensor 21, the flow sensor 22, and the vehicle speed sensor 23) that detects abnormality from the spray condition detection sensor 20, and the spray condition detected by the sensor is specified. The sensor detection value is compared with the target value while the spraying device or the traveling machine is operated so that the target value is set, and the difference between the sensor detection value and the target value is outside the set allowable range. In this case, an abnormality of the sensor is detected.

  In addition, when the sensor abnormality detection unit 11 detects an abnormality, the control unit 10 displays an abnormality cause item related to the sensor in which the abnormality is detected, and an abnormality cause item display unit 12 that prompts an operation check for each abnormality cause item. Is provided as necessary.

  Further, the control means 10 includes a pressure sensor output correction means 13 that corrects the output of the pressure sensor 21 when the sensor abnormality detection means 11 does not detect any abnormality, and the pressure sensor output correction means 13 includes a plurality of reference values. The spraying device is operated with pressure, the output of the pressure sensor 21 at each reference pressure is acquired, and the relationship between the detected value of the pressure sensor 21 and the output is corrected by the relational expression between the reference pressure and the acquired output.

  Further, the control means 10 includes a flow sensor output correction means 14 that corrects the output of the flow sensor 22 when the sensor abnormality detection means 11 does not detect any abnormality, and the flow sensor output correction means 14 includes a plurality of reference values. The spraying device is operated at the flow rate, the output of the flow sensor 22 at each reference flow rate is acquired, and the relationship between the detected value of the flow rate sensor 22 and the output is corrected by the relational expression between the reference flow rate and the acquired output.

  The above-described target value used for the spraying control is set and inputted by an input signal from the display input device (liquid crystal display input device) 30. The control means 10 is a display input means 15 for controlling the display input device 30. It has. An example of the display input device 30 will be described with reference to the drawings. The display input device 30 includes a liquid crystal display screen 31 and various input buttons 32 (power button 32A, menu button 32B, determination button 32C, switching buttons 32D, 32E, 32F, and 32G). Etc.

  According to the spray control device having such characteristics or the spray control method using the spray control device, various sensors (pressure sensors) used in the spray control device by the function of the sensor abnormality detection means 11 (sensor abnormality detection step). 21, flow rate sensor 22, vehicle speed sensor 23, etc.) can be easily confirmed at the work site. In addition, a defective sensor can be identified by a series of abnormality confirmations. When a faulty sensor is specified, it is possible to check whether the fault is in the sensor main body or in the surrounding parts by the function of the abnormality cause item display means 12. Further, the output error of the sensor can be easily corrected at the work site by the pressure sensor output correcting means 13 and the flow sensor output correcting means 14.

  FIG. 2 is an explanatory view showing a more specific configuration example of the spray control device of the control machine according to the embodiment of the present invention. Here, an example is shown in which the vehicle speed, the spray flow rate, and the spray pressure are detected as the spray conditions, and the electric pressure control valve is controlled based on these detected values.

  The control machine includes a traveling body (not shown) (including a self-propelled traveling body, a tractor, and the like), a tank 40 for storing sprayed medicine, a pump 41 for pumping the medicine, and an electric pressure regulating valve 43 for adjusting a supply flow rate. A spraying device 1 including a spraying pipe (supply hose) 51 to which a plurality of spraying nozzles 50 arranged at predetermined intervals are connected, a boom 42 (42A, 42B) provided with the same, and the like is provided. The apparatus 1 includes a piping path 53 (53 </ b> A to 53 </ b> D) that is diverted from the tank 40 through the pump 41 to the plurality of spray pipes 51 by the flow divider 52.

  A pressure sensor 21 and a flow rate sensor 22 are arranged in the piping path 53 (53B), a vehicle speed sensor 23 is arranged on the axle of the traveling machine body (not shown), and an output signal from each sensor is sent to the control means 10 described above. When input, the control means 10 controls the rotation of the adjustment motor 43A of the electric pressure regulating valve 43. The pressure sensor 21 detects the pressure in the pipe in the pipe path 53 upstream from the flow divider 52 and downstream from the pump 41. At this time, the characteristic information of the spray nozzle 50 is set and inputted to the control means 10 in advance, and the actual spray amount is obtained from the output signal from each sensor and the characteristic information of the spray nozzle 50, which matches the target spray amount. As described above, the rotation of the adjustment motor 43A of the electric pressure regulating valve 43 is controlled.

