JP2013176307A - Chemical spraying vehicle - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a chemical spraying vehicle that enables a side boom on the outside of its turning curve to be raised and lowered at the start and end of turning without burdening an operator, and that can quickly start chemical spraying after the turning is over.SOLUTION: The opening of a flow regulating valve 73 is adjusted by a flow control motor 10 to adjust the amount of chemical flow from a chemical tank 18 so that chemical is sprayed in an appropriate amount according to vehicle speed obtained based on the speed of rotation of a wheel 12 or 13. If a steering angle is at or greater than a first predetermined angle at the start of turning, a side boom 44 on the outside of the turning curve is automatically raised; if the steering angle is at or greater than a second predetermined angle at the end of turning, the side boom 44 on the outside of the turning curve is automatically lowered after the elapse of a predetermined period of time, whereby the side boom 44 can be raised and lowered without burdening an operator. Also, the side boom 44 can be lowered before the start of chemical spraying at the end of turning.

Description

  The present invention relates to a medicine spraying work vehicle for spraying medicines stored in a chemical 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 of the aircraft so that it can roll freely. There is also known a configuration in which there is a medicine spraying work vehicle sprayed onto a crop, and the vehicle speed of the medicine spraying work vehicle is measured using GPS.

JP 2004-8187 A

  According to the invention described in Patent Document 1, the vehicle-to-vehicle boom height detected by the rotation detecting means provided in the lifting link device, which allows autonomous traveling and autonomous scattering work by a GPS device, an internal sensor, etc., and the GPS device From the predetermined position coordinates of the vehicle detected by the above and the set crop boom height, control is performed to keep the crop boom height constant.

However, in such a conventional medicine spraying work vehicle, when the work vehicle turns on the shore while spraying the chemical solution from the side booms that are widened to the left and right, the side boom outside the turn is on the shore. Raising operation to avoid contact. 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 swivel so that it does not come into contact with the heel. It could be damaged by contact, which was a burden for the operator.
In addition, it is difficult to start the spraying of the medicine after the turning of the medicine spraying vehicle.

  Accordingly, an object of the present invention is to provide a medicine spraying work vehicle that can perform the lifting operation of the side boom outside the turn at the start of the turn or at the end of the turn without imposing a burden on the operator and can start the spraying of the drug in a timely manner after the turn. 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 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 a side disposed on the left and right sides of the center boom. A boom (44), vehicle speed detecting means (6) for detecting the rotation speed of the wheels (12 and / or 13), an upper and lower cylinder (29) for moving the left and right side booms (44) up and down, Steering angle detecting means (7) for detecting the steering angle of the left and right wheels (12), and control for discharging the chemical liquid provided in the chemical liquid flow path between the chemical liquid tank (18) and the chemical spraying boom (43, 44). In a chemical spraying work vehicle provided with a pump (65) and a chemical flow rate adjusting valve (73) for adjusting the discharge pressure of the chemical liquid provided in the chemical flow path downstream from the installation location of the control pump (65), Of flow control valve (73) The discharge pressure of the control pump (65) is calculated from the relationship between the flow rate control motor (10) for closing and the vehicle speed obtained by the vehicle speed detection means (6) and the preset amount of medicine sprayed per unit area (A). The medicine spraying function for adjusting the opening of the chemical flow rate control valve (73) by the flow rate control motor (10) so as to coincide with the calculated discharge pressure, and the steering angle detection means (7) at the start of turning. A side boom raising function for automatically raising the side boom (44) outside the turning when the steering angle (θ) is equal to or greater than the first predetermined angle, and a steering angle by the steering angle detecting means (7) at the end of turning. A control device having a side boom lowering function for automatically lowering the side boom (44) outside the turn after a predetermined time has elapsed after detecting the turning angle when (θ) is equal to or greater than a second predetermined angle ( 100) A cloth work vehicle.

  According to a second aspect of the present invention, there is provided the descent time changing means (140) capable of changing the predetermined time for lowering the side boom (44) outside the turn by the side boom lowering function. It is a drug spraying work vehicle.

