JP2013048585A5 - - Google Patents

Description

Chemical spraying work vehicle

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

  Conventionally, a chemical solution spreading boom consisting of a center boom and side booms that can be spread on both sides of the center boom is provided on the front part of the machine body so as to be able to roll freely, and the chemical solution etc. from these spreading booms can be applied to the application targets that are growing in the field. There is also known a configuration in which there is a medicine spraying work vehicle that sprays crops, and the vehicle speed of the medicine spraying working vehicle is measured using GPS in addition to a vehicle speed sensor provided on the vehicle body.

JP 2004-8187 A

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, when the working vehicle turns on the shore while spraying the chemical solution from the side booms spread to the left and right of the medicine spraying work vehicle described in Patent Document 1, the side boom outside the turn is on the shore. Raised the operation so as not to touch. However, when approaching the heel while maneuvering the drug spraying vehicle or other work, it is cumbersome to manually raise the side boom outside the turn so that it does not touch the heel. And sometimes damaged. Therefore, the present applicant has developed a medicine spraying work vehicle capable of automatically raising or lowering the side boom outside the turning at the time of turning or at the end of turning in consideration of safety, and filed a patent application related thereto. ing.
The subject of this invention is providing the chemical | medical agent spraying work vehicle which can perform control which raises or descends further automatically safely.

In order to solve the above-described problems of the present invention, the following means are adopted.
The invention described in claim 1 includes a chemical solution tank (18) for storing a chemical solution, a center boom (43) for spraying the chemical solution from the chemical solution tank (18) to a field , and side booms disposed on the left and right of the center boom. (44), vehicle speed detection means (5, 6), upper and lower cylinders (29) for moving the left and right side booms (44) up and down, and steering for detecting the turning angle of the left and right wheels (12). An angle sensor (7), a control pump (65) for discharging a chemical solution provided in a chemical flow path between the chemical solution tank (18) and the chemical solution spray boom (43, 44), and installation of the control pump (65) chemical flow rate adjusting valve for adjusting the discharge pressure of the liquid medicine provided on chemical liquid flow path on the downstream side of the portion (73) and the provided pre Symbol vehicle speed sensor (6) by a predetermined unit area and the vehicle speed obtained Is it related to chemical spraying amount (A)? The discharge pressure of the control pump (65) calculates, in the chemical spraying work vehicle for performing adjustment of the opening degree of the flow control motor (10) with a chemical solution flow control valve (73) to match the pressure calculated value out said discharge,
When the turning angle of the steering angle sensor (7) reaches a predetermined value, the side boom (44) on the outside of the turning is automatically raised, and once the vehicle travels straight ahead, the turning angle of the steering angle sensor (7) again becomes the predetermined value. reached, automatically have rows lowering of the turning outer side boom (44), then turning starting from a 180 ° swivel ends configured to enter the straight running, the rise time of the side boom (44) at the time of turning on And the lowering time are set separately, and a value obtained by multiplying the rising time of the side boom (44) by a constant (K) is set as the lowering time, and the rising time of the side boom (44) is changed as the lowering time. Multiply by a constant (K) to set a new fall time,
If the side boom (44) outside the turn is manually raised before turning detection by the steering angle sensor (7), and this manual operation time continues for a certain time or longer, the turning is performed by the steering angle sensor (7). Even if it detects, it is a chemical | medical solution dispersion | distribution work vehicle provided with the control apparatus (100) set as a structure which does not raise a side boom (44) outside a turning automatically .

According to the second aspect of the present invention, the on / off setting means for the side boom elevating control which enables setting of the up / down control of the side boom (44) outside the turning automatically performed based on the turning angle of the steering angle sensor (7). The control device (100) includes (22) and image display means (41) for displaying on the monitor screen the up-and-down state of the side boom (44) set by the on / off setting means (22). The drug spraying work vehicle according to claim 1.

  According to the first aspect of the invention, the rising time and the descending time of the side boom 44 can be separately set and stored, whereby the descending time of the side boom 44 corresponding to the rising amount according to the rising time of the side boom 44 can be obtained. It can be set, and the timing of spraying the chemicals according to the operator's ability to control the vehicle can be determined. Therefore, there is no problem such as starting the spraying of the chemical liquid after the side boom 44 has been lowered while the turn is not completed. In addition, there is no inconvenience that an area in which the vehicle goes straight while the side boom 44 is not lowered is completed. In addition, in the field situation, that is, when the obstacles such as the fence on the outside of the turn are low, the time to descend is also shortened by preventing the side boom on the outside of the turn from being raised too much. It becomes possible to start spraying work.

