JP2012044953A - Chemical spraying work vehicle - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a chemical spraying work vehicle obtainable of vehicle speed even when speed information from GPS is hardly obtained due to effects of weather and a geographical feature and controllable of the chemical spray amount based on the obtained vehicle speed.SOLUTION: There is provided the chemical spraying work vehicle equipped with a GPS receiver 81 receiving position information and speed information from GPS, a vehicle speed sensor 4 detecting the rotation number of a wheel 12 or 13, and a pesticide applicator B controlling the chemical spray amount based on chemical ejecting pressure by a pest control pump 65 ejecting the chemical, and equipped with controllers 100 and 101 calculating the ejecting pressure of the pest control pump 65 from a relation between the vehicle speed and the predetermined chemical spray amount A per unit area, in which the vehicle speed is a vehicle speed VG based on the information from GPS and/or a vehicle speed Vs by the vehicle speed sensor 4 or the averaged vehicle speed of the vehicle speed VG and the vehicle speed Vs, and adjusting the opening of a chemical flow amount control valve 73 to agree with the ejection pressure calculated value so as to control the chemical spray amount A per unit area to be uniform.

Description

  The present invention relates to a medicine spraying work vehicle for spraying a medicine stored in a medicine tank to a field.

  2. Description of the Related Art Conventionally, there is a medicine spraying work vehicle in which a spraying boom is provided at the front portion of the machine body so as to freely roll right and left, and a chemical solution or the like is sprayed from the spraying boom onto a crop to be sprayed growing in a field. A configuration for measuring the vehicle speed using GPS is also known.

Japanese Patent Laid-Open No. 2005-176741

  According to the invention described in Patent Document 1, the position information and the speed information obtained from the GPS are detected by installing the GPS receiver, and the chemical solution sprayed from the start of the traveling of the work vehicle based on the obtained position information and the speed information. The structure which can detect the usage-amount of this and can estimate the chemical | medical solution replenishment timing to a chemical | medical solution tank is disclosed.

  However, since the invention described in Patent Document 1 cannot obtain the relationship between the spray setting amount and the vehicle speed (vehicle speed sensor, GPS) at the time of spraying the chemical solution, it cannot control the appropriate chemical solution spray amount according to the vehicle speed. There is a bug.

  Therefore, an object of the present invention is to provide a chemical spraying work vehicle capable of knowing the vehicle speed even when the speed information from the GPS is difficult to obtain due to the influence of weather, topography, etc. and capable of controlling the chemical spraying amount based on the obtained vehicle speed. Is to provide.

In order to solve the above-described problems of the present invention, the following means are adopted.
That is, the invention described in claim 1 stores a GPS receiver (81) that can receive position information and speed information from GPS, a vehicle speed sensor (4) that detects the rotation speed of a wheel (12 or 13), and a chemical solution. A chemical solution tank (18), a chemical solution spraying boom (43, 44) for spraying the chemical solution from the chemical solution tank (18) to the field, and a chemical solution between the chemical solution tank (18) and the chemical solution spraying boom (43, 44). A control pump (65) for discharging the chemical solution provided in the flow path, and a chemical flow rate adjusting valve (73) for adjusting the discharge pressure of the chemical liquid provided in the chemical flow channel on the downstream side from the installation location of the control pump (65). The vehicle speed calculation means (5) for calculating the vehicle speed based on the speed information from the GPS, and (a) the first vehicle speed (VG) obtained by the vehicle speed calculation means (5) and (b) Obtained by the vehicle speed sensor (4) At least one of the second vehicle speeds (Vs) or (c) the average vehicle speed of the first vehicle speed (VG) and the second vehicle speed (Vs), and a preset chemical solution per unit area The discharge pressure of the control pump (65) is calculated from the relationship with the spraying amount (A), and the opening of the chemical flow rate control valve (73) is adjusted in advance so as to coincide with the calculated discharge pressure. A chemical solution spraying vehicle comprising a control device (100, 101) for controlling the chemical solution spray amount (A) per unit area to be uniform.

  According to a second aspect of the present invention, when the second vehicle speed (Vs) obtained by the vehicle speed sensor (4) is equal to or less than a predetermined value, the control device (100, 101) has a first vehicle speed (VG) obtained by GPS. 2. A configuration is provided in which a predetermined chemical spraying amount (A) per unit area is controlled to be uniform based on the second vehicle speed (Vs) without using a second vehicle speed (Vs). It is a chemical | medical solution spraying work vehicle of description.

  The invention according to claim 3 is characterized in that the control device (100, 101) is provided with a configuration that does not use the first vehicle speed (VG) obtained from GPS for a predetermined time from the start of traveling. Item 2. The chemical solution spraying vehicle according to Item 1.

  According to the first aspect of the invention, since the reception of radio waves is unstable (thick rain clouds, snow clouds, the influence of topography (valleys, the foot of mountains), etc.) and the accuracy of GPS radio waves may be changed, While the vehicle speed obtained by GPS may become unstable, the reliability of the vehicle speed sensor 4 is high except when a wheel slips, etc., so the first vehicle speed (VG) obtained from the GPS and the vehicle speed sensor 4 One of the obtained second vehicle speeds (the vehicle speed pulse is read to calculate the vehicle speed) (Vs), or the average value of the first vehicle speed (VG) and the second vehicle speed (Vs) is used to control the control pump (65). The discharge pressure is calculated, and the opening of the chemical flow rate control valve (73) is adjusted so as to coincide with the calculated discharge pressure so that the preset chemical spraying amount (A) per unit area is uniform. Stable chemical spraying becomes possible by controlling.