  According to a third aspect of the present invention, the control device (100) causes the steering angle (θ) by the steering angle detecting means (7) once after the side boom (44) is started to rise by the side boom raising function. 2. The medicine spraying work vehicle according to claim 1, further comprising a side boom lowering effective function that determines that the vehicle is traveling straight ahead during turning and enables the side boom lowering function when the angle becomes equal to or less than a third predetermined angle. .

  The invention according to claim 4 is the medicine spraying work vehicle according to claim 1, wherein the first predetermined angle in the side boom raising function is different from the second predetermined angle in the side boom lowering function.

  According to a fifth aspect of the present invention, the control device (100) includes a neutral determination angle of the steering angle (θ) by the steering angle detection means (7) for determining that the vehicle travels straight before and after the turn, and the turn A determination angle storage means (102) is provided for storing a first predetermined angle in the side boom raising function and a second predetermined angle in the side boom lowering function that are determined to be traveling, and a third in the side boom lowering effective function is provided. The medicine spraying operation according to claim 3, wherein the predetermined angle is greater than the neutrality determination angle stored in the control device (100) and smaller than the first predetermined angle and the second predetermined angle. It is a car.

  In the present specification, the “medicine” refers to a liquid material that may contain a solid material that needs to be sprayed on a crop such as a nutrient or an agricultural chemical.

  According to the first aspect of the present invention, the side boom (44) outside the turning can be automatically raised or lowered at the start of turning or at the end of turning. It can be done without imposing a burden. In addition, by automatically lowering the side boom (44) outside the turn after a predetermined time has elapsed at the end of the turn, the side boom (44) can be lowered in accordance with the start of the spraying of the medicine at the end of the turn. become. The start of spraying is not delayed. This is because a large steering wheel operation may be performed again depending on the state of the farm field (road surface unevenness, etc.) or when the operator's driving operation is poor.

According to the invention described in claim 2, in addition to the effect of the invention described in claim 1, it is possible to set the time for lowering the side boom (44) according to the work situation such as the state of the field. Therefore, the timing for lowering the side boom (44) can be controlled more finely.
Further, when the medicine spraying vehicle turns on the heel, it turns to the left or right and then travels straight ahead, then turns to the left or right again and turns.

  Therefore, according to the invention described in claim 3, in addition to the effect of the invention described in claim 1, when the angle is equal to or smaller than the third predetermined angle for determining that the vehicle is traveling straight during turning, that is, once traveling straight. Then, by lowering the side boom (44), it is possible to reliably perform the determination at the end of turning of the medicine spraying work vehicle.

  According to the invention described in claim 4, in addition to the effect of the invention described in claim 1, the steering angle (θ) of the left and right wheels (12) serving as a reference for the turning angle at the start of turning and at the end of turning is changed. Thus, it is possible to change the timing of raising and lowering the side boom (44) at the start of turning and at the end of turning. For example, by setting the second predetermined angle to be larger than the first predetermined angle, the lowering timing of the side boom (44) is delayed compared to the rising timing of the side boom (44). Ascending / descending control is possible and workability is improved.

  As described above, when the medicine spraying vehicle turns on the coast, it turns to the left or right and then goes straight, and then turns to the left or right again to change the direction. The steering angle of the left and right wheels (12) is smaller than the steering angle when turning to the left or right, but slightly larger than the steering angle of normal straight traveling.

  Therefore, according to the invention described in claim 5, in addition to the effect of the invention described in claim 3, the third predetermined angle in the side boom lowering effective function is set to the neutral determination angle stored in the control device (100). By setting the angle larger than that and smaller than the turning determination angle, it is possible to determine the end of turning at an appropriate steering angle (θ) and to lower the side boom (44) with good timing.