In addition, by setting a value obtained by multiplying the ascending time by a constant (K) as a descending time and setting an appropriate descending amount according to the descending time of the side boom 44, the timing of spraying the chemical solution according to the vehicle steering ability of the operator Thus, it is possible to eliminate problems such as starting chemical spraying after the side boom 44 has been lowered while the turn is not completed.

In addition, since a new lowering time can be set by setting a value obtained by multiplying the rising time of the side boom 44 by the changed constant (K) as the lowering time, a more appropriate lowering time of the side boom 44 can be set. The resulting Ru. It is possible to more appropriately set the start timing of spraying the chemical liquid when the turn of 180 degrees is completed from the start of the turn.

Further, if the side boom 44 is manually raised before turning, the side boom 44 outside the turning is not automatically raised even if turning starts, so that the side boom 44 outside the turning can be prevented from rising too much. it can. By not raising more than the operator's intention, the descent is performed quickly, and the spraying operation of the next process can be easily performed.

According to the second aspect of the invention, in addition to the invention of claim 1 Symbol placement, traveling elevating state of the side booms 44 operator excellent chemical spraying workability because visible on the monitor screen of the image display unit 41 vehicle Is obtained.

It is a side view of the medicine spraying work vehicle by one Embodiment of this invention. It is a top view of the chemical | medical agent dispersion | distribution working vehicle of FIG. It is a top view of the controller panel of the chemical | medical agent dispersion | distribution working vehicle of FIG. FIG. 2 is a control block diagram of the medicine spraying work vehicle of FIG. 1. It is a block diagram of this machine controller and control machine controller of the chemical | medical agent dispersion | distribution work vehicle of FIG. It is a block diagram of the chemical | medical agent distribution piping system of the chemical | medical agent dispersion | distribution work vehicle of FIG. It is a flowchart of the chemical | medical agent dispersion | distribution control of the chemical | medical agent dispersion | distribution work vehicle of FIG. It is a flowchart of the raising / lowering control of the side boom of the chemical | medical solution spraying work vehicle of FIG. It is a figure explaining the driving | running | working aspect in the agricultural field edge part of the chemical | medical solution spraying work vehicle of FIG. It is a flowchart of the raising / lowering control of the side boom of the chemical | medical solution spraying work vehicle of FIG. It is a flowchart of the raising / lowering control of the side boom of the chemical | medical solution spraying work vehicle of FIG. It is a flowchart of the raising / lowering control of the side boom of the chemical | medical solution spraying work vehicle of FIG. It is a flowchart of the raising / lowering control of the side boom of the chemical | medical solution spraying work vehicle of FIG. It is a top view explaining the driving | running | working mode in the field corner part 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 raising / lowering control of the side boom of the chemical | medical solution spraying work vehicle of FIG. It is a flowchart of the raising / lowering control of the side boom of the chemical | medical solution spraying work vehicle of FIG. It is a flowchart of the raising / lowering control of the side boom of the chemical | medical solution spraying work vehicle of FIG. It is a top view explaining the driving | running | working mode in the field corner part 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.

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

  A vehicle body (vehicle body frame) 1 of a medicine spraying work vehicle supports an axle housing that pivotally mounts a front wheel 12 and a rear wheel 13 in a freely rolling manner. 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 mounted with a chemical tank 18 formed so as to surround both the left and right sides from the rear portion of the cockpit 17 so as to be detachable from the vehicle body 1, and the chemical solution in the chemical tank 18 is supplied to a spraying boom 19 provided on the front side. A control pump 65 for pumping 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 liquid 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 the self-propelled medicine spraying work vehicle in which the chemical tank 18 is mounted on the floor 54 of the machine, the chemical tank 18 protrudes 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 extending the chemical liquid tank 18 forward, it is possible to suppress the movement of the center of gravity of the aircraft due to the displacement of the amount of water in the chemical liquid tank 18, stabilize the balance of the aircraft during the chemical spraying operation, and improve the running performance. Can avoid the situation of sinking backward.
In FIG. 2, the upper surface of the chemical liquid tank 18 has 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 side step 50. be able to.

  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 lifting cylinders 27 and 27, so that the spraying height of the spraying 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 spraying boom 19 includes a center boom 43 and a side boom 44 that is 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 opening / closing angle of the side boom 44 is detected by a boom angle right sensor 138 a and a boom angle left sensor 138 b (FIG. 4) provided at the base of the opening / closing cylinder 30. Further, the side boom 44 can be expanded and contracted in the longitudinal direction by a device (not shown).