  According to the invention described in claim 2, in addition to the effect of the invention described in claim 1, when the second vehicle speed (Vs) obtained from the vehicle speed sensor 4 is equal to or less than a predetermined value, the change in the vehicle speed at the start of traveling is not possible. Since the first vehicle speed (VG) obtained from the GPS is not used for calculating the discharge pressure of the control pump (65), the second vehicle speed (Vs) obtained from the vehicle speed sensor 4 is used. Then, the discharge pressure of the control pump (65) based on the second vehicle speed (Vs) is calculated, and the opening of the chemical flow rate control valve (73) is adjusted so as to coincide with the calculated value, so that the chemical liquid per unit area is obtained. Variations in the spray amount (A) can be suppressed.

  According to the third aspect of the invention, in addition to the effect of the first aspect, the first vehicle speed (VG) by the GPS is the second vehicle speed (Vs) by the vehicle speed sensor 4 for a predetermined time from the start of traveling. Therefore, the first vehicle speed (VG) obtained from the GPS does not use the chemical liquid flow rate adjustment valve (73) to adjust the opening, and the second vehicle speed (Vs) obtained by the vehicle speed sensor 4 is used. Use.

It is a top view of the chemical | medical solution spraying work vehicle by one Embodiment of this invention. It is a side view of the chemical | medical solution spraying work vehicle of FIG. It is a control block diagram of the chemical | medical solution spraying work vehicle of FIG. FIG. 2 is a control block diagram of a GPS receiver and a main unit controller of the chemical solution spraying work vehicle of FIG. 1. It is a flowchart of the chemical | medical solution dispersion | distribution control of the chemical | medical solution dispersion | distribution work vehicle of FIG. It is a block diagram of this machine controller and control machine controller of the chemical | medical solution spraying work vehicle of FIG. It is a flowchart of the chemical | medical solution dispersion | distribution control of the chemical | medical solution dispersion | distribution work vehicle of FIG. It is a flowchart of the chemical | medical solution dispersion | distribution control of the chemical | medical solution dispersion | distribution work vehicle of FIG. It is a flowchart of the chemical | medical solution dispersion | distribution control of the chemical | medical solution dispersion | distribution work vehicle of FIG. It is a flowchart of the chemical | medical solution dispersion | distribution control of the chemical | medical solution dispersion | distribution work vehicle of FIG. It is a flowchart of the chemical | medical solution dispersion | distribution control of the chemical | medical solution dispersion | distribution work vehicle of FIG. It is a flowchart of the chemical | medical solution dispersion | distribution control of the chemical | medical solution dispersion | distribution work vehicle of FIG. It is a flowchart of the chemical | medical solution dispersion | distribution control of the chemical | medical solution dispersion | distribution work vehicle of FIG. It is a flowchart of the chemical | medical solution dispersion | distribution control of the chemical | medical solution dispersion | distribution work vehicle of FIG. It is a flowchart of the chemical | medical solution dispersion | distribution control of the chemical | medical solution dispersion | distribution work vehicle of FIG.

Embodiments of the present invention will be described below with reference to the drawings.
FIG. 1 shows a side view of a chemical spraying work vehicle with the chemical spraying device attached to the front, and FIG. 2 shows a plan view of the chemical spraying device part. In the present specification, the left and right directions are referred to as left and right, respectively, in the forward direction of the chemical spray vehicle.

  The vehicle body 1 of the chemical solution spraying work vehicle supports an axle housing on which the front wheels 12 and the rear wheels 13 are mounted so as to be freely rollable. Further, the front wheel 12 is steered by the rotational operation of the steering handle 14 supported by the handle post 59 and is driven by an engine (not shown) under the bonnet 15. The vehicle body 1 is provided with a chemical tank 18 formed so as to surround the right and left sides from the rear portion of the cockpit 17 so as to be detachable from the vehicle body, and the chemical solution in the chemical tank 18 is pumped to a spraying boom 19 provided on the front side. A control pump 20 is provided below the cockpit 17 of the vehicle body 1.

  On the left side of the chemical tank 18 located below the cockpit 17 and above the floor 54, a recess S is provided so that one operator can get on and off, and a tank-side step 50 is provided on the bottom surface of the recess S. Yes. A machine-side step 53 is provided below the tank-side step 50. This machine-side step 53 is located at a position where the upper surface 53A is substantially flush with the floor 54 and the bottom surface of the chemical tank 18.

  Below the machine-side step 53, a ladder member 55 installed in a suspended manner from the floor 54 is provided. The ladder member 55 has an arbitrary number of steps, for example, two steps. The ladder member 55, the machine-side step 53, and the tank-side step 50 are arranged at a predetermined interval. With such a configuration, the operator can reach the cockpit 17 safely and easily by climbing the steps of the ladder member 55, the machine-side step 53, and the tank-side step 50 in order.

  In a self-propelled chemical solution spraying vehicle in which the chemical solution tank 18 is mounted on the floor 54 of the machine, the chemical solution tank 18 projects forward to the vicinity of the machine dash panel 56. On the other hand, the chemical liquid tank 18 has a substantially U-shaped structure that completely covers the operator's feet when viewed from above. With such a structure, it is possible to increase the tank capacity without increasing the height of the chemical liquid tank 18 and to ensure the prospect of the backward movement. In addition, by making the chemical tank 18 longer forward, the center of gravity movement of the aircraft due to the displacement of the amount of water in the chemical tank can be kept small, the balance of the aircraft at the time of spraying the chemical can be stabilized, and the running performance can be improved. It is possible to avoid the situation of tilting and sinking.

  In FIG. 2, the upper surface of the chemical liquid tank 18 is shown in a substantially rectangular parallelepiped shape with a substantially U shape. However, the shape is not limited to this, and any shape can be used as long as it has a tank step. it can.