  The control means 10 obtains a detection value of each sensor by multiplying an output signal from each sensor by a sensor coefficient. The output signal (for example, output voltage) of the pressure sensor 21 is multiplied by the pressure sensor coefficient to obtain a detected pressure value, and the output signal (for example, output pulse) of the flow sensor 22 is multiplied by the flow rate sensor coefficient to obtain the detected flow rate value. The output signal (for example, output pulse) of the vehicle speed sensor 23 is multiplied by a vehicle speed sensor coefficient to obtain a detected vehicle speed value.

  An example of the function of the sensor abnormality detection unit 11 (sensor abnormality detection step) and the abnormality cause item display unit 12 will be described in more detail. Here, the abnormality detection target of the sensor abnormality detection means 11 is a pressure sensor 21, a flow sensor 22, a vehicle speed sensor 23, and an electric pressure regulating valve 43. The sensor abnormality detection means 11 performs water spraying (test spraying) for operating the spraying device 1 with respect to the pressure sensor 21, the flow rate sensor 22, and the electric pressure regulating valve 43 provided in the spraying device 1, and there is an abnormality in the output of each sensor. It is detected whether or not the vehicle speed sensor 23 provided on the traveling machine body is traveling (test traveling) of the traveling machine body that does not operate the spraying device to detect whether or not there is an abnormality in the output of the vehicle speed sensor 23. .

  FIG. 3 is an explanatory view showing an operation example (execution example of the sensor abnormality detection step) of the sensor abnormality detection means 11 for confirming the operation of the pressure sensor 21. This step is performed as a preparatory step when controlling the spray amount. When “Pressure sensor” is selected (■ is selected, □ is not selected) in the menu screen (“sensor check”) as shown in FIG. A pressure sensor operation confirmation screen starting from the diagram (b) is displayed (when the switch button 32D is pressed on this input screen, the original menu screen can be restored). In this example, the “nozzle selection” display input is performed in FIG. 5B, and the nozzles are selected by pressing the switching buttons 32G and 32F. In the figure, “nozzle 1” is selected. The control means 10 sets a pressure-flow rate characteristic curve corresponding to the selected nozzle by selecting the nozzle, and sets a target flow rate value corresponding to the pressure-flow rate characteristic curve for the set target pressure value. The

  In FIG. 5C, display input of spraying conditions in water spraying (test spraying) is performed. In the illustrated example, “nozzle 1”, “spreading width 15.6 m”, and “spraying pressure 1.5 MPa” are displayed and input. When the switching button 32E is pressed here, a pressure adjustment screen is displayed ((d) in the same figure). When the determination button 32C is further pressed, the test spraying is performed with the nozzle 1, the spraying width of 15.6 m, and the target spraying pressure of 1.5 MPa. This is executed, and the output voltage of the pressure sensor 21 is acquired while the test spraying is being executed, and abnormality detection processing is performed (the original screen can be restored by pressing the switch button 32D in (b) to (d) of the same figure). ).

  As an example of the abnormality detection process, after “Determine” is pressed, the output voltage from the pressure sensor 21 is read every set time (for example, 1 second). The number of readings is set to a plurality of times (for example, 5 times), an average value of the read output voltages is obtained, and an average detection value (detection value) obtained by multiplying the average value by a pressure sensor coefficient is compared with a target spray pressure (target value). . If the difference E between the average detection value and the target spraying pressure is within the set allowable range (for example, E = ± 0.1 MPa), the abnormality detection processing result is normal (“result normal”), and is outside the allowable range. If the error detection processing result is abnormal ("result abnormal"). If the result is normal, a normal confirmation screen (“pressure sensor normal”) as shown in FIG. 5F is displayed, and when the switch button 32E is pressed, the menu screen returns to the menu screen (FIG. 5A).

  When the result is abnormal, the function of the abnormality cause item display means 12 is executed to display an abnormality cause item confirmation screen related to the pressure sensor 21 as shown in FIG. In the example shown in the figure, there is an abnormality display (“There is a pressure sensor abnormality”) in the same figure (a), and in the same figure (b), as a first check point (“Check 1”), the harness break (“1 harness breakage”) )) And connector contact failure (“2 Connector contact failure”), and sensor / strainer clogging (“3 Sensor / strainer clogging”) as the second check point (“Check 2”) in FIG. )), And as a third check point (“Check 3”) in the same figure (d), clogged nozzles / pipes (“4 clogged nozzles / pipes”) and air contamination (“5 Air contamination”) )) Confirmation: If there is no improvement after confirming the operation for each cause item, it is assumed that the pressure sensor body has failed. Perform please contact ") to (FIG. (E)). To move to the next screen, the switch button 32E is pressed, and to switch to the previous screen, the switch button 32D is pressed. When the switch button 32E is pressed in FIG. 4E, the menu screen (FIG. 3A) is restored.

