JP2011239755A - Control working vehicle for chemical sprays - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a control working vehicle for spraying chemicals, which can stably obtain spraying speed with high degree of accuracy in order to perform proper chemical spraying by spraying of a prescribed amount of chemicals per unit area.SOLUTION: The control working vehicle for chemical spray includes: a front wheel 3 and a rear wheel 4 which support the machine body to be travelable in the farm; and a vehicle speed interlocking spraying apparatus D which performs chemical spray of the chemical amount of a prescribed amount per unit area by a control part C which control the spray amount by the spraying vehicle speed as an interlocking standard. The control working vehicle for chemical spray also includes: a driving sensor S1 which detects driving operation of the front wheel 3 and rear wheel 4; a GPS sensor S2 which detects a machine body position by receiving GPS radio wave; and a storing part C1 which controls the spraying amount of the vehicle speed interlocking spraying apparatus D by moving speed of the machine body obtained by the GPS sensor S2 as the spraying vehicle speed, and obtainably holds the slip ratios of the front wheel 3 and the rear wheel 4 computed from the difference between the driving speed of the machine body obtained by the driving sensor S1 and the above moving speed.

Description

  The present invention relates to a medicine spraying management work vehicle in which a vehicle speed interlocking spraying device is mounted on a four-wheel drive traveling machine stand capable of traveling on a field.

  As described in Patent Document 1 and Patent Document 2, there is known a medicine spraying management work vehicle in which a vehicle speed interlocking spraying device is mounted on a four-wheel drive traveling machine stand capable of traveling on a field. This management work vehicle performs a traveling speed interlocking control using a correction speed based on the driving speed of the airframe obtained by detecting a driving system driving operation of a four-wheel-drive traveling machine base as a sprinkling vehicle speed. It is possible to travel with a fixed amount of chemical solution. Moreover, it can be applied to a wide range of spraying conditions by setting a correction speed obtained from a generally known slip ratio to a spraying vehicle speed.

JP 2002-18334 A JP 2003-265089 A

  However, the slip rate during field running in drug spraying work varies depending on the field conditions and other factors, which may lead to excessive or insufficient sprayed drug concentration, and excessive spraying to avoid underspraying. As a result, there has been a problem that the drug cost and the environmental load increase.

  An object of the present invention is to provide a medicine spraying management work vehicle capable of stably and accurately acquiring the vehicle speed during spraying for proper medicine spraying with a predetermined amount of chemical solution per unit area. There is.

  The invention according to claim 1 is a vehicle speed at which a medicine is sprayed at a predetermined amount of chemical liquid per unit area by a front wheel and a rear wheel that support the vehicle body so that the vehicle can run on a field, and a control unit that controls the amount of spraying based on the speed of spraying vehicle as a linkage reference. In a medicine spraying management work vehicle equipped with an interlocking spraying device, a driving sensor for detecting the driving operation of the front wheels and the rear wheels and a GPS sensor for receiving a GPS radio wave to detect a body position are provided. The spray speed of the vehicle speed interlocking device is controlled using the moving speed of the airframe as the spraying vehicle speed, and the slip ratio of the front and rear wheels calculated from the difference from the above moving speed is obtained for the driving speed of the airframe obtained by the drive sensor. It is characterized by having a storage unit that holds it as possible.

  The GPS sensor obtains the moving speed of the aircraft, and the vehicle speed-linked spraying device performs a spraying operation with a predetermined amount of chemical solution per unit area using the moving speed as the spraying vehicle speed, and the slip calculated for the driving speed obtained by the driving sensor. Since the rate is held in the storage unit so as to be able to be taken out, the moving speed of the airframe is estimated according to the driving speed by using this slip ratio.

According to a second aspect of the present invention, in the configuration of the first aspect, when the abnormality of the GPS sensor is detected, the estimated moving speed estimated from the slip rate and the driving speed taken out from the storage unit is set as the sprinkling vehicle speed. It is characterized by.
When the GPS sensor is abnormal, the interlocking spraying is continued by the estimated moving speed obtained as an extension of the running situation by applying the slip ratio.