  The tip shape of the chemical tank 18 is formed so as to be in close contact with the inclined portion 51 that is curved so as to float upward at the front of the floor 54. Therefore, the chemical solution tank 18 can be moved from the rear to the front and matched with the inclined portion 51 and stopped. With such a structure, it is possible to prevent the tire and the chemical tank 18 from interfering with each other due to the rolling of the front wheel 12, etc., and to improve the grounding property of the chemical tank 18 on the floor 54 of the main unit and the stability of the tank 18. .

  At the front part of the vehicle body 1, lift links 3 supported on the left and right sides of the bonnet 15 are attached. The lift link 3 has an upper link 24 and a lower link 25 arranged in parallel, the front end portions are connected by a hitch bracket 4, and the rear end portions are axially supported by upright columns 23 to form a parallel link configuration. The tip of the parallel link is moved up and down by the lift cylinders 27 and 27, so that the spray height of the spray boom 19 can be adjusted.

  A center boom 43 extending in the left-right direction of the machine body is attached to the lower end portion of the hitch bracket 4. The upper and lower cylinders, which are rolling cylinders, are provided with cylinder mounting columns 26 protruding upward at the left and right ends, and extend and contract via a solenoid valve 28 with a hydraulic tank that is electrically controlled at the upper end of the cylinder mounting column 26. An upper end of the (rolling cylinder) 29 is attached, and a side boom 44 is rotatably attached to the lower end of the upper and lower cylinders 29. Accordingly, the side boom 44 is raised and lowered by the expansion and contraction of the upper and lower cylinders 29. When the side boom 44 is housed on both sides of the body, the side boom 44 is supported by the body by the side boom receiver 40.

The spray boom 19 is composed of a center boom 43 and side booms 44 that are foldably connected to the outside of the center boom 43, and spray nozzles 45 (45a, 45b) for spraying chemical liquids are provided at regular intervals. Has been placed.
The side boom 44 is attached to the center boom 43 via the cylinder attachment column 26, and the side boom 44 is opened and closed by an opening / closing cylinder 30 provided on the center boom 43.

  The index rod 52 (FIG. 1) is a rod provided so as to protrude vertically upward from an area near the center of the center boom 43. A lamp made of LED or the like is attached to the upper end of the indicator rod 52, and the lamp is turned on simultaneously with the start of an automatic horizontal control operation described later. Note that the lower end of the index rod 52 may be rotated during automatic horizontal control in conjunction with an operating mechanism or the like. Such a configuration allows the operator to recognize the control state of the booms 43 and 44, avoids erroneous operation of the booms 43 and 44, forgets to turn on the automatic horizontal switch at the time of spraying work, long boom (side boom It is possible to avoid the problem that the nozzle 45b at the tip of 44) comes into contact with the crop and breaks.

  Here, the automatic horizontal control operation means that the opening and closing cylinders 30 and 30 open the side booms 44 and 44 in the horizontal direction on the extension line of the center boom 43 (in the left and right direction toward the moving direction of the machine body), The side booms 44 and 44 are controlled so as to be horizontal with respect to the ground when the rolling cylinder is extended to the maximum. Specifically, even if the side boom 44 of the chemical spraying boom 19 is opened while traveling on an inclined ground, the side boom 44 is opened by lifting one side boom 44 by the upper and lower cylinders 29 and lowering the other side boom 44. 44 is made parallel to the sloping ground so as not to collide with the ground.

  Next, the control unit of the chemical solution spraying vehicle having the above configuration will be described. As shown in the control block diagram of FIG. 3, the controller 100 has a steering switch and a horizontal switch (the horizontal switch has an automatic switch, a parallel switch, and a manual switch, and the automatic switch moves the booms 43 and 44 horizontally. The horizontal control for maintaining the parallel position, the parallel switch for maintaining the parallel posture of the booms 43 and 44 with respect to the vehicle body 1, and the manual switch for manually changing the posture of the booms 43 and 44 to arbitrary positions can be controlled. ), Vehicle speed sensor, steering angle sensor, control lever sensor (sensor for lever for turning on / off chemical solution), lift arm sensor, stroke sensor, slope sensor, input to receive signals from GPS antenna (receiver) 81 A circuit or the like is connected to the steering device (the handle 14 or the hydraulic cylinder for steering the wheel and the Solenoid (comprising a noid) etc. (The chemical spraying vehicle of this embodiment is equipped with FWS, 4WS, RWS, and all four wheels are moved by hydraulic cylinders), lifting solenoid (for cylinder 29), horizontal A solenoid (for cylinder 29), a buzzer, an output circuit to the display unit, and the like are connected.

  As shown in FIG. 4, a control machine comprising a controller 100, a chemical tank 18, chemical booms 43 and 44, chemical hoses 61 and 66, a chemical flow hose 61 and 66, a flow control valve 73, etc. The controller of this embodiment is configured from the controller 101 of FIG. 6B (FIG. 6), and a PS receiver 81 is connected to the controller 100 of this apparatus. The GPS receiver 81 receives signals from a plurality of GPS satellites, stores the signals as current position data of the machine, calculates a moving distance while updating the current position data at predetermined time intervals measured by a clock circuit, The speed, that is, the vehicle speed, is calculated by the vehicle speed calculation means 5 in the main unit controller 100 every predetermined time by the clock circuit. In addition, the controller 100 receives input from a vehicle speed sensor 4 that detects the rotational speed of the axle.

  In the chemical spraying work vehicle of this embodiment, in the control machine B that is mounted on the work vehicle and sprays the chemical liquid in conjunction with the vehicle speed, the chemical spray amount is determined by the chemical concentration and the vehicle speed, etc. Decide. The GPS receiver 81 can obtain vehicle speed information and position information from GPS.