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 top view of the chemical | medical agent dispersion | distribution working vehicle currently turning on the shore. It is a flowchart of the raising / lowering control of the side boom of the chemical | medical agent dispersion | distribution working vehicle of FIG. It is a flowchart of the other example of the raising / lowering control of the side boom of the chemical | medical agent dispersion | distribution working vehicle of FIG. It is a flowchart of the other example of the raising / lowering control of the side boom of the chemical | medical agent dispersion | distribution working vehicle of FIG. It is the figure which showed the image of turning determination angles ((theta) 1 and (theta) 2), neutral determination angle (theta) 4, and 3rd predetermined angle (theta) 3. FIG. It is a flowchart of the other example of the raising / lowering control of the side boom of the chemical | medical agent dispersion | distribution working vehicle of FIG. It is a flowchart of the other example of the raising / lowering control of the side boom of the chemical | medical agent dispersion | distribution working vehicle of FIG. It is a flowchart of the other example of the raising / lowering control of the side boom of the chemical | medical agent dispersion | distribution working vehicle of FIG. It is a flowchart of the other example of the raising / lowering control of the side boom of the chemical | medical agent dispersion | distribution working vehicle of FIG. It is a flowchart of the other example of the raising / lowering control of the side boom of the chemical | medical agent dispersion | distribution working vehicle of FIG. It is a flowchart of the other example of the raising / lowering control of the side boom of the chemical | medical agent dispersion | distribution working vehicle of FIG. It is a flowchart of the other example of the raising / lowering control of the side boom of the chemical | medical agent dispersion | distribution working vehicle of FIG. It is the figure which showed the automatic raising / lowering switch of the side boom of the chemical | medical agent spraying work vehicle of FIG. It is a flowchart of the other example of the raising / lowering control of the side boom of the chemical | medical agent dispersion | distribution working 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 vehicle of FIG. 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 (operator) can get on and off. A tank side step 50 is provided on the bottom of the recess S. Is provided. 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 support frame 21 extending in the left-right direction of the body is attached to the lower end portion of the hitch bracket 4. A center boom 43 of the spreading boom 19 is attached to the front surface of the support frame 21, and a cylinder mounting column 26 protruding upward is provided at the left and right ends of the support boom 21. An upper end of an upper and lower cylinder 29, which is a rolling cylinder that expands and contracts, is attached via a solenoid valve 28 with a hydraulic tank that is electrically controlled, and a side boom 44 is rotatably attached to the lower end thereof. Therefore, 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 open / close cylinder 30 is expanded and contracted by an electrically operated geared motor 31 (FIG. 2). 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 upper part of the bonnet 15 has a spray setting 123, a pressure 124, a flow rate 125, and a cumulative flow rate on the left side of the display (display unit) 122 at the upper center. A display unit such as 126 is displayed, 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 (FIG. 4). 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. 3 (a) shows one display type at a time, but FIG. 3 (b) shows a type that is displayed collectively on the display 122. Unlike the display 122 shown in FIG. 3 (a), the field number and field Since the area, type of spraying agent, set spraying amount, spraying pressure, and cumulative value are displayed 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.
In addition, this medicine spraying work vehicle includes a control device 100 having an automatic horizontal control function for automatically operating the side booms 44, 44 horizontally (horizontal level). 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. A link tilt sensor 82 (FIG. 4) that detects the tilt of the side boom 44 is provided on the lift link 3 that tilts integrally with the side boom 44.

  When the airframe tilts in the left-right direction, the link tilt sensor 82 starts detecting the tilt, but the upper and lower cylinders 29 and 29 are operated so that the tilt of the link tilt sensor 82 disappears immediately (detection of 0 degree), and the side boom 44 is moved. Keep level. Of course, the aircraft is tilted at this time. The link tilt sensor 82 may be provided with a function as the link tilt angular velocity sensor 83 so that both values can be detected by a single sensor. By using the link inclination angular velocity sensor 83, the accuracy of the horizontal control is improved. It can be reflected in the horizontal control by seeing whether the aircraft is tilting slowly or accelerating.