  In the medicine working management vehicle according to the first aspect of the present invention, the moving speed of the airframe is obtained by the GPS sensor, and the vehicle speed interlocking spraying device performs a spraying operation with a predetermined amount of the chemical liquid per unit area using the moving speed as the spraying vehicle speed. At the same time, since the slip rate calculated for the drive speed obtained by the drive sensor is removably held in the storage unit, the travel speed can be estimated according to the drive speed by using this slip rate. As a result, it is possible to back up highly accurate scattered traveling as an extension of the traveling state up to that point even when the GPS sensor is abnormal.

  In addition to the effect of the first aspect, in the medicine working management vehicle according to the second aspect of the invention, when the GPS sensor is abnormal, the interlocking spraying is continued as an extension of the running situation by the estimated moving speed by applying the slip ratio. Therefore, even when the GPS is abnormal, it is possible to continue the high-precision spraying work according to the work situation up to that time.

System configuration diagram of spray control Flow chart of spray control Block diagram of spray control system Flow chart for vehicle speed correction Configuration diagram of spraying device exchange type spraying system Boom tabla side view Top view of boom tabla Side view of the riding type control machine when storing the boom Front view of the riding control machine during spraying Sprinkler piping diagram Plan view of control panel Sprinkler piping diagram Top view during spraying

Embodiments specifically configured based on the above technical idea will be described below with reference to the drawings.
The riding type control machine 1 which is an example of a medicine application management work vehicle to which the present invention is applied includes left and right front wheels 3, 3 and left and right rear wheels 4, as will be described in detail later with reference to FIGS. 4 is a front-and-rear wheel steering type including 4WS, and constitutes a traveling platform that can travel on the field by a traveling device that can switch between rear-wheel drive (2WD) and front-and-rear wheel drive (4WD). 5 is mounted at the rear of the machine body, and a boom 9a, 9b, 9c is formed at the front end position of the liquid chemical tank 5 that forms a chemical liquid spraying nozzle 11 and can be spread and spread left and right. A spray control system that enables uniform drug spraying with a predetermined amount of chemical liquid per unit area set by the control operation panel 21 provided in the driver's seat 6 by adjusting the opening degree in conjunction with the spray vehicle speed. Constitute.

  As shown in the system configuration diagram of FIG. 1, the spray control system receives a vehicle speed sensor S1 and a GPS radio wave from a drive sensor that detects a driving operation of a traveling device 3 or 4 that can switch between 2WD and 4WD. And a GPS sensor S2 for detecting the airframe position, and a vehicle speed-linked spraying device that controls the flow rate by the control machine controller C2 using the moving speed of the airframe calculated from the airframe position information obtained by the GPS sensor S2 as the spraying vehicle speed. To do. Further, the main unit controller C1 includes a storage unit that holds the slip rate of the traveling devices 3 and 4 that can be switched between 2WD and 4WD calculated from the difference between the moving speed and the driving speed of the airframe obtained by the driving sensor S1. Provided. The slip rate may be configured to be visible when necessary.

  The controllers C1 and C2 of the machine and the control machine are connected by the communication member T to form the control unit C of the medicine spraying system as a whole, and when an abnormality of the GPS sensor S2 is detected, the controller C1 and C2 are taken out from the storage unit C1. If necessary, the spray control system is configured to correct the vehicle speed based on the estimated movement speed estimated from the slip ratio and the drive speed, and to perform spray control using the corrected vehicle speed as the spray vehicle speed.

  The control process will be described. As shown in the flowchart of FIG. 2, the moving speed of the vehicle based on the vehicle position information from the GPS sensor S2 in step 1 of the actual vehicle speed measurement process (hereinafter abbreviated as “S1”). To determine whether or not it is correct (S2).