  FIG. 5 is an explanatory view showing an operation example (operation example of the sensor abnormality detection step) of the sensor abnormality detection means 11 for confirming the operation of the flow sensor 22. This step is performed as a preparatory step when controlling the spray amount. This is the same as selecting the “flow sensor” on the menu screen (“sensor check”) as shown in FIG. 6A (“■” is selected, “□” is not selected) and pressing the enter button 32C or the switch button 32E. A screen for confirming the operation of the flow rate sensor 22 starting from the figure (b) is displayed (the original menu screen can be restored by pressing the switch button 32D on this input screen). In this example, the “nozzle selection” display input is performed in FIG. 5B, and the nozzles are selected by pressing the switching buttons 32G and 32F. In the figure, “nozzle 1” is selected.

  In FIG. 5C, display input of spraying conditions in water spraying (test spraying) is performed. In the illustrated example, “nozzle 1”, “spreading width 15.6 m”, and “spraying pressure 1.5 MPa” are displayed and input. When the switching button 32E is pressed here, a pressure adjustment screen is displayed ((d) in the same figure). When the determination button 32C is further pressed, the test spraying is performed with the nozzle 1, the spraying width of 15.6 m, and the target spraying pressure of 1.5 MPa. When the test spraying is executed, the output (output pulse) of the flow sensor 22 is acquired and the abnormality detection process is performed (when the switching button 32D is pressed in FIGS. 5B to 5D, the original screen is restored). be able to).

  As an example of the abnormality detection process, after “decision” is pressed, the output (output pulse) from the flow sensor 22 is read every set time (for example, 1 second). The number of readings is set to a plurality of times (for example, 5 times), an average value of outputs (output pulses) read a plurality of times is obtained, an average detection value (detection value) obtained by multiplying the average value by a flow rate sensor coefficient, and a target spray flow rate (target) Value). Here, the target spray flow rate is a value derived from a pressure-flow rate characteristic curve when the nozzle 1 is selected at a target spray pressure of 1.5 MPa. If the difference E between the average detection value and the target spray flow rate is within the set allowable range (for example, E = ± 10%), the abnormality detection processing result is normal (“result normal”), and if it is outside the allowable range The abnormality detection processing result is regarded as abnormal ("result abnormal"). If the result is normal, a normal confirmation screen (“flow sensor normal”) as shown in FIG. 5F is displayed, and when the switch button 32E is pressed, the menu screen returns to the menu screen (FIG. 5A).

  When the result is abnormal, the function of the abnormality cause item display means 12 is executed to display an abnormality cause item confirmation screen related to the flow sensor 22 as shown in FIG. In the example shown in the figure, an abnormal display (“There is a flow sensor error”) is shown in (a), and the first check point (“Check 1”) is shown in FIG. )) And connector contact failure ("2 Connector contact failure"), and the sensor is dirty ("3 Sensor dirty") as the second check point ("Check 2") in FIG. In the same figure (d), as a third check point (“Check 3”), clogged nozzles / pipes (“4 clogged nozzles / pipes”) and air contamination (“5 air contamination”) If there is no improvement after confirming the operation of each cause item, it is considered that the flow sensor body is broken, so an indication to contact the dealer ("If the problem does not improve, contact the dealer. ") Is performed (Fig. (E)). To move to the next screen, the switch button 32E is pressed, and to switch to the previous screen, the switch button 32D is pressed. When the switch button 32E is pressed in FIG. 5E, the menu screen (FIG. 5A) is restored.

  FIG. 7 is an explanatory view showing an operation example (execution example of the sensor abnormality detection step) of the sensor abnormality detection means 11 for confirming the operation of the electric pressure regulating valve 43. This step is performed as a preparatory step when controlling the spray amount. When the “regulating valve” is selected on the menu screen (“sensor check”) as shown in FIG. 6A and the determination button 32C or the switching button 32E is pressed, the voltage adjustment valve 43 as shown in FIG. Is displayed (by pressing the switch button 32D on this input screen, the original menu screen can be restored). In this example, the “nozzle selection” display input is performed in FIG. 5B, and the nozzles are selected by pressing the switching buttons 32G and 32F. In the figure, “nozzle 1” is selected.