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, a control device (CPU) 100 includes a vehicle speed sensor (vehicle speed detection means) 6 that detects the vehicle speed of the medicine spraying work vehicle, and left and right front wheels 12 that are interlocked with the rotation operation of the steering handle 14. 12, a steering angle sensor (steering angle detecting means) 7 for detecting a steering angle θ, a pump switch (pump switch sensor) 8 for turning on / off the medicine spray, a stroke sensor 9 for upper and lower cylinders 29, 29 for raising and lowering the boom, A steering device is connected to the pressure sensor 11 for detecting the spraying pressure of the chemical solution, 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 a signal from the GPS antenna (receiver) 81, and the like. Solenoid (comprising a handle 14 and a hydraulic cylinder for steering the wheel and a solenoid for actuating the cylinder, etc.) WS and RWS are equipped, and all four wheels are moved by hydraulic cylinders.), Lifting solenoid 32 (for cylinder 29), horizontal solenoid 34 (for opening / closing cylinder 30), buzzer 36, output to display unit 122 Circuit etc. are connected. The steering angle sensor 7 also detects the turning direction and is used to determine which of the left and right side booms 44 is raised during turning.

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 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.

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 at 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 spillage hose 75 is connected between the water discharge hose 66 of the pressure setting part 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.
In the case of automatic spraying, the automatic switch 129 is turned on. When the vehicle speed sensor 6 detects a predetermined speed, the control pump 65 is driven, and the chemical solution is sprayed while adjusting the flow rate with the flow rate control valve 73 according to the vehicle speed. When the airframe stops, the driving of the control pump 65 is stopped. In addition, not only the vehicle speed sensor 6 but also the control based on the vehicle speeds of both the first vehicle speed (VG) and the second vehicle speed (Vs) based on GPS as described below may be used.

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 6 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 6. The vehicle speed sensor 6 may be provided anywhere on the side wall of a mission case (not shown). 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 Speed data is sent to the control machine controller 101 by communication, and a configuration (medicine spraying function) used for drug spraying control is adopted.
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 control either one of the first vehicle speed (VG) and the second vehicle speed (Vs) (hereinafter simply referred to as vehicle speed (VG) or vehicle speed (Vs)) or both vehicle speeds. The chemical spray pressure corresponding to the set medicine spraying amount A per 10 ares based on the above is calculated, 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, and the boom 43 , 44 by changing the amount of medicine sprayed from the nozzles 45a, 45b and setting the medicine spraying amount A per 10 ares, the flow rate of the chemical solution is controlled even if the vehicle speed (VG, Vs) varies, The chemical solution can be sprayed uniformly on the field according to the set 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 shown in FIG. 7, as the vehicle speed obtained at this time, 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 averaged 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 influence of topography (valley, foot of mountain, etc.) and the accuracy of GPS radio waves may change, so the vehicle speed obtained by GPS may be unstable, except when the wheels slip This is because the vehicle speed sensor 6 is highly reliable. Based on the vehicle speed obtained by averaging the vehicle speed obtained from the GPS and the vehicle speed obtained by the vehicle speed sensor 6 (vehicle speed pulse is read to calculate the vehicle speed), the calculation corresponding to the set drug application amount A per 10 ares of the field The flow rate control valve 73 is controlled so that the pressure value and the actual pressure H of the water discharge hose 66 coincide with each other, and the amount of chemical sprayed from the nozzles 45a and 45b of the booms 43 and 44 is changed. Even in this case, it is possible to stably spray the chemical spray amount A per 10 ares of the field.

  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. Perform spraying.

  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.

FIG. 8 shows a plan view of the medicine spraying work vehicle while turning on the shore (when turning left). The medicine spraying work vehicle turns straight from the straight running at the time of working (the straight running part (b) at the time of working), then goes straight once (the straight running part (b) at the time of turning), turns again, and then starts working again. .
In the medicine spraying work vehicle for spraying the medicine, when the turning angle is detected by the steering angle sensor 7 at the start of turning, that is, when it is detected that the turning operation is started, the side boom outside the turning is detected. 44 is provided with a control device 100 having a side boom raising function that automatically raises 44 by the upper and lower cylinders 29 (starts raising). Further, when the turning of the control device 100 is detected by the steering angle sensor 7 when the turning angle is equal to or larger than the second predetermined angle, that is, when it is detected by the steering angle sensor 7 that the turning operation is started again, this detection is performed. Then, after a predetermined time has elapsed, the side boom 44 on the outer side of the turn is automatically lowered by the upper and lower cylinders 29 (starts to descend). Depending on the state of the field (unevenness of the field scene, etc.) or when the driving operation is poor, a large handle operation may be performed again. Therefore, the predetermined time is a time until the straight traveling is stabilized, and is, for example, 5 seconds at the longest due to the relationship between spraying and vehicle speed (2 to 4 km / h).