  When this moving speed is acquired normally, the slip rate of the driving speed by the vehicle speed sensor S1 is calculated and the moving average processing result is stored in the nonvolatile memory (S3 to S6), and the moving speed of the aircraft by the GPS sensor S2 is calculated. Vehicle speed-linked spraying (S7) with spraying pressure corresponding to the vehicle speed is performed as the spraying vehicle speed, and if the moving speed is not acquired normally, the estimated vehicle speed is calculated from the driving speed by the vehicle speed sensor S1 using the stored slip ratio. The vehicle speed interlocking distribution (S7) is performed by calculating the value to be the distribution vehicle speed.

  In the spray control system having the above-described configuration, the moving speed of the airframe is obtained from the airframe position information obtained by the GPS sensor S2, and the vehicle speed interlocking spraying device performs a spraying operation with a predetermined amount of chemical solution per unit area using the moving speed as the spraying vehicle speed. At the same time, since the slip rate calculated for the drive speed obtained by the drive sensor S1 is removably held in the storage unit C1, the moving speed is estimated according to the drive speed by using this slip rate. As a result, it is possible to back up high-accuracy scattered travel as an extension of the driving situation even when the GPS sensor is abnormal, and systematize this to automatically switch to applying the slip ratio when the GPS sensor is abnormal Because linked spraying is continued by the estimated moving speed obtained as an extension of the driving situation Even GPS abnormality, it is possible to continue spraying work precision in accordance with the working conditions of up to switching.

(Correction by slip ratio S)
As for the vehicle speed correction in the spray control system, as shown in the block diagram of FIG. 3, the controller C is configured to be able to control the opening adjustment motor F of the flow control valve, and the GPS sensor S2 and the vehicle speed by the GPS receiver. The sensor S1 is installed, the pressure information obtained from the GPS receiver is used as the vehicle speed, the set pressure is calculated from the set spray rate, the control machine is configured to control the spray rate, and the settings calculated from the spray rate set value and the vehicle speed, etc. The amount of medicine to be supplied is controlled by a motor-driven on / off valve so as to achieve pressure.

  As shown in the flowchart of FIG. 4, the specific control process for the vehicle speed correction is a control process for controlling the spray amount by calculating the set pressure from the set spray amount with the speed information obtained from the GPS receiver as the vehicle speed. Then, the slip rate S is calculated from the GPS speed information and the calculated speed at regular intervals (S11 to S16). When calculating the vehicle speed for control by the vehicle speed sensor, the vehicle speed is calculated using the slip ratio S (S17).

  In this way, the slip ratio S is calculated from the GPS vehicle speed obtained from the GPS speed information during the spraying operation and the calculated vehicle speed obtained from the vehicle speed pulse, and the calculated vehicle speed is corrected with the value to calculate the vehicle speed used for the control. Thus, it is possible to detect a stable actual speed, and it is possible to perform a highly accurate spraying operation.

(Slip rate)
In this case, the slip rate is set separately when an upper limit restriction value is set, and when the upper limit restriction value is exceeded, a rapid change in the application amount due to a large speed change can be suppressed. Stable work can be performed.

  In addition, by comparing the calculated slip rate with the previous value, and when the amount of change is equal to or greater than a certain value, the control process is configured to calculate the corrected vehicle speed to be used for control by replacing it with the certain value, It is possible to suppress a sudden change in the amount of application due to a large speed change, and it is possible to perform stable work. If necessary, when the amount of change is equal to or greater than a certain value, it can be replaced with the previous slip rate. In this case as well, sudden changes in the amount of spray due to large speed changes can be suppressed and stable. Work can be performed.

  At the end of spraying, after waiting for the controller power-off determination, the slip rate is written to the non-volatile memory and the control process is configured to use this when restarting operation, so that speed correction can be performed immediately after resuming work. It is possible to improve the spraying performance at the start of spraying.