  FIG. 3 is a plan view of the control controller panel 120 provided in the medicine spraying work vehicle of FIG. FIG. 3A shows a controller panel 120 having a small display unit. As shown in FIG. 3A, the controller panel 120 provided at the top of the bonnet 15 has a spray setting 123, pressure 124, flow rate 125, and total flow rate 126 from the upper left side of the display (display unit) 122 at the upper center. Etc., and a plurality of different spraying conditions are displayed. The content of data displayed on the display 122 is instructed by an indicator (triangular mark) 122a lit at the left end of the display 122. On the right side of the display 122, a display switching button 128 for switching the display is provided.

  Below these, an automatic switch 129 for setting an automatic medicine spraying mode for automatically spraying medicine based on spraying conditions is provided, and when automatic spraying control is performed by pressing this automatic switch 129 ( When the automatic switch 129 is on), the pilot lamp 130 is lit. In this state, when the automatic switch 129 is pressed again, the pilot lamp 130 is turned off, and the mode is switched to the manual medicine spraying mode in which the medicine is manually sprayed. In manual spraying, the control pump 65 is turned on and off by turning on and off the pump switch 8. In addition, in manual spraying, spraying can be performed even when the vehicle is stopped. Furthermore, a spray setting switch 131, increase / decrease button switches 132 and 133, a cumulative reset switch 134, and the like are arranged.

  As shown in FIG. 3B, a controller panel 120 having a large display unit may be employed. Unlike the display 122 shown in FIG. 3 (a), the display 122 shown in FIG. 3 (b) displays the field number, field area, type of sprayed medicine, set spraying amount, spraying pressure, and cumulative value on one screen. It is easy to see and understand. Further, when the spray amount switch 136 is pressed, the spray amount of the medicine can be changed, and when the pressure switch 137 is pressed, the spray pressure can be changed.

When the automatic switch 129 is pushed by the operator and automatic control is selected (the automatic switch 129 is turned on), the spraying (control pump 65) is turned on and off by a signal from the vehicle speed sensor 6 and the like which will be described later.
The medicine spraying vehicle includes a control device 100 having an automatic horizontal control function for automatically operating the side booms 44 and 44 horizontally. Here, the automatic horizontal control operation means that the side booms 44 and 44 are opened by the open / close cylinders 30 and 30 in the horizontal direction on the extension line of the center boom 43 (left and right direction toward the traveling direction of the machine body). This means that the side booms 44 and 44 are controlled to be in the horizontal state using a rolling cylinder. That is, it is control which maintains the side booms 44 and 44 horizontally even if a body tilts in the left-right direction. Since the link tilt sensor 82 that detects the tilt of the side boom 44 is provided on the lift link 3 that tilts integrally with the side boom 44, the link tilt sensor 82 starts detecting the tilt when the aircraft tilts in the left-right direction. The upper and lower cylinders 29 and 29 are operated to keep the side boom 44 horizontal so that the inclination of the link inclination sensor 82 disappears immediately (detection of 0 degree). Of course, the aircraft is tilted at this time.

Next, the control unit of the medicine spraying work vehicle having the above configuration will be described. FIG. 4 is a control block diagram of the medicine spraying work vehicle of FIG.
As shown in this control block diagram, the control device (CPU) 100 includes a vehicle speed sensor (vehicle speed detecting means) 6 for detecting the vehicle speed of the medicine spraying work vehicle, and a steering angle θ (the turning direction is also detected for the left and right front wheels 12, 12). ), A pump switch (pump switch sensor) 8 for turning on and off the medicine spray, a stroke sensor 9 for upper and lower cylinders 29 and 29 for lifting and lowering the boom, and a spray pressure of the chemical liquid The pressure sensor 11 for detecting the flow rate, the valve opening sensor 16 of the flow rate control valve 73 for controlling the flow rate of the chemical solution, the input circuit for receiving the signal from the GPS antenna (receiver) 81, and the like are connected. Solenoid of a hydraulic cylinder for wheel steering and a solenoid for actuating the cylinder, etc. (the medicine spraying work vehicle of this embodiment is equipped with FWS, 4WS, RWS) All four wheels are configured to move in hydraulic cylinders.), Lift solenoid 32 (cylinder 29), a horizontal solenoid 34 (closing cylinder 30), the buzzer 36, the output circuit and the like to the display unit 122 is connected.
In FIG. 4, not all sensors and switches are displayed.