  Since the side boom 44 outside the turning can be automatically raised or lowered at the start of turning or at the end of turning, the lifting operation of the side boom 44 can be performed without imposing a burden on the operator. In addition, by automatically lowering the side boom 44 outside the turn after a predetermined time has elapsed at the end of the turn, it is possible to lower the side boom 44 before the start of spraying the medicine at the end of the turn.

FIG. 9 shows a flowchart of the raising / lowering control of the side boom 44 in this case.
When the engine is started and the traveling of the medicine spraying vehicle is started, the control device 100 determines whether or not the medicine is being sprayed. This determination is performed by the flow rate sensor 74, and when the flow rate is greater than or equal to a predetermined amount (when the flow rate is detected), it is determined that the spray is being performed.

  When the chemical solution is being sprayed, the steering angle θ is detected by the steering angle sensor 7, and when this angle is equal to or larger than a predetermined angle (for example, 95 °), the turning direction is either the left side or the right side. That is, the steering angle sensor 7 determines that the side boom 44 on the outside of the turn is lifted, and the lift flag is set (turned on). When a normal position sensor is used as the steering angle sensor 7, a detection value of 0V to 5V is obtained, and by setting 2.5V to go straight, a left-right turn can be recognized. By setting the ascent flag, the side boom 44 on the outer side of the turn rises.

  Next, the steering angle θ is detected again by the steering angle sensor 7, and if this angle is equal to or larger than a predetermined angle (set to θ 2, for example, 100 degrees), the turning direction is again either the left side or the right side. If the direction is the same as that at the start of the previous turn, the lowering process of the side boom 44 outside the turn after a predetermined time (for example, about 5 seconds at the maximum due to the dispersion) has passed after the detection of θ2. To clear (turn off) the rising flag. If a direction different from the first turning direction is detected when the second turning direction is determined, the steering angle sensor 7 does not detect the steering angle θ, and the flow returns.

The determination angle θ1 at the start of turning and the determination angle θ2 at the end of turning may be the same angle or different angles.
By changing the steering angle θ of the front wheel 12 that serves as a reference for the turning angle at the start of turning and at the end of turning, the timing of raising and lowering the side boom 44 at the start and end of turning can be changed. For example, by setting θ2 to be larger than θ1, it is possible to perform fine lifting control such as delaying the lowering timing of the side boom 44 compared to the rising timing of the side boom 44, and workability is improved. .

  A descent time setting switch (or a button) 140 that can change the time from when the steering angle sensor 7 detects that the vehicle has entered the turning operation again to when the side boom 44 outside the turning is lowered is preferably provided. If the descent time setting switch 140 is provided on the controller panel 120, the operator can easily operate it.

  By changing the descent time of the side boom 44 outside the turn at the end of the turn, it is possible to set the time for lowering the side boom 44 according to the work situation such as the state of the field. For example, the steering handle 14 may be removed when the state of the field is poor and the road surface has many irregularities, and when the irregularity is severe, it takes time until the straight traveling is stabilized, so the descent time is lengthened.

The flowchart of the raising / lowering control of the side boom 44 in this case is shown in FIG.
This flow is the same as the flow shown in FIG. 9 until it is determined again that the turning direction is the left side or the right side when the steering angle θ detected by the steering angle sensor 7 is equal to or larger than θ2. is there. When the vehicle is steered in the same direction as the start of the previous turn, the input signal from the lowering time setting switch 140 is read and the time for lowering the side boom 44 is set. 44 is lowered.
With this configuration, the timing of lowering the side boom 44 can be controlled more finely.