(Multipurpose passenger management machine)
Next, a multipurpose passenger management machine capable of replacing the spraying device will be described. As shown in the spraying system configuration diagram of FIG. 5, for example, a boom sprayer D1 for spraying chemicals and a boom tabla D2 for spraying powders. And a vehicle speed signal of the GPS-based vehicle speed sensor S2 is acquired by the controller C1, and the communication member T is transmitted to the controller of the boom sprayer D1 or the boom tabla D2 after the replacement. By configuring so that the transmission is performed via the GPS unit, the spraying control of the boom sprayer D1 or the boom tabla D2 can be performed without requiring reconnection of the GPS unit.

  As shown in the side view and the plan view of FIG. 6 and FIG. 7 respectively, the powder spraying management machine equipped with the boom tabla is provided with a powder storage tank T at the rear of the machine body and arranged at the rear position. The left and right electric delivery valves V, V are provided at the bottom of the tank T so as to adjust the rotation so as to face the first left and right injection pipes P1, P1 that receive the air from the blower fan B. The left and right second injection pipes P2, P2 formed with a large number of injection holes H ... that are uniformly jetted while guiding the air flow to the side of the machine body are configured so as to be housed in the vehicle side, and the electric feed valve V, The drug is sprayed at a required area density by adjusting the rotation of V.

  In this case, the slip rate is stored and held while controlling the electric delivery valve with the movement speed by the GPS sensor S2 as the spray vehicle speed, as in the case of the chemical solution spraying control described above. If necessary, the slip rate can be set without using the GPS sensor S2. It can be used to ensure high precision drug distribution.

(Chemical spraying vehicle)
Here, the riding type control machine which is an example of a chemical | medical solution spraying working vehicle is demonstrated in detail. As shown in FIGS. 8 and 9, the passenger-type control machine includes a side view when stored and a front view when sprayed, and an engine E is mounted on the front of the machine body. The rotational power decelerated by the transmission is transmitted to the left and right front wheels 3 and 3 and the left and right rear wheels 4 and 4. A chemical tank 5 for storing a chemical solution is installed at the rear of the machine body, and a driver's seat 6 is provided on the front side of the chemical solution tank 5 and a steering handle 7 is provided in front thereof. A chemical solution tank 5 projects from both sides of the driver seat 6. Reference numeral 17 denotes a panel provided with an engine speed display and various warning lights.

  The chemical solution in the chemical solution tank 5 is ejected from each nozzle 11 of the spray hose 10 provided in the spray boom 9 described later by the pump 8. The pump 8 is configured to be driven from the engine E by a belt pulley transmission system 8a.

  Boom storage support frames 13 and 13 for storing and supporting the spreading boom 9 are erected on both the left and right sides of the machine body, and are configured to be latched and held by the receivers 14, so that the vehicle can run at a high speed. The receiving member 14 is provided with an elastic body for absorbing vibration at the time.

  The spreading boom 9 will be described. The center spray boom (center boom) 9a substantially coincides with the width of the airframe, and the left and right spray booms (side booms) 9b, 9b connected to the left and right sides thereof are more than the center spray boom (center boom) 9a. The length is long.

  The side boom 9b is pivotally connected to the center center boom 9a, and is rotated upward by the side boom upper and lower cylinders 15 to be held in the stowed state or in a spraying work posture state substantially parallel to the ground. It can be rotated and supported. In addition, 16 is a boom raising / lowering cylinder which raises / lowers the whole spreading | diffusion boom.

Next, the spray circuit 12 of the boom sprayer (chemical solution spraying device) of the riding type control machine will be described with reference to FIGS. 10 and 11.
An operation panel 20 and a control panel 21 and spray cocks C1, C2, C3 of the booms 9a and 9b that can be manually opened and closed are installed on the side of the driver's seat 6.

  Further, the control operation panel 21 provided with the operation panel 20 displays a display unit such as a spray setting 23, a pressure 24, a flow meter 25, and a total flow 26 on the left side of the display 22 at the upper center. The triangular mark lit at the left end of 22 indicates the data content displayed on this display. On the right side of the display 22, a display switching button 28 as a display switching means is provided. Below these, an automatic push button (switch) 29 is provided, and an on state of the automatic push button (switch) 29 is indicated by a pilot lamp 30. Further, the configuration includes a spray setting button switch 31, increase / decrease button switches 32 and 33, a cumulative reset switch 34, and the like.