In FIG. 5, the block diagram of this machine controller and control machine controller of the chemical | medical agent spreading work vehicle of FIG. 1 is shown.
As shown in FIG. 5, a control machine comprising a controller 100, a chemical tank 18, chemical spray booms 43, 44, chemical hoses 61, 66, etc., a flow control valve 73, etc. A controller 101 of this embodiment is configured from the controller 101 of FIG. 6B (FIG. 6), and a GPS 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. The controller 100 also receives an input from a vehicle speed sensor 6 that detects the vehicle speed from the rotational speed of the axle.

In the medicine spraying work vehicle of this embodiment, in the control machine B (FIG. 6) which is mounted on the work vehicle and sprays the chemical liquid in conjunction with the vehicle speed, the chemical spraying amount is determined by the chemical liquid concentration, the vehicle speed, etc. Decide the amount of chemical solution to be discharged. The GPS receiver 81 can obtain vehicle speed information and position information from GPS.
Therefore, detection from the vehicle speed sensor 6 that detects the vehicle speed calculated by the vehicle speed calculation means 5 of the controller 100 and the rotational speed of one of the wheels 12 and 13 based on the GPS receiver 81 that can receive position information and speed information from the GPS. One of the vehicle speeds or an average value of both vehicle speeds by the vehicle speed calculation means 5 and the vehicle speed sensor 6 can be set as the actual vehicle speed.

In FIG. 6, the block diagram of the chemical distribution piping system of the chemical distribution work vehicle of FIG. 1 is shown.
In addition, this medicine spraying work vehicle is provided with a water supply cock 62 in a water supply path (hose) 61 from the chemical liquid tank 18, and an outlet portion of a suction filter 64 provided in a water supply path (hose) 61 downstream from the water supply cock 62. A control pump 65 is provided. A water discharge hose 66 is connected to the outlet of the control pump 65, and the tip of the water discharge hose 66 is connected to an installation part of the spray cock 69 via a chemical solution 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 chemical solution 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. 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 opening degree of the flow control valve 73 is controlled by the flow control motor 10 shown in the control block diagram of FIG.

The chemical solution in the chemical solution tank 18 is supplied 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 chemical solution to each boom 43, 44 can be adjusted by the flow control valve 73.
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. Further, as described above, the present apparatus is provided with the vehicle speed sensor 6 for measuring the rotational speed of the axle by the vehicle speed pulse, and the vehicle speed (second vehicle speed (Vs)) can also be obtained from the vehicle speed sensor 6. 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 6 provided in the machine are calculated by the controller 100 on the machine side, and CAN It is also possible to adopt a configuration (medicine spraying function) in which speed data is sent to the control machine controller 101 by communication and used for drug spraying control. Usually, the vehicle speed is often the second vehicle speed (Vs) based on the vehicle speed sensor 6 immediately after the start of the vehicle and immediately before the vehicle is stopped, and the first vehicle speed (VG) by GPS is often the vehicle speed during stable running.

Here, the basic procedure of drug distribution of the present embodiment will be described.
First, when the operator determines the spraying amount A (liter / 10 ares) per 10 ares and then starts the medicine spraying operation, the first vehicle speed (VG) based on GPS and the vehicle speed sensor 6 provided in the machine are obtained. The second 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 spray pressure corresponding to the set medicine spraying amount A per 10 ares is calculated, and the flow rate control valve 73 is controlled so that the calculated pressure value and the actual pressure P of the water discharge hose 66 coincide with each other. If the amount of medicine sprayed from the nozzles 45a and 45b of 44 is changed and the medicine spraying amount A per 10 ares is set, the chemical liquid 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 measurement means on the main unit side to which the control machine (chemical spraying device) B is connected. Instead, the controller shown in FIG. 5 includes 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 this embodiment. Even when it is mounted separately, a drug spraying device such as a variable fertilizer can use the vehicle speed as it is.

FIG. 7 shows a flowchart of the medicine spraying control of the medicine spraying work vehicle of FIG.
As the vehicle speed obtained at this time, as shown in FIG. 7, 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 6 of this machine are averaged. The converted vehicle speed can be set as the vehicle speed of the control machine B.

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 6 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 6 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 6 (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 set drug spray amount A per hit matches the actual pressure P of the water discharge hose 66, and the drug spray amount from the nozzles 45 a and 45 b of the booms 43 and 44. The changed In Rukoto, it is possible to stably spray the drug 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 6 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 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, the vehicle speed (Vs) obtained from the vehicle speed sensor 6 is used to calculate the medicine spraying pressure value corresponding to the set medicine spraying amount A per 10 ares of the field. By not using the vehicle speed (VG) based on GPS, fluctuations in the amount of sprayed medicine can be suppressed.