  Moreover, the structure of the chemical | medical solution dispersion | distribution piping system as shown in FIG. 6 was employ | adopted. A chemical liquid tank 18 and a chemical liquid tank 60 are provided separately, a water supply cock 62 is provided in a water supply path (hose) 61 from the chemical liquid tank 18, and a suction filter 64 is provided in a water supply path (hose) 61 downstream from the water supply cock 62. A control pump 65 is provided at the outlet portion of the. A water discharge hose 66 is connected to the outlet portion of the control pump 65, and the tip of the water discharge hose 66 is connected to the installation portion of the spray cock 69 via a diluting chemical liquid path 67. A safety valve 70, an air chamber 71, a flow rate control valve 73, and a flow rate sensor 74 are installed in this order from the upstream side between the water discharge hose 66 and the diluted chemical liquid path 67. Further, a surplus water hose 75 is connected between the water discharge hose 66 of the pressure setting portion of the safety valve 70 and the chemical liquid tank 18. If the safety valve 70 is opened, excess chemical solution in the water discharge hose 66 can be returned to the chemical solution tank 18. A second pump 78 is provided at the end portion of the chemical hose 77 that supplies the chemical liquid from the chemical liquid tank 60 to the water discharge hose 66, which is a portion of the water discharge hose 66 in which the safety valve 70, the air chamber 71, and the flow rate control valve 73 are installed. The second pump 78 is connected to the installation base of the safety valve 70, the air chamber 71, and the flow rate control valve 73 (fresh water / chemical solution mixing part P1). Further, a stirring hose 79 branched from the water discharge hose 66 on the upstream side from the installed portion of the spill water hose 75 and connected to the chemical solution tank 18 is also provided.

  The diluted chemical solution mixed with the fresh water in the mixing unit P1 is configured to supply the diluted chemical solution to the center boom 43 and the side boom 44 via the spray cock 69. The supply amount (A) per unit area (for example, 10 ares) of the diluted chemical solution to each boom 43, 44 can be adjusted by the flow control valve 73.

  Since the chemical solution tank 18 and the chemical solution tank 60 are provided separately in this way, only the chemical solution can be discarded in the field even if the work vehicle slips in the field and cannot run.

  After the speed data and position data from the GPS receiver 81 are received by the controller 100, the speed and position data are calculated, the speed is calculated by the vehicle speed calculation means 5, and the obtained value is converted into a speed signal. The vehicle speed is calculated by the vehicle speed calculation means 5 (first vehicle speed (VG)) by serial communication to the control machine controller 101. In addition, the vehicle is provided with a vehicle speed sensor 4 for measuring the rotation speed of the axle by a vehicle speed pulse, and the vehicle speed (second vehicle speed (Vs)) can also be obtained from the vehicle speed sensor 4. Thus, the first vehicle speed (VG) based on the vehicle speed calculation means 5 obtained from the GPS receiver 81 and the second vehicle speed (Vs) obtained from the vehicle speed sensor 4 provided in the machine are calculated by the controller 100 on the machine side, and CAN It is set as the structure which sends speed data to the control machine controller 101 by communication, and utilizes it for chemical | medical solution dispersion | distribution control.

Here, the basic procedure of the chemical solution spraying of the present embodiment will be described.
First, when the operator determines the spraying amount A (liter / 10a) per 10a and then starts the chemical spraying operation, the first vehicle speed (VG) based on GPS and the second speed obtained from the vehicle speed sensor 4 provided in the machine. The vehicle speed (Vs) detects the vehicle speed V (m / s). Then, the control devices 100 and 101 change the vehicle speed to one or both of the first vehicle speed (VG) and the second vehicle speed (Vs) (hereinafter simply referred to as vehicle speed (VG) or vehicle speed (Vs)). The chemical spraying pressure corresponding to the set chemical spraying amount A per 10 ares is calculated, the flow control valve 73 is controlled so that the calculated pressure value and the actual pressure P of the discharge hole 66 coincide, and the boom 43, If the amount of chemical spraying from the nozzles 45a and 45b of 44 is changed and the chemical spraying amount A per 10 ares is set, the chemical flow rate is controlled and set even if the vehicle speed (VG, Vs) varies. The chemical solution can be sprayed uniformly on the field according to the spraying amount.

  Even if there is no vehicle speed measuring means in the control machine controller 101, it is only possible to measure the vehicle speed (Vs) even with the control machine B using the vehicle speed measuring means on the main unit side to which the control machine (chemical solution spraying device) B is connected. Instead, a controller provided in a chemical spraying device (not shown) such as a variable fertilizer for spraying granular fertilizer different from the control machine B of the present embodiment with the configuration shown in FIG. Even when installed separately, the chemical spraying device such as a variable fertilizer application device can use the vehicle speed as it is.

  As the vehicle speed obtained at this time, as shown in the flowchart of FIG. 5, the vehicle speed (VG) based on the vehicle speed calculation means 5 obtained by the GPS and the vehicle speed (Vs) obtained from the vehicle speed sensor 4 of this machine are averaged. An example in which the averaged vehicle speed is used as the vehicle speed of the control machine B will be described.

  The reason for averaging the vehicle speed (VG) based on the vehicle speed calculation means 5 obtained by GPS and the vehicle speed (Vs) obtained from the vehicle speed sensor 4 of this machine is that the reception of radio waves is unstable (thick rain clouds, snow clouds) The speed of GPS is likely to be unstable due to the effects of topography (valley, foot of mountain, etc.) and the accuracy of GPS radio waves. Since the vehicle speed sensor 4 is highly reliable, the vehicle speed obtained by averaging the vehicle speed obtained from the GPS and the vehicle speed obtained by the vehicle speed sensor 4 (reading the vehicle speed pulse and calculating the vehicle speed) is 10 fields. The flow rate control valve 73 is controlled so that the calculated pressure value corresponding to the per-set chemical solution spray amount A matches the actual pressure P of the discharge hole 66, and the chemical solution spray amount from the nozzles 45a, 45b of the booms 43, 44. The changed In Rukoto, it is possible to stably spray the chemical application rate A per field 10 ares even with variation in the vehicle speed.