In FIG. 5C, display input of the first spraying condition in water spraying (test spraying) is performed. In the illustrated example, “nozzle 1”, “spreading width 15.6 m”, and “spraying pressure 1.0 MPa” are displayed and input. When the switching button 32E is pressed here, a pressure adjustment screen is displayed ((d) in the figure). When the determination button 32C is further pressed, the test spraying is performed with the nozzle 1, the spraying width of 15.6 m, and the target spraying pressure of 1.0 MPa. Executed. In this first spraying condition, the minimum value P _min = 1.0 MPa of the pressure adjustment range of the nozzle 1 is set as the target spraying pressure.

Next, in the same figure (e), the display input of the 2nd spraying condition is performed, performing the test spraying on the 1st spraying condition. In the illustrated example, “nozzle 1”, “spreading width 15.6 m”, and “spraying pressure 2.0 MPa” are displayed and input. In this second spraying condition, the maximum value P _max = 2.0 MPa of the pressure adjustment range of the nozzle 1 is set as the target spraying pressure. When the switching button 32E is pressed here, a pressure adjustment screen is displayed (FIG. (F)), and when the determination button 32C is further pressed, the test spraying condition is switched from the first spraying condition to the second spraying condition. . The operation of the electric regulating valve 43 is checked based on whether or not the spraying condition switching operation is normally performed ((g) in the figure). For example, from the pressure change amount ΔP and the time ΔS required for the pressure change, ΔP / ΔS = 0.1 is an ideal value, and from the error E therewith, for example, the case where E = ± 20% is normal (“result “Normal”), and out of the range is abnormal (“result abnormal”). If the result is normal, a normal confirmation screen (“normal pressure regulating valve”) as shown in FIG. 11H is displayed, and when the switch button 32E is pressed, the menu screen returns to the menu screen (FIG. 11A).

  When the result is abnormal, the function of the abnormality cause item display means 12 is executed to display an abnormality cause item confirmation screen related to the electric pressure regulating valve 43 as shown in FIG. In the example shown in the figure, an abnormal display (“There is an abnormality in the pressure regulating valve operation”) in FIG. 10A, and a harness disconnection (“1” as the first check point (“Check 1”) in FIG. Harness disconnection ”) and connector contact failure (“ 2 Connector contact failure ”) are promoted. If it does not improve after confirming the operation of each cause item, it is considered that the electric pressure regulating valve 43 has failed, so a message is displayed to inform the dealer ("Please contact the dealer if there is no improvement"). (C) in the figure. To move to the next screen, the switch button 32E is pressed, and to switch to the previous screen, the switch button 32D is pressed. When the switch button 32E is pressed in FIG. 8E, the menu screen (FIG. 7A) is restored.

  FIG. 9 is an explanatory view showing an operation example (execution example of the sensor abnormality detection step) of the sensor abnormality detection means 11 for confirming the operation of the vehicle speed sensor 23. This step is performed as a preparatory step when controlling the spray amount. When the “vehicle speed sensor” is selected on the menu screen (“sensor check”) as shown in FIG. 6A and the determination button 32C or the switch button 32E is pressed, the operation of the vehicle speed sensor starts in FIG. A confirmation screen is displayed (when the switch button 32D is pressed on this input screen, the original menu screen can be restored). In this example, a display input of “vehicle speed setting” is performed in FIG. 5B, and after setting the vehicle speed, the switching buttons 32G and 32F are pressed to cause the traveling machine body to travel at the set vehicle speed. When the determination button is pressed while driving at a constant speed ((c) in the figure), the output of the vehicle speed sensor 23 is read ((d) in the figure). Reading of the output (output pulse) of the vehicle speed sensor 23 is performed, for example, a plurality of times (for example, 5 times) every set time (for example, 1 second) after the determination button is pressed. If the error E is within ± 10%, the result is normal (“result normal”), and the case outside the range is regarded as abnormal (“result abnormal”). If the result is normal, a normality confirmation screen (“vehicle speed sensor normal”) as shown in FIG. 5E is displayed, and when the switching button 32E is pressed, the menu screen returns to the menu screen (FIG. 5A).