This is because when the vehicle is traveling at a low speed below a predetermined vehicle speed, the GPS vehicle speed (VG) is less accurate than the vehicle speed (Vs) of the vehicle speed sensor 6, so that the amount of sprayed drug is excessive or insufficient. A situation occurs. Therefore, the vehicle speed (Vs) by the vehicle speed sensor 6 is used without using the vehicle speed (VG) by GPS.
When the vehicle speed (Vs) obtained by the vehicle speed sensor 6 after the start of traveling exceeds a certain value (for example, (0.3 to 0.4 m / s)), the amount of medicine sprayed is determined based on the vehicle speed (VG) by GPS. Run the spray.

  As described above, the medicine spraying work vehicle of the present embodiment calculates the set pressure from the set spraying amount using the speed information obtained from the GPS receiver 81 and the vehicle speed sensor 6 as the vehicle speed, and is linked to the vehicle speed, and the center boom 43 And a configuration for adjusting the opening degree of the on-off valve 73 that drives the amount of the chemical solution sprayed from the side boom 44 to the field with a flow control motor.

  When the chemical solution spraying vehicle for spraying the chemical solution detects that the turning operation has been started by the steering angle sensor 7 that detects the steering angle of the front wheel 12, the side boom 44 outside the turning is automatically raised by the upper and lower cylinders 29. The control apparatus 100 which has an automatic boom raising / lowering control structure is provided. However, when the vehicle speed measured by the vehicle speed sensor 6 is equal to or higher than the predetermined vehicle speed, the side boom 44 outside the turn is controlled so as not to be automatically raised during the turn.

The predetermined vehicle speed is, for example, configured with two sub-speeds and four main speeds. The speed is 0.9 km / h for the first sub-speed and the first main speed, and 13.2 km / h for the second sub-speed and the fourth main speed. Depending on the conditions of the field, high-speed work travel is performed on a large work plane and low-speed work travel is performed in a mountainous area, so it is generally difficult to specify numerical values.
FIG. 8 shows a flowchart of the lifting control of the side boom 44 in this case.
With such a control configuration, it is possible to prevent problems such as breakage of the side boom 44 due to the automatic boom raising / lowering control configuration during high-speed traveling such as traveling on the road.

Although it is possible to determine the timing of spraying the chemical solution according to the vehicle maneuverability of the operator, there is no longer a region where the vehicle goes straight while the side boom 44 is not lowered after the turn is completed. For this reason, if a region where the vehicle goes straight while the side boom 44 is not lowered is created, a straight advance region where no chemical solution is sprayed is created, and a region where the chemical solution is not sprayed in the vehicle straight section where normal seedlings are planted is formed. There is a bug that occurs.
Therefore, when the turning angle of the steering angle sensor 7 reaches a predetermined value (for example, 7 degrees), the control device 100 automatically raises the side boom 44 on the outside of the turning, and then the turning angle is set to a predetermined value (for example; 7), a control configuration for automatically lowering the side boom 44 on the outside of the turn and a control configuration for setting and storing the elapsed time of the side boom 44 ascending and descending are provided. Yes. A flowchart of this control is shown in FIG.
In this way, the rising time and the lowering time of the side boom 44 outside the turn are separately set and stored, so that the lowering time of the side boom 44 can be set according to the rising amount according to the rising time of the side boom 44, The timing of spraying the chemical solution according to the operator's vehicle handling capability can be determined. Therefore, there is no problem such as starting the spraying of the chemical liquid after the side boom 44 has been lowered while the turn is not completed. In addition, there is no inconvenience that an area in which the vehicle goes straight while the side boom 44 is not lowered is completed. Also, in the field situation, that is, when the obstacles such as the fences on the outside of the turn are low, the time to descend can be shortened by preventing the side boom outside the turn from being raised too much. It becomes possible to start spraying work.

  Further, when the turning angle of the steering angle sensor 7 reaches a predetermined value (for example, 7 degrees) during the turning shown in the turning traveling (1) in the plan view of FIG. 9, the side boom 44 outside the turning is automatically raised. Then, the vehicle shifts to straight traveling (3) in which the turning angle of the steering angle sensor 7 is 0 degree, and further turns by turning a predetermined angle (eg, 7 degrees) based on the turning angle of the steering angle sensor 7 (2 When the side boom 44 on the outside of the turn is lowered when it is determined that the turn of 180 degrees has been completed from the first turn (1) (that is, when the U-turn is completed and the vehicle goes straight), A control configuration may be provided in which a value obtained by multiplying the ascending time of the side boom 44 by a constant (K) is set as the descending time. The constant (K) is a value of 1 or less.