  Further, when the vehicle speed (Vs) obtained from the vehicle speed sensor 4 is equal to or less than a certain value (for example, 0.3 to 0.4 m / s), the vehicle speed (VG) obtained from the GPS is the amount of chemical solution sprayed by the control machine B. It is not used for the control for calculating. For example, when the change in the vehicle speed at the start of running is unstable, as shown in the flowchart of FIG. 7, the vehicle speed (Vs) obtained from the vehicle speed sensor 4 is applied to the chemical solution corresponding to the set chemical solution application amount A per 10 ares of the field. It is possible to suppress fluctuations in the amount of sprayed chemical solution by not using the GPS vehicle speed (VG) by using the pressure value.

  This is because the vehicle speed (VG) measured by GPS is worse than the vehicle speed (Vs) measured by the vehicle speed sensor 4 when traveling at a low speed below a predetermined vehicle speed, so that the amount of sprayed chemical solution is excessive or insufficient. A situation occurs. Therefore, the vehicle speed (Vs) by the vehicle speed sensor 4 is used without using the vehicle speed (VG) by GPS.

  When the vehicle speed (Vs) obtained by the vehicle speed sensor 4 after the start of traveling exceeds a certain value (for example, (0.3 to 0.4 m / s)), the chemical solution application amount is determined based on the vehicle speed (VG) by GPS. Run the spray.

Further, as shown in the flowchart of FIG. 8, the vehicle speed (VG) obtained by GPS is detected, then the vehicle speed (Vs) is obtained from the vehicle speed sensor 4, and the vehicle speed (Vs) and the previously obtained vehicle speed (Vsn-1) are obtained. ), When the change (Vs−Vsn−1 = ΔVs) becomes less than a certain value (eg, 0.3 to 0.4 m / s), the amount of chemical solution sprayed is determined by the newly obtained vehicle speed (Vs), When the change (ΔVs) becomes a certain value (for example, 0.3 to 0.4 m / s) or more, the pressure calculation of the chemical pump 65 for spraying chemicals can be controlled at the vehicle speed (VG) obtained by GPS.
In other words, when the change in the vehicle speed at the start of traveling of the work vehicle is unstable, the fluctuation in the chemical spray amount is suppressed by determining the calculated pressure value of the chemical pump 65 based on the vehicle speed (Vs) obtained by the vehicle speed sensor 4. be able to.

  The GPS receiver 81 and the vehicle speed sensor 4 are mounted, and the chemical solution setting based on the actual vehicle speed (VG) is made with the vehicle speed (VG) calculated by the vehicle speed calculation means 5 based on the speed information obtained from the GPS receiver 81 as the actual vehicle speed. In the control machine B that calculates the set pressure from the spray amount and controls the chemical spray amount based on the set pressure, as shown in the flowchart of FIG. 9, until a certain time (for example, 1 to 2 seconds) elapses from the start of travel. Even if the GPS vehicle speed (VG) is calculated, the vehicle speed (Vs) calculated from the vehicle speed sensor 4 is used for the pressure calculation of the chemical pump 65 without using the GPS vehicle speed (VG) for the chemical solution spraying control. You can also. When the fixed time has elapsed, the number of pulses of the vehicle speed sensor 4 is counted (= vehicle speed (Vs)), and the GPS vehicle speed (VG) is used as the vehicle speed based on the chemical solution spraying control data.

  This is because when the change in the vehicle speed at the start of running is unstable, the vehicle speed obtained from the vehicle speed sensor is used for the chemical spray control, thereby suppressing fluctuations in the calculated pressure value of the chemical pump 65, and at the same time the GPS receiver is stabilized. It can be configured to secure time until data is output.

  Further, as shown in the flowchart of FIG. 10, when the GPS vehicle speed (VG) is not used for calculating the pressure of the chemical pump 65 until a predetermined time has elapsed from the start of traveling, a preset slip ratio (Su = (100 × VG / (VG−Vs)) may be used to correct the vehicle speed (Vs) obtained by the vehicle speed sensor 4 and calculate the pressure of the chemical pump 65 based on this value. ), It is possible to perform spraying control at a speed close to the actual vehicle speed even before calculating the pressure of the chemical pump 65. When the predetermined time has elapsed, the number of pulses of the vehicle speed sensor 4 is counted (= vehicle speed (Vs)). ), And the GPS vehicle speed (VG) is used as the vehicle speed based on the chemical spray control data.

  As shown in the flowchart of FIG. 11, when the GPS vehicle speed (VG) is not used for calculating the pressure of the chemical pump 65 until a certain time (for example, 1 to 2 seconds) has elapsed from the start of traveling, a preset slip ratio ( In (Su), the vehicle speed (Vs) obtained by the vehicle speed sensor 4 is corrected, the corrected vehicle speed (Vs) is set to obtain the calculated pressure value of the chemical pump 65, and a predetermined time (for example, 1) When 2 seconds have elapsed, the number of pulses of the vehicle speed sensor 4 is stopped (= vehicle speed (Vs)), the data for calculating the GPS vehicle speed (VG) is read, and the GPS vehicle speed (VG) is calculated. Thereafter, the vehicle speed (Vs) is obtained from the vehicle speed sensor 4, and the actual slip ratio (Su = 100 × VG / (VG−Vs)) is calculated from the GPS vehicle speed (VG) and the vehicle speed sensor vehicle speed (Vs). Is set as a new set slip ratio (Su) and written in the memory. Next, the set pressure is calculated based on the calculated GPS vehicle speed (VG).