  Further, since the medicine spraying work vehicle widely opens the side boom 44 in the left-right direction from the center of the machine body and sprays the chemical liquid, the chemical liquid can be sprayed over a wide area around the work vehicle. Therefore, since the distance between the straight traveling paths in the work traveling of the medicine spraying work vehicle is relatively large, when turning the shore, as shown in FIG. Then turn again to the left or right and turn around. In other words, in the case of a medicine spraying work vehicle, a U-turn is not performed with the steering wheel turned to the left or right like an ordinary car, and at the time of turning, a straight running state (straight forward part ( A)).

At this time (while turning), a third predetermined angle θ3 is set as the steering angle θ detected by the steering angle sensor 7 for determining straight traveling (this angle θ3 is also referred to as a neutral return angle). The control device 100 may be provided with a side boom lowering effective function that enables the side boom lowering function when the angle is equal to or smaller than a predetermined angle θ3 of 3.
By making the side boom 44 descend after the medicine spraying working vehicle that is turning once goes straight ahead, the determination at the end of turning of the medicine spreading work vehicle can be reliably performed.

The flowchart of the raising / lowering control of the side boom 44 in this case is shown in FIG.
This flow is the same as the flow shown in FIG. 9 until the side boom 44 on the outside of the turn is lifted and the lift flag is set (turned on).

  When the steering angle θ is detected by the steering angle sensor 7 and the steering angle θ at this time is equal to or smaller than θ3, the steering angle θ is detected again by the steering angle sensor 7, and the steering angle θ is equal to or larger than θ2. In this case, it is determined that the turning direction is either the left side or the right side.

  That is, after the steering angle sensor 7 raises the side boom 44 on the outside of the turn when the steering angle θ becomes equal to or larger than θ1, before the steering angle sensor 7 detects again whether the steering angle θ is equal to or larger than θ2. When it is not detected that the angle is equal to or smaller than θ3, the side boom 44 is not lowered even when the steering angle θ is equal to or larger than θ2.

In such a case, it is determined that the spraying work has been completed, not the spraying work travel. As shown in FIG. 8, there is a rectilinear portion (A) during the turn, so that it is confirmed that the steering angle detected by the rectilinear portion (A) is equal to or smaller than θ3.
Therefore, according to this configuration, it is possible to reliably perform the determination at the end of the turn during the spraying operation traveling.

  In addition, the control device 100 includes a neutral determination angle θ4 of the steering angle θ that is determined to be straight traveling, a first predetermined angle θ1 in the side boom raising function that is determined to be turning, and a second predetermined angle in the side boom lowering function. A memory (determination angle storage means) 102 for storing θ2 is provided. When the third predetermined angle θ3 is smaller than the turning determination angles (θ1 and θ2) stored in the memory 102 and larger than the neutral determination angle θ4, the side boom lowering function is enabled. Also good.

FIG. 12 shows images of the turning determination angles (θ1 and θ2), the neutral determination angle θ4, and the third predetermined angle θ3.
As described above, when the medicine spraying vehicle turns on the heel, it turns left or right and then goes straight, then turns left or right again and turns. The steering angle of the left and right front wheels 12, 12 is smaller than the steering angle when turning to the left or right, but slightly larger than the steering angle of normal straight traveling before the start of turning and after the end of turning.

  Therefore, as shown in FIG. 12, the third predetermined angle θ3 is set to an angle smaller than the turning determination angle (θ1 and θ2) and larger than the neutral determination angle θ4, thereby completing the turning at an appropriate steering angle θ. The time can be determined, and the side boom 44 can be lowered with good timing.

  On the other hand, even at the start of turning, if the steering angle sensor 7 detects that the steering angle θ is equal to or less than θ3, the side boom 44 outside the turning may be raised. That is, when the steering angle θ is equal to or smaller than θ3, the side boom raising function is enabled.

FIG. 13 shows a flowchart of the lifting control of the side boom 44 in this case.
This flow is different from the flow shown in FIG. 11 in the case where it is not detected that the steering angle θ is equal to or smaller than θ3 before the steering angle sensor 7 detects whether the steering angle θ is equal to or larger than θ1. Even in the case described above, the side boom 44 is not raised.
When the steering angle sensor 7 detects that the steering angle θ is equal to or smaller than θ3, the side boom 44 is lifted outside the turn, and the lift flag is set (turned on). Thereafter, the flow is the same as that shown in FIG.