  In the above control configuration, when the turn is completed by making a U-turn of 180 degrees, for example, at the side of a turn, the side boom 44 outside the turn is lowered, and the chemical solution can be sprayed from the side boom 44 for the first time. By setting a constant (K) in advance so that a value obtained by multiplying the ascent time by a constant (K) becomes an appropriate descending amount of the side boom 44, an appropriate descending amount corresponding to the descending time is obtained. It is possible to appropriately determine the start timing of the spraying of the chemical solution from the side boom 44 when the turn is finished and the side boom 44 outside the turn is lowered. A flowchart of this control is shown in FIG.

  In addition, if the control structure is set such that a new lowering time can be set by changing the constant (K) by which the rising time of the side boom 44 is multiplied, a more appropriate lowering time of the side boom 44 can be obtained. The start timing can be set more appropriately. A flowchart of this control is shown in FIG.

In the control configuration for automatically raising and lowering the side boom 44 on the outer side of the turn according to the turning angle of the steering angle sensor 7 by turning the vehicle when leaning or the like, the automatic raising and lowering control of the side boom 44 is set. An automatic up / down on / off setting switch 145 (located on the right side of the cockpit as shown in FIG. 2) and a control for displaying an image on a monitor screen where the up / down state of the side boom 44 set by the switch 145 can be visually observed. It is good also as a structure which has the panel 120. FIG. FIG. 3B shows an example of the monitor screen of the control panel 120.
The operator can freely set whether or not the side boom 44 is automatically raised and lowered by the automatic raising / lowering on / off setting switch 145, and the on / off state of the automatic raising / lowering on / off setting switch 145 is indicated on the monitor screen 41. Since the switch 145 itself can be visually observed by lighting or the like, a traveling vehicle having excellent chemical solution spraying workability can be obtained.

In addition, when the side boom 44 outside the turn is manually lifted before turning by the steering angle sensor 7, if the manual operation time continues for a certain time (eg, 2 to 3 seconds), the steering angle sensor 7 may be a control configuration in which the side boom 44 on the outside of the turn is not automatically raised even when the turning angle is detected.
FIG. 13 shows a flowchart of control in this case. When the medicine spraying work vehicle is spraying the chemical liquid and the operator manually raises the side boom 44 before turning, the rising time is counted and the rising time is counted. If the manual ascending flag is set and the manual ascending flag is set, the side boom 44 outside the turning is automatically controlled as long as the manual ascending flag is on. Do not. In this way, it is possible to prevent the side boom 44 on the outside of the turn from rising too much when the vehicle turns.

  When the control device 100 of the present embodiment automatically raises the side boom 44 outside the turn based on detection of a predetermined turning angle (eg, 7 degrees) of the steering angle sensor 7 and sets the boom raising flag. Further, before the side boom 44 outside the turn is automatically lowered based on detection of the next predetermined turning angle (for example, 7 degrees) by the steering angle sensor 7, that is, the vehicle is running straight ahead (straight running ( In 3)), when the lifting control is performed to manually move the side boom 44 upward or downward, the boom raising flag is cleared, and then the first steering angle sensor 7 detects the turning angle (7 degrees). However, a control configuration that does not perform automatic ascent control may be employed.

  This means that after the start of turning, after turning 90 degrees at the side of the heel, etc., the side boom 44 is manually lifted and lowered while the vehicle is running straight along the heel (straight running (3) in FIG. 9). This is because there is a case where it is desired to raise and lower manually. For example, when raising manually, because of an unforeseen obstacle, an automatic raising amount (set amount) may not be sufficient. Further, the manual lowering is a case where there are almost no obstacles, and automatic lowering is possible quickly by lowering to some extent in advance.

  In addition, after the vehicle travels straight along the shore, etc., it turns 90 degrees, and when the turn of 180 degrees is finished, the steering angle sensor 7 has a predetermined turning angle (eg, 7 degrees). This is to prevent a malfunction that, when detected, the vehicle that performs this turning when the control device 100 reaches the edge of the vehicle erroneously determines that the first 90-degree turning has been started and automatically raises the side boom 44. . A flowchart of this control is shown in FIG.

Further, the control device 100 of the present embodiment automatically raises the side boom 44 on the outside of the turn based on detection of a predetermined turning angle (for example, 7 degrees) of the steering angle sensor 7 and sets a boom raising flag. When the side boom 44 outside the turn is automatically lowered based on detection of the next predetermined turning angle (eg, 7 degrees) by the steering angle sensor 7, it is determined that the turning of 180 degrees has been completed. A control configuration in which the rising flag is cleared may be used.
This is to ensure that the lift flag is cleared when the turn of 180 degrees is completed from the start of the turn, so that the side boom 44 is not automatically raised or lowered during the subsequent chemical spraying operation. A flowchart of this control is shown in FIG.