  The chemical liquid suction / discharge path of the spray circuit 12 includes a low pressure water intake path 35 extending from the chemical liquid tank 5 to the pump 8 and a high pressure water discharge path 37 extending from the pump 8 to the spray booms 9a and 9b via the flow rate control valve 36. Are connected by a hose or the like. 9c is an extension boom, and is configured to be connected to the spreading boom 9b, and is configured to be attached / detached in accordance with a working state. If the extension boom 9c is always connected, spraying is performed by opening the cock 9d when spraying using the extension boom 9c, and spraying is performed by closing the cock 9d when not using the extension boom 9c. It may not be possible.

  The high-pressure water discharge path 37 is provided with a spillage return path 40 having a safety valve 38 for releasing a liquid pressure higher than a certain pressure, and can be returned to the chemical liquid tank 5. In addition, a stirring path 41 is communicated with the bottom of the chemical liquid tank 5 so that a part of the chemical liquid is constantly ejected and reduced into the tank to agitate the chemical liquid in the chemical liquid tank 5. In the high-pressure water discharge path 37 between the flow control valve 36 and the spray cocks C1, C2, C3 to the booms 9a, 9b, a pressure sensor 42 for detecting the fluid pressure and a first flow rate sensor 43 for detecting the flow rate are provided. Provided. The opening degree of the flow control valve 36 is controlled by a control motor. Reference numeral 39 denotes an air chamber.

  The chemical liquid flows from the spray cocks C1, C2, C3 to the left side boom 9b, the center boom 9a, and the right side boom 9b are connected by pipes D1, D2, D3.

  In addition, a suction filter 44 is provided between the chemical liquid tank 5 and the pump 8 in the low-pressure water absorption path 35, and a flow rate in the water absorption path is detected between the suction filter 44 and the pump 8. A two-flow sensor 45 is provided.

  In the riding type control machine configured as described above, a rear spray device 50 is provided as shown in FIG. The rear spraying device 50 is configured to be rotatable in the front-rear direction with a rotation fulcrum 52 as a fulcrum with respect to the support 51 at the rear of the machine body. The rotation in the front-rear direction is configured to operate with a hydraulic cylinder 54. Further, the left and right nozzle portions 53, 53 of the rear spray device 50 are configured to be located behind the left and right rear wheels 4, 4.

  The left and right nozzles 53 and 53 are supported by support portions 57 and 57, respectively. Further, since the support portions 57 and 57 are connected by a connecting plate 58, the hydraulic cylinder 54 is provided only on the left side. . Of course, it may be provided on the right side.

As described above, the nozzles 53 of the left and right rear spraying devices 50 are configured to be movable back and forth with a single hydraulic cylinder 54, so that the configuration is inexpensive and simple.
Further, since the nozzles 53 of the left and right rear spraying devices 50 are positioned on the extension line of the treads of the rear wheels 4 and 4, the interference between the crop and the nozzles 53 can be prevented. The same applies to the hydraulic cylinder 54. Since the configuration is located on the extension line of the rear wheel 4 (left side), it is possible to prevent interference between the hydraulic cylinder 54 and the crop.

  As shown in FIGS. 10 and 12, the flow of the chemical solution to the rear spray device 50 is provided with a branch fitting 55 in the middle of the pipe D2 from the spray cock C2 to the center boom 9a. Is connected to the rear spraying device 50 via A cock 56 is provided in the middle of the pipe D4.

  About the said rear part spraying device 50, it aims at spraying sufficient chemical | medical solution also to the part after the left and right rear wheels 4 and 4 (right and left front wheels 3 and 3) pass, and it seems that a control effect is acquired favorably. become.