  When the result is abnormal, the function of the abnormality cause item display means 12 is executed to display an abnormality cause item confirmation screen related to the vehicle speed sensor 23 as shown in FIG. In the example shown in the figure, an abnormal display (“There is a vehicle speed sensor error”) is shown in (a), and the first check point (“Check 1”) is shown in FIG. )) And connector contact failure (“2 connector contact failure”) is confirmed, and the sensor check state (“3 sensor attachment state”) is confirmed as the second check point (“Check 2”) in FIG. The third check point (“Check 3”) in FIG. 4D is prompted to confirm the distance between the sensor and the component (“4, the appropriate distance between the sensor and the component is 5 to 10 mm”). If the problem does not improve after confirming the operation of each cause item, it is considered that the vehicle speed sensor is malfunctioning, so a message is displayed to inform the dealer ("If not improved, please contact the dealer"). (E)). To move to the next screen, the switch button 32E is pressed, and to switch to the previous screen, the switch button 32D is pressed. When the switching button 32E is pressed in FIG. 9E, the menu screen (FIG. 9A) is restored.

  When the abnormality detection by the sensor abnormality detection unit 11 is not performed on the pressure sensor 21 and the flow rate sensor 22 (when the result is normal), the pressure sensor output correction unit 13 and the flow sensor output correction unit 14 are executed, Perform sensor output correction. The control means 10 reads the output (output voltage or output pulse) from the pressure sensor 21 and the flow sensor 23 and converts it into a pressure detection value or a flow detection value. In the relationship, there are cases where the output characteristics change due to individual differences or aging, and the control means 10 may not be able to obtain an accurate detection value from the sensor output. The pressure sensor output correction means 13 and the flow sensor output correction means 14 update the relational expression between the sensor output and the detection value by executing test spraying in a plurality of operation states.

  FIG. 11 is an explanatory view showing an operation example of the pressure sensor output correcting means 13. When “Pressure sensor” is selected (■ is selected, □ is not selected) in the menu screen (“sensor output correction”) as shown in FIG. The pressure sensor output correction screen as shown in FIG. 5B is displayed (the original menu screen can be restored by pressing the switch button 32D on this input screen). In this example, the “nozzle selection” display input is performed in FIG. 5B, and the nozzles are selected by pressing the switching buttons 32G and 32F. In the figure, “nozzle 1” is selected.

  In FIG. 5C, display input of the first spraying condition in water spraying (test spraying) is performed. In the illustrated example, “nozzle 1”, “spreading width” 15.6 m, and “minimum spraying pressure” 1.0 MPa are displayed and input. When the switching button 32E is pressed here, the pressure adjustment screen is displayed (FIG. 4D). When the determination button 32C is further pressed, the test spraying is executed with the nozzle 1, the spraying width of 15.6 m, and the reference pressure of 1.0 MPa. Then, the output voltage of the pressure sensor 21 at the time of executing the test spraying is read ((e) in the figure), and the abnormality detection process is performed (when the switching button 32D is pressed in the same figure (b) to (d), the original screen is displayed. ) The abnormality detection process is as described above, and when the abnormality detection process result is abnormal ("result abnormality"), the function of the abnormality cause item display means 12 is executed, and the pressure sensor 21 as shown in FIG. Display the error cause item confirmation screen.

  When the abnormality detection processing result is normal (“result normal”), the output of the pressure sensor 21 read by the test spraying at the reference pressure of 1.0 Pa is temporarily stored, and the same process is performed under the second spraying condition. The test spraying is performed ((f) to (h) in the figure). Here, the reference pressure is set to “intermediate spraying pressure” of 1.5 MPa. Also here, the output voltage of the pressure sensor 21 is read ((h) in the figure), and abnormality detection processing is performed (the original screen can be restored by pressing the switch button 32D in (g) in the same figure). The abnormality detection process is as described above, and when the abnormality detection process result is abnormal ("result abnormality"), the function of the abnormality cause item display means 12 is executed, and the pressure sensor 21 as shown in FIG. Display the error cause item confirmation screen.