Further, the control device 100 of the present embodiment automatically raises the side boom 44 on the outside of the turn based on the detection of a predetermined turning angle (for example, 7 degrees) of the steering angle sensor 7, and then uses the steering angle sensor 7. When a control structure for automatically lowering the side boom 44 on the outer side of the turn based on detection of the next predetermined turning angle (e.g., 7 degrees) is provided, if there is a manual lifting operation after the automatic lifting, When the side boom 44 is automatically lowered at the end of a 180-degree turn (at the start of work traveling on the return path) by accumulating the manual lifting operation time, the sum is calculated by adding the automatic rising time and the cumulative manual operation time. A control configuration in which a value obtained by multiplying a predetermined coefficient (K) is used as the automatic lowering time of the side boom 44 may be adopted.
A flowchart of this control is shown in FIG. here,
Automatic descent time after the turn = Automatic rise time + Cumulative manual rise time x K
It becomes.

Further, the control device 100 of the present embodiment automatically raises the side boom 44 outside the turn based on detection of a predetermined turning angle (for example, 7 degrees) of the steering angle sensor 7, and then the next by the steering angle sensor 7. If a control operation for automatically lowering the side boom 44 on the outside of the turn based on detection of a predetermined turning angle (e.g., 7 degrees) is provided, if there is a manual operation after the automatic ascent, the manual operation time When the side boom 44 is automatically lowered at the end of the turn of 180 degrees (at the start of work travel on the return path), a predetermined coefficient (K) is added to the sum of the automatic ascent time and the accumulated manual operation time. ) May be employed to subtract the cumulative manual lowering time of the side boom 44 to obtain the automatic lowering time.
A flowchart of this control is shown in FIG.
Here, the automatic descent time after the turn ends = (automatic ascending time + cumulative manual ascent time) × K−accumulated manual descent time.

Further, the control device 100 of the present embodiment automatically raises the side boom 44 outside the turn based on detection of a predetermined turning angle (for example, 7 degrees) of the steering angle sensor 7, and then the next by the steering angle sensor 7. If a control operation for automatically lowering the side boom 44 on the outside of the turn based on detection of a predetermined turning angle (e.g., 7 degrees) is provided, if there is a manual operation after the automatic ascent, the manual operation time When the 180 ° turn is completed (at the start of work travel on the return path), when the outer side boom 44 is automatically lowered, a predetermined coefficient is added to the sum of the automatic rising time and the cumulative manual operation time. A control configuration may be adopted in which the value obtained by multiplying (K) is used as the automatic lowering time by subtracting the manual lowering time cumulative value of the side boom 44. At this time, when the descent time is calculated from the manual operation time after the automatic ascent at the end of the turn, the descent time corresponding to the automatic ascent time is included as the initial value of the descent time. A flowchart of this control is shown in FIG.
In addition, if there is a manual operation both during and after the automatic lifting of the side boom 44 at the side of the heel, etc., the side boom 44 is automatically moved at the end of the 180-degree turn (at the start of work travel on the return path). As the automatic lowering time when lowering, the value obtained by multiplying the automatic rising time by a predetermined coefficient (K), the time operated during the automatic lifting of the side boom 44 (upward correction value), and the time operated after the automatic lifting ( A value obtained by adding a correction value after ascent) is used.
In this way, it is possible to set an appropriate lowering time of the side boom 44 for 180 degree turning control. A flowchart of this control is shown in FIG.

  Further, during the automatic raising of the side boom 44 at the time of leaning (when the automatic raising flag is on), the steering operation is performed in the opposite direction to the turning, and the predetermined turning by the steering angle sensor 7 in the opposite direction is performed. When the angle is equal to or greater than a predetermined angle (for example, 7 degrees), the automatic ascending flag is cleared, and a control configuration is provided that does not determine that the turn has ended even if the steering operation in the first turn direction is performed again. Accordingly, the side boom 44 is not lowered, and since the automatic raising flag is cleared, no automatic raising is performed. Therefore, when an operation other than the normal turning end operation after the turning starts is performed, the side boom 44 is moved. Can be prevented from malfunctioning. This control flowchart is shown in FIG.