  As shown in FIG. 8, the rear spraying device 50 is configured to spray when the nozzle 53 is close to the rear wheel 4 and not spray when the nozzle 53 is away from the rear wheel 4. . Specifically, as shown in FIG. 12, a guide plate 59 is provided on the support portion 57, and the guide plate 59 is connected to a cock 56.

  That is, the guide plate 59 is configured to close the cock 56 when the hydraulic cylinder 54 extends and the nozzle 53 moves away from the rear wheel 4. Further, the guide plate 59 is configured to open the cock 56 when the hydraulic cylinder 54 is reduced and the nozzle 53 approaches the rear wheel 4.

  Further, with regard to the spraying from the rear spraying device 50, since spraying is automatically performed in conjunction with the movement of the rear spraying device 50 in the front-rear direction, the operability is improved. Further, since the pump 8 is always driven during the operation, the upstream side of the cock 56 has a high pressure (30 kg / cm @ 2). For this reason, when the rear spraying device 50 approaches the rear wheel 4 and sprays from the nozzle 53, the high-pressure chemical solution is sprayed at once, and the occurrence of a non-spraying region can be prevented. The on / off of the chemical solution spraying may be configured to be electrically performed by the control valve 64 shown in FIG.

(Spreading run)
As shown in the plan view of FIG. 13, the chemical spraying traveling by the riding type control machine first sprays the range of the entire boom length from the ridge along the field edge, and at this time, even if the drive wheel slips, Necessary medicine spraying can be performed with high accuracy by the actual moving vehicle speed by the GPS sensor. Further, even in a situation where the GPS sensor cannot be used, by using the estimated vehicle speed based on the slip rate, it is possible to perform the required medicine spraying with high accuracy as an extension of the previous driving situation.

  When turning the body at the farm field end, the position of the boom end is adjusted based on the position information of the machine body by the GPS sensor, and then the spread running of the adjacent area is started, so that an overlap and a gap are generated between the scattered areas. As described above, the same spraying traveling is performed, and by repeating the same, the entire field can be sprayed uniformly with a predetermined amount of chemical solution per unit area. In particular, instructing the position of the center of the aircraft after turning on the screen or the like in consideration of the end of the boom or the like, the driving operation is facilitated.

DESCRIPTION OF SYMBOLS 1 Passenger-type control machine 3 Front wheel 4 Rear wheel 5 Chemical solution tank 6 Driver's seat 9a, 9b, 9c Boom 21 Control operation panel C Control part C1 This machine controller (storage part)
C2 Control machine controller D Chemical spraying device D1 Boom sprayer D2 Boom tabla F Flow control motor S Slip rate S1 Vehicle speed sensor (drive sensor)
S2 GPS sensor T Communication member

Claims (2)

The front wheels (3) and rear wheels (4) that support the machine body so that they can run on the field, and the control unit (C) that controls the spray amount according to the spray vehicle speed as the interlocking reference, spray the medicine with a predetermined amount of chemical solution per unit area. In the management work vehicle for drug spraying provided with the vehicle speed interlocking spraying device (D),
A driving sensor (S1) for detecting the driving operation of the front wheels (3) and the rear wheels (4) and a GPS sensor (S2) for detecting the position of the vehicle body by receiving GPS radio waves are provided, and obtained by the GPS sensor (S2). The front vehicle speed is calculated from the difference between the moving speed and the driving speed of the airframe obtained by the driving sensor (S1) while controlling the spraying amount of the vehicle speed interlocking spraying device (D) using the moving speed of the airframe as the spraying vehicle speed. 3) and a storage unit (C1) for holding the slip rate of the rear wheel (4) so that the slip rate can be taken out. When the abnormality of the said GPS sensor (S2) is detected, the estimated moving speed estimated by the slip rate taken out from the storage part (C1) and the drive speed is made into the scattered vehicle speed, The scattered vehicle speed is characterized by the above-mentioned. Management work vehicle for chemical spraying.

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