  Thus, when the chemical spraying operation is interrupted and restarted, it becomes possible to start control of the chemical spray amount based on the pressure calculation of the chemical pump 65 at a vehicle speed closer to the actual vehicle speed.

Further, the slip ratio (Su) for correcting the calculated vehicle speed after the start of traveling can be set by distinguishing it according to the change in the position information of the field.
As shown in the flowchart of FIG. 12, the GPS receiver 81 and the vehicle speed sensor 4 are mounted, the set pressure is calculated from the set spray amount using the speed information obtained from the GPS receiver 81 as the vehicle speed (VG), and the spray amount is controlled. In the control machine, the GPS vehicle speed (VG) calculated from the vehicle speed sensor 4 is not used for calculating the pressure of the chemical pump 65 until a certain time (for example, 1 to 2 seconds) has elapsed since the start of traveling. When using the chemical spraying control and the position information obtained from the GPS receiver 81 is changing, the slip ratio (Su) used for the calculation is a preset initial value (fixed value). When the position information obtained from the GPS receiver 81 has not changed as shown in the step (a), the slip rate (Su) used for the calculation is the GPS vehicle speed (VG) during traveling in the previous stroke. Calculated from using the slip ratio that is stored in memory.

When a certain time (for example, 1 to 2 seconds) elapses from the start of traveling, the number of pulses of the vehicle speed sensor 4 is stopped (= vehicle speed (Vs)) as shown in step (b), and the GPS vehicle speed is stopped. The slip rate (Su) is calculated from the vehicle speed sensor vehicle speed (Vs) obtained by newly counting (VG) and the pressure of the chemical pump 65 based on the GPS vehicle speed (VG) taking the slip rate (Su) into consideration. Calculate and perform chemical spray control.
As described above, the vehicle speed based on the vehicle speed sensor 4 is calculated after the start of traveling, and when this calculated value is used to calculate the set pressure for the appropriate chemical amount distribution, the position data is read from the GPS receiver 81 and the field position is determined. If the position has changed, the slip ratio (Su) uses a preset initial value. If the position has not changed, the previous slip ratio (Su) value stored in the memory is used. The corrected vehicle speed (Vs) is calculated and the pressure of the chemical pump 65 is calculated based on the vehicle speed (Vs), and the chemical spray control is performed.
In this way, it is possible to obtain an appropriate slip ratio according to the change of the field.

As shown in the flowchart of FIG. 13, a GPS detection abnormality can be determined by checking the GPS within a predetermined time (for example, 1 to 2 seconds) after the start of traveling.
That is, the GPS vehicle speed (VG) is not used for the spray control until a certain time has elapsed from the start of traveling, and the vehicle speed (Vs) calculated from the vehicle speed sensor 4 is used. Vs) is set to calculate the corrected vehicle speed (Vs) taking the slip ratio (Su) into account, and the difference between the two is found by comparing the vehicle speed (VG) by GPS and the vehicle speed (Vs) calculated from the vehicle speed sensor 4. Is a certain value or more (for example, the deviation of the GPS vehicle speed (VG) with respect to the vehicle speed sensor value (Vs) is 10% or more), the GPS detection abnormality is determined. Thus, it is possible to determine whether the GPS receiver is good or bad when calculating the vehicle speed after the start of traveling.

  If the difference between the two is less than the predetermined value, the chemical spray setting pressure is obtained based on the calculated corrected vehicle speed (Vs).

  When a certain time has elapsed from the start of traveling, the number of pulses of the vehicle speed sensor 4 is stopped (= vehicle speed (Vs)), the pressure of the chemical pump 65 is calculated based on the GPS vehicle speed (VG), and chemical spray control is performed. Do.

  Further, when the vehicle speed calculation means 5 using the GPS and the wheel rotation detection type vehicle speed sensor 4 are provided on the machine side, and vehicle information is transmitted from the machine side to the control machine B side as shown in FIG. In addition, since the vehicle speed (Vs) obtained by the speed pulse obtained by the detection type vehicle speed sensor 4 for the axle rotation speed can be input to the control machine B, the chemical solution spraying control can be performed without providing the vehicle speed sensor 4 on the control machine B side. Can do.

 Therefore, when communication from the control device B to the control device becomes impossible, the vehicle speed-linked type chemical spraying pressure control of the control device B using the vehicle speed (Vs) by the vehicle speed sensor 4 transmitted from the control device B to the control device B. To do.

  When communication from the control machine B to the machine is restored, the chemical spraying pressure is set using the vehicle speed (VG) obtained by the vehicle speed calculation means 5 by GPS, and if there is an abnormality, the vehicle speed calculation value by the vehicle speed sensor 4 of the machine is set. The drug spraying pressure is controlled with.

  Further, as shown in the flowchart of FIG. 14, in a work vehicle equipped with a vehicle speed calculation means 5 using GPS and a vehicle speed sensor 4 for detecting axle rotation speed, the measured value (VG) of the vehicle speed calculation means 5 using GPS on the road An abnormality detection mode of the GPS vehicle speed calculation means 5 for comparing the measurement value (Vs) of the vehicle speed sensor 4 for detecting the axle vehicle speed rotation is provided, and the two vehicle speed measurement values (VG and Vs) are obtained on the road before the farm work. By comparing whether or not the vehicle speed calculation means 5 using GPS is normal, vehicle speed-linked chemical solution spraying control can be performed with peace of mind.