  When the abnormality detection processing result is normal (“result normal”), the output of the pressure sensor 21 read by the test spraying at the reference pressure of 1.5 Pa is temporarily stored and the third process is performed in the same process under the third spraying condition. (I) to (k) in FIG. Here, the reference pressure is set to “maximum spraying pressure” of 2.0 MPa. Also here, the output voltage of the pressure sensor 21 is read ((k) in the figure), and abnormality detection processing is performed (the original screen can be restored by pressing the switch button 32D in (j) in the figure). The abnormality detection processing is as described above, and when the abnormality detection processing result is abnormal (“result abnormality”), the function of the abnormality cause item display means 12 is executed, and the pressure sensor 21 as shown in FIG. Display the error cause item confirmation screen.

  When the abnormality detection processing result is normal (“result normal”), the sensor output read by the test spray with the reference pressure of 1.0 MPa and the test spray of the reference pressure of 1.5 MPa that have been stored so far are read. A relational expression of (reference pressure, sensor output) is made from the sensor pressure, and the sensor output read by the test spraying of the reference pressure of 2.0 MPa, and the pressure sensor coefficient PC is calculated from the relational expression ((l) in the figure). .

  The operation example of the flow sensor output correction unit 14 is performed in the same manner as the operation example of the pressure sensor output correction unit 13. In this case as well, test spraying is performed in three stages of the minimum reference pressure (1.0 MPa), the intermediate reference pressure (1.5 MPa), and the maximum reference pressure (2.0 MPa). An abnormality detection process is performed, and a relational expression between the output (output pulse) of the flow rate sensor 22 read at each stage and the reference flow rate at each stage is created, and the flow sensor coefficient PC is calculated from this relational expression. Here, the reference flow rate is a value derived from each reference pressure by the pressure-flow rate characteristic curve for each nozzle selected by the control means 10.

  The cause of the spray control device or spray control method of the control machine according to the embodiment of the present invention is when the desired spray amount control cannot be performed by the function of the sensor abnormality detection means 11 (sensor abnormality detection step) in the control means 10. Can be confirmed to be associated with an abnormality in the pressure sensor 21, the flow sensor 22, the vehicle speed sensor 23, and the electric pressure regulating valve 43. Further, since the sensor abnormality detection means 11 can individually detect the abnormality of the pressure sensor 21, the flow sensor 22, the vehicle speed sensor 23, and the electric pressure regulating valve 43, the cause of the problem that the desired spray amount control cannot be executed is the sensor abnormality. It is possible to grasp whether it is due to this, and to deal with it promptly.

  Furthermore, in the spray control device or spray control method for the control machine according to the embodiment of the present invention, an abnormality of each sensor is detected by the function of the abnormality cause item display means 12 (the abnormality cause item display process) in the control means 10. In this case, the cause of abnormality is displayed for each sensor in order and the confirmation of the operation for each abnormality cause is promoted, so whether the cause of the abnormality is a minor cause such as disconnection or contact failure of the harness or connector. Therefore, it is possible to appropriately and economically cope with sensor abnormalities.

  Further, the spray control device or spray control method for the control machine according to the embodiment of the present invention includes the pressure sensor output correction means 13 (pressure sensor output correction process) and the flow sensor output correction means 14 (pressure sensor output correction) in the control means 10. Process), it is possible to correct the output error of the pressure sensor 21 or the flow rate sensor 22 without using a dedicated tool or measuring instrument before work. Even when the output characteristic gradually changes due to the above, accurate spray amount control can be performed.

  Further, the sensor abnormality detection means 11 (sensor abnormality detection process), the pressure sensor output correction means 13 (pressure sensor output correction process) and the flow sensor output correction means 14 (pressure sensor output correction process) are subjected to water spraying (test spraying) on site. ) Can be easily performed according to the instructions displayed on the display device, making it possible to easily detect sensor abnormalities and correct sensor output on-site without having to view the manual, enabling quick troubleshooting. Become.

  As described above, the embodiments of the present invention have been described in detail with reference to the drawings. However, the specific configuration is not limited to these embodiments, and the design can be changed without departing from the scope of the present invention. Is included in the present invention. In addition, the above-described embodiments can be combined by utilizing each other's technology as long as there is no particular contradiction or problem in the purpose and configuration.