Further, there is a control configuration in which the automatic raising flag is cleared when a manual operation is performed while the side boom 44 is automatically lowered on the side boom.
Therefore, the automatic ascent flag can be surely cleared at the end of the turn of 180 degrees (at the start of work travel on the return path), and the malfunction of the side boom 44 can be prevented during the subsequent turn. A flowchart of this control is shown in FIG.

  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.

1 Body 1a Hook
3 Lift link 4 Hitch bracket
DESCRIPTION OF SYMBOLS 5 Vehicle speed calculation means 6 Vehicle speed sensor 7 Steering angle sensor 8 Pump switch 9 Stroke sensor 10 Flow control motor 11 Pressure sensor 12 Front wheel 13 Rear wheel 14 Steering handle 15 Bonnet 16 Valve opening sensor 17 Steering seat 18 Chemical liquid tank 19 Spreading boom 23 Strut 24 Upper link 25 Lower link 27 Elevating cylinder 26 Cylinder mounting column 28 Solenoid valve with hydraulic tank 29 Vertical cylinder (rolling cylinder)
30 Opening / Closing Cylinder 32 Boom Lifting Solenoid 34 Boom Horizontal Solenoid 36 Buzzer 40 Side Boom Receiver 43 Center Boom 44 Side Boom 45 (45a, 45b) Spray Nozzle 50 Tank Side Step 51 Inclined Part 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 Chemical liquid path 69 Spray cock 70 Safety valve 71 Air chamber 73 Flow control valve 74 Flow rate sensor 75 Waste water hose 79 Stir hose 81 GPS receiver 82 Link inclination sensor 83 Link inclination angular velocity sensor 100 Main unit controller 101 Control unit controller 102 Memory 120 Controller panel 122 Display 122a Indicator 123 Spray setting display 124 Pressure display 125 Flow rate display 126 Flow rate cumulative display 128 Display switch button 129 Automatic switch 130 Pilot lamp 131 Spray setting switch 132, 133 Increase / decrease buttons Switch 134 Total reset switch 136 Spreading amount switch 137 Pressure switch 138a Boom angle right sensor 138b B Beam angle left sensor 140 fall time setting switch 142 manually lift switch 145 automatic lifting switch

Claims (2)

A chemical tank (18) for storing liquid medicine, a center boom for spraying the chemical solution from the chemical solution tank (18) in the field (43), the side boom (44) arranged on the left and right of the center boom, vehicle speed detecting means (5, 6), upper and lower cylinders (29) for moving the left and right side booms (44) up and down, a steering angle sensor (7) for detecting the turning angle of the left and right wheels (12), and a chemical solution A control pump (65) for discharging a chemical solution provided in a chemical solution flow path between the tank (18) and the chemical solution spray boom (43, 44), and a chemical solution flow on the downstream side from the installation location of the control pump (65) chemical flow rate adjusting valve for adjusting the discharge pressure of the liquid medicine provided on the road (73) is provided and, prior Symbol chemical application rate per unit area set in advance and obtained vehicle speed by a vehicle speed sensor (6) (a) and the From the relationship of the control pump (65) Leaving the pressure calculated in the chemical spraying work vehicle for performing adjustment of the opening degree of the flow control motor (10) with a chemical solution flow control valve (73) to match the pressure calculated value out said discharge,
When the turning angle of the steering angle sensor (7) reaches a predetermined value, the side boom (44) on the outside of the turning is automatically raised, and once the vehicle travels straight ahead, the turning angle of the steering angle sensor (7) again becomes the predetermined value. reached, automatically have rows lowering of the turning outer side boom (44), then turning starting from a 180 ° swivel ends configured to enter the straight running, the rise time of the side boom (44) at the time of turning on And the lowering time are set separately, and a value obtained by multiplying the rising time of the side boom (44) by a constant (K) is set as the lowering time, and the rising time of the side boom (44) is changed as the lowering time. Multiply by a constant (K) to set a new fall time,
If the side boom (44) outside the turn is manually raised before turning detection by the steering angle sensor (7), and this manual operation time continues for a certain time or longer, the turning is performed by the steering angle sensor (7). A chemical solution dispersal work vehicle comprising a control device (100) configured to prevent the side boom (44) outside the turning from being automatically raised even if detected . On / off setting means (22) for side boom raising / lowering control for enabling setting of turning on / off control of the side boom (44) outside the turning automatically performed based on the turning angle of the steering angle sensor (7), and the turning on / off The medicine (1) according to claim 1, characterized in that the control device (100) comprises image display means (41) for displaying on the monitor screen the up-and-down state of the side boom (44) set by the setting means (22). Scatter work vehicle.