  Further, as shown in the flowchart of FIG. 15, when the measured value (VG) of the vehicle speed calculation means 5 using GPS is faster (VG ≧ Vs) than the measured value (Vs) of the axle rotation detection type vehicle speed sensor 4, GPS is used. The chemical solution spray pressure is determined based on the measured value (VG) of the vehicle, and when the measured value (VG) of the GPS is slower than the measured value (Vs) of the vehicle speed sensor (VG <Vs), the measured value (Vs) of the vehicle speed sensor It can be set as the structure which determines a spraying pressure. This is because the measured value (Vs) of the vehicle speed sensor is slower than the calculated value (VG) of the vehicle speed calculating means 5 using GPS because there is tire slip. Nevertheless, if the detected value (VG) of GPS is slower than the measured value (Vs) of the vehicle speed sensor (VG <Vs), an abnormality in the vehicle speed calculation means 5 using GPS is considered. Therefore, even when the vehicle speed calculation means 5 using GPS is an abnormal value, the control work can be continued stably.

  When the GPS measurement value is fast, the spraying pressure is set with the GPS measurement value, and when it is not, the spraying pressure is set with the rotational vehicle speed assumption value.

In general, there are two types of chemical spraying: conventional spraying (for example, 50 to 200 liters per counterweight) and small volume spraying (for example, 25 liters per counterattack). Refers to chemical spraying with a small amount of chemical solution compared to conventional spraying.
Although not shown, a lever can be provided on the control pump 65 side so that the lever can be switched between a low discharge side (small amount spraying) and a normal discharge side (conventional spraying).
And even though the control device (control device controller) 101 on the control pump 65 side is on the low discharge side, if the control device (control device) 100 of this machine is in a conventional spray, It can be set as the structure which is not spread on a farm field. However, this control is on condition that the automatic mode chemical solution spraying setting is included. The automatic mode is a mode in which the chemical liquid is automatically sprayed by detecting the vehicle speed when the vehicle starts running.

  Further, in the case of having a configuration in which the discharge amount of the control pump 65 is switched between the conventional spraying of the chemical liquid and the small amount spraying, the spraying setting is automatically set to the small amount spraying when it is on the low discharge amount side. It is also good. Thus, even if the previous spraying is set to the conventional spraying, the small spraying is automatically set, and the operability is improved.

  For example, when the discharge amount switching lever 65a is attached to the control pump 65 shown in FIG. 6 and the chemical solution discharge amount is on the low discharge amount side, the spray setting is automatically 25 liter / 10a. To.

  Further, when the discharge setting amount of the chemical liquid is on the high discharge side, it is possible to select only a setting of a plurality of spraying amounts (for example, 50 to 200 liters per counter) as the chemical spraying setting of the control machine controller 101. can do. In this way, if it is possible to select only a specific spray amount setting by sequentially pressing a spray setting switch (not shown), the operability is improved as compared with the prior art.

また、直進時の散布はＧＰＳによる車速算出手段５により測定した車速（ＶＧ）を実車速として採用し、旋回時は車輪１２，１３の回転数から測定した車速センサ４による車速（Ｖｓ）を実車速として採用して散布圧力を設定する構成とすることが望ましい。その理由は、旋回時は車速が変化するが、ＧＰＳによる車速算出手段５による車速（ＶＧ）は車速の急激な変化に追随できないので適正な散布ができないためである。旋回しながら散布する場合には、操舵角が所定値以上になると車輪１２，１３で測定した車速（Ｖｓ）に所定のスリップ率（Ｓｕ）を加味した車速で散布圧力を設定する。 In the control machine B having a configuration in which the discharge amount of the control pump 65 is switched between the conventional spraying of the chemical solution and the small amount spraying, an alarm is output when the combination of the discharge amount setting of the pump 65 and the opening / closing of the bypass cock 80 is other than a predetermined combination The configuration is as follows.
For example, as shown in Table 1, when the bypass hose 81 is used with a low discharge amount, proper spraying cannot be performed.

Further, when traveling straight, the vehicle speed (VG) measured by the vehicle speed calculation means 5 using GPS is adopted as the actual vehicle speed, and the vehicle speed (Vs) measured by the vehicle speed sensor 4 measured from the number of rotations of the wheels 12 and 13 is used when turning. It is desirable to adopt a configuration that adopts the speed and sets the spray pressure. The reason is that although the vehicle speed changes at the time of turning, the vehicle speed (VG) by the vehicle speed calculation means 5 by GPS cannot follow a rapid change in the vehicle speed, so that proper spraying cannot be performed. When spraying while turning, the spray pressure is set at a vehicle speed in which a predetermined slip ratio (Su) is added to the vehicle speed (Vs) measured by the wheels 12 and 13 when the steering angle becomes a predetermined value or more.

  The present invention is not limited to a working vehicle for spraying medicines provided with a self-propelled spreader, but may be used for a working vehicle for spraying fertilizer and the like.

DESCRIPTION OF SYMBOLS 1 Car body 1a Hook 3 Lift link 4 Hitch bracket 5 Vehicle speed calculation means 6 Vehicle speed sensor 12 Front wheel 13 Rear wheel 14 Steering handle 15 Bonnet 17 Pilot seat 18 Chemical liquid tank 19 Spraying boom 20 Control pump 23 Post 24 Upper link 25 Lower link 27 Lifting cylinder 26 Cylinder mounting support 28 Solenoid valve 29 with hydraulic tank Vertical cylinder (rolling cylinder)
30 Opening / Closing Cylinder 40 Side Boom Receiver 43 Center Boom 44 Side Boom 45 (45a, 45b) Spray Nozzle 50 Tank Side Step 51 Inclined Part 52 Index Rod 53 Machine Side Step 54 Floor 55 Ladder Member 56 Machine Dash Panel 59 Handle Post 60 Chemical tank 61 Water supply channel (hose)
62 Water supply cock 64 Suction filter 65 Control pump 66 Water discharge hose 67 Diluted chemical liquid path 69 Spray cock 70 Safety valve 71 Air chamber 73 Flow rate control valve 74 Flow rate sensor 75 Waste water hose 77 Chemical liquid hose 78 Second pump 80 Bypass cock 81 GPS receiver 100 This machine controller 101 Control machine controller