1: spraying device,
10: control means, 11: sensor abnormality detection means, 12: abnormality cause item display means,
13: Pressure sensor output correction means, 14: Flow sensor output correction means,
15: Display input means,
20: Spraying condition detection sensor, 21: Pressure sensor, 22: Flow rate sensor, 23: Vehicle speed sensor,
30: Display input device (liquid crystal display input device), 31: Liquid crystal display screen,
32: Input button, 32A: Power button, 32B: Menu button, 32C: Enter button, 32D to 32G: Switch button,
40: Tank, 41: Pump, 42 (42A, 42B): Boom,
43: Electric pressure regulating valve, 43A: Adjustment motor,
50: Nozzle, 51: Spreading pipe, 52: Current divider, 53 (53A to 53D): Piping path

Claims (9)

A spray control device for a control machine equipped with a spray device (1) having a plurality of spray nozzles on a traveling machine body,
Control means (10) for controlling the amount of spraying so that the detection value of the sensor for detecting the spraying condition becomes a set target value,
The control means (10) includes sensor abnormality detection means (11) for detecting abnormality of the sensor based on the output of the sensor,
The sensor abnormality detection means (11) specifies a sensor for detecting an abnormality, and operates the spraying device or the traveling machine body so that the spraying condition detected by the sensor becomes a set target value. A control device that compares a detection value of the sensor with the target value and detects an abnormality of the sensor when a difference between the detection value of the sensor and the target value is outside a set allowable range. Spraying control device.   The sensor for detecting the abnormality is any one of a flow rate sensor (22) and a pressure sensor (21) provided in the spraying device, and a vehicle speed sensor (23) provided in the traveling machine body. A spray control device for the control machine according to 1.   The sensor abnormality detection means (11) reads the output of the sensor a plurality of times, obtains an average value of the read outputs a plurality of times, and compares the average detection value obtained from the average value with the target value. The spray control device of the control machine according to claim 1 or 2, characterized by the above-mentioned.   When the sensor abnormality detection means (11) detects an abnormality, the control means (10) displays an abnormality cause item related to the sensor in which the abnormality is detected and prompts an operation confirmation for each abnormality cause item. The spray control device for a control machine according to any one of claims 1 to 3, further comprising item display means (12). A pressure sensor output correcting means (13) for correcting the output of the pressure sensor when the sensor abnormality detecting means (11) does not detect an abnormality;
The pressure sensor output correction means (13) operates the spraying device (1) at a plurality of reference pressures, acquires the output of the pressure sensor (21) at each reference pressure, and acquires the reference pressure and the acquired output The spray control device for a control machine according to claim 2, wherein the relation between the detected value of the pressure sensor (21) and the output is corrected by the relational expression. A flow sensor output correcting means (14) for correcting the output of the flow sensor (22) when the sensor abnormality detecting means (11) detects no abnormality;
The flow rate sensor output correction means (14) operates the spraying device at a plurality of reference flow rates, acquires the output of the flow rate sensor (22) at each reference flow rate, and a relational expression between the reference flow rate and the acquired output The spray control device for a control machine according to claim 5, wherein the relationship between the detected value of the flow sensor (22) and the output is corrected by the control. A spraying amount control method for a control machine equipped with a spraying device having a plurality of spraying nozzles on a traveling machine body,
When controlling the spraying amount so that the detection value of the sensor for detecting the spraying condition becomes a set target value, a sensor abnormality detection step of detecting abnormality of the sensor based on the output of the sensor is performed as a preparatory step. Have
The sensor abnormality detection step specifies a sensor for detecting an abnormality, and operates the spraying device or the traveling machine body so that the spraying condition detected by the sensor becomes a set target value. A control method for controlling a control machine, wherein a detection value is compared with the target value, and an abnormality of the sensor is detected when a difference between the detection value of the sensor and the target value is outside a set allowable range. . A pressure sensor output correction step of correcting the output of the pressure sensor when no abnormality is detected in the sensor abnormality detection step;
The pressure sensor output correction step operates the spraying device at a plurality of reference pressures, acquires the output of the pressure sensor at each reference pressure, and detects the pressure sensor according to a relational expression between the reference pressure and the acquired output. The spray control method for the control machine according to claim 7, wherein the relationship between the value and the output is corrected. A flow sensor output correction process for correcting the output of the flow sensor when the sensor abnormality detection process detects no abnormality;
The flow sensor output correction step operates the spraying device at a plurality of reference flow rates, acquires the output of the flow sensor at each reference flow rate, and detects the flow sensor according to a relational expression between the reference flow rate and the acquired output. The spray control method for a control machine according to claim 8, wherein the relationship between the value and the output is corrected.

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