The vehicle body 1 of the chemical solution spraying work vehicle supports an axle housing on which the front wheels 12 and the rear wheels 13 are mounted so as to be freely rollable. Further, the front wheel 12 is steered by the rotational operation of the steering handle 14 supported by the handle post 59 and is driven by an engine (not shown) under the bonnet 15. The vehicle body 1 is provided with a chemical tank 18 formed so as to surround the right and left sides from the rear portion of the cockpit 17 so as to be detachable from the vehicle body, and the chemical solution in the chemical tank 18 is pumped to a spraying boom 19 provided on the front side. A control pump 65 is provided below the cockpit 17 of the vehicle body 1.

Moreover, the structure of the chemical | medical solution dispersion | distribution piping system as shown in FIG. 6 was employ | adopted. The water supply path (hose) 61 of the chemical tank 1 8 or we provide a water supply cock 62, a control pump 65 is provided at the outlet portion of the suction filter 64 provided downstream of the water supply channel (hose) 61 from the water supply cock 62. A water discharge hose 66 is connected to the outlet portion of the control pump 65, and the tip of the water discharge hose 66 is connected to the installation portion of the spray cock 69 via a diluting chemical liquid path 67. A safety valve 70, an air chamber 71, a flow rate control valve 73, and a flow rate sensor 74 are installed in this order from the upstream side between the water discharge hose 66 and the diluted chemical liquid path 67. Further, a surplus water hose 75 is connected between the water discharge hose 66 of the pressure setting portion of the safety valve 70 and the chemical liquid tank 18. If the safety valve 70 is opened, excess chemical solution in the water discharge hose 66 can be returned to the chemical solution tank 18 . Also, the stirring hose 79 connected to the chemical liquid tank 18 is branched from the upstream side of the water discharge hose 66 is provided from the installation section of Yomizu hose 75.

Drug solution the center boom 43 via a spray cock 69 has a configuration for supplying a dilution liquor to the side boom 44. The supply amount (A) per unit area (for example, 10 ares) of the diluted chemical solution to each boom 43, 44 can be adjusted by the flow control valve 73.

DESCRIPTION OF SYMBOLS 1 Car body 1a Hook 3 Lift link 4 Hitch bracket 5 Vehicle speed calculation means 6 Vehicle speed sensor 7 Steering angle sensor 10 Flow control motor 12 Front wheel 13 Rear wheel 14 Steering handle 15 Bonnet 17 Pilot seat 18 Chemical liquid tank 19 Spreading boom
23 Column 24 Upper link 25 Lower link 27 Lift cylinder 26 Cylinder mounting column 28 Solenoid valve with hydraulic tank 29 Vertical cylinder (rolling cylinder)
30 Opening / Closing Cylinder 40 Side Boom Receiver 43 Center Boom 44 Side Boom 45 (45a, 45b) Spray Nozzle 50 Tank Side Step 51 Inclined Part 52 Index Rod 53 Machine Side Step 54 Floor 55 Ladder Member 56 Machine Dash Panel 59 Handle Post 61 Water supply channel (hose)
62 Water supply cock 64 Suction filter 65 Control pump 66 Water discharge hose 67 Diluted chemical liquid channel 69 Spray cock 70 Safety valve 71 Air chamber 73 Flow control valve 74 Flow rate sensor 75 Waste water hose
81 GPS receiver 100 This machine controller 101 Control machine controller

Claims (3)

A GPS receiver (81) capable of receiving position information and speed information from GPS;
A vehicle speed sensor (4) for detecting the rotational speed of the wheel (12 or 13);
A chemical tank (18) for storing the chemical,
A chemical solution spraying boom (43, 44) for spraying the chemical solution from the chemical solution tank (18) to the field, and a chemical solution provided in the chemical solution flow path between the chemical solution tank (18) and the chemical solution spray boom (43, 44) A control pump (65) for discharging;
In the chemical spraying work vehicle provided with the chemical flow rate adjusting valve (73) for adjusting the discharge pressure of the chemical provided in the chemical flow path downstream from the installation location of the control pump (65),
Vehicle speed calculation means (5) for calculating the vehicle speed based on speed information from the GPS;
(A) at least one of the first vehicle speed (VG) obtained by the vehicle speed calculation means (5) and (b) the second vehicle speed (Vs) obtained by the vehicle speed sensor (4); The discharge pressure of the control pump (65) is calculated from the relationship between the averaged vehicle speed of the first vehicle speed (VG) and the second vehicle speed (Vs) and the preset chemical spraying amount (A) per unit area. The control device for adjusting the opening amount of the chemical flow rate control valve (73) so as to coincide with the calculated discharge pressure and controlling the preset chemical spraying amount (A) per unit area to be uniform. (100, 101)
A chemical spraying work vehicle characterized by comprising:   If the second vehicle speed (Vs) obtained by the vehicle speed sensor (4) is equal to or lower than a predetermined value, the control device (100, 101) does not use the first vehicle speed (VG) obtained by the GPS, and uses the second vehicle speed (VG). The chemical spraying work vehicle according to claim 1, further comprising a configuration for controlling the spraying amount (A) per unit area to be uniform based on a vehicle speed (Vs).   2. The chemical spraying work vehicle according to claim 1, wherein the controller (100, 101) is provided with a configuration that does not use the first vehicle speed (VG) obtained from GPS for a predetermined time from the start of traveling. .

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