  In the turning during the spraying work traveling, the work turns and reverses from the straight traveling state. Therefore, if the steering angle θ is not equal to or smaller than θ3 before the turning, it is not the spraying work traveling, for example, the movement to another place in the field. It is possible to move to another field. However, even at the start of turning, by determining whether or not the steering angle θ is equal to or smaller than θ3, it is possible to reliably perform the determination at the start of turning during the spraying operation traveling. In this case, since it is a turn from a straight traveling during work (a straight traveling part (b) during work), the neutral determination angle θ4 may be used as a reference. However, since the neutral determination angle θ4 is stored as a fixed value in the memory 102, the neutral return angle θ3 may be used.

  In this case as well, when the side boom 44 is lowered, θ3 is set to an angle smaller than the turning determination angle (θ1 and θ2) and larger than the neutral determination angle θ4, thereby turning at an appropriate steering angle θ. The determination at the start can be made, and the side boom 44 can be raised with good timing.

  9 is enabled when the vehicle speed obtained from the vehicle speed sensor 6 is within a certain range, and the vehicle speed obtained from the vehicle speed sensor 6 exceeds the certain value. It may be activated when

FIG. 14 shows a flowchart of the lifting control of the side boom 44 in this case.
When the engine is started and the traveling of the medicine spraying work vehicle is started, an input signal from the vehicle speed sensor 6 is read to calculate the vehicle speed. When the vehicle speed is within a certain range (about 1.5 km / h to 4.5 km / h), the steering angle sensor 7 detects the steering angle θ, and when this angle is equal to or greater than θ1, the turning direction is It is determined by the steering angle sensor 7 that it is either the left side or the right side, the side boom 44 on the outside of the turn is lifted, and the lift flag is set (turned on). Accordingly, the side boom 44 on the outer side of the turning is raised.
In the flow, since a spraying operation is a premise, the step of confirming whether or not the spraying operation is in progress is not shown, and only the main points are described.

  Next, the input signal from the vehicle speed sensor 6 is read again to calculate the vehicle speed. When the vehicle speed is not less than a certain value (for example, 1 to 1.5 km / h or less), the steering angle θ is detected by the steering angle sensor 7, and when the angle is equal to or greater than θ2, the turning direction is again on the left side or If it is determined that the position is on the right side and the direction is the same as that at the start of the previous turn, the side boom 44 on the outside of the turn is lowered after a predetermined time has elapsed after the detection of θ2, and the rising flag Is cleared (off).

  By determining the start and end of turning not only by the steering angle θ but also by the vehicle speed, it is possible to perform detailed control of raising and lowering the side boom 44. Further, even if the medicine spraying work vehicle is stopped by turning back or the like between the start of turning of the medicine spraying work vehicle and the end of turning, the lifting control of the side boom 44 can be continued.

  For example, it may be considered that the lift control state of the side boom 44 is cleared, such as when the medicine spreading work vehicle stops turning after the side boom 44 on the outside of the turn rises, Even when the medicine spraying work vehicle stops while turning, the lifting control of the side boom 44 can be continued.

  Then, after the rising flag is set, that is, after the side boom 44 on the outside of the turn is raised, even if the vehicle speed becomes a certain value or less, the rising flag is not reset, so that the judgment at the end of turning during the spraying operation traveling is performed. It can be done reliably. The end of turning is determined by determining the steering angle θ by the steering angle sensor 7 and going through a process of turning, going straight, turning in the same direction, and going straight. The condition for finishing the turn and lowering the side boom 44 is defined as the above condition.

According to this configuration, it is possible to prevent a problem even if the vehicle travels forward and backward during the turn, rather than reliably performing the determination at the end of the turn.
When performing the spraying operation while reciprocating in the field, when the forward spraying is finished and the return path is entered, after turning along the straight section (A) as shown in FIG. When finished, the side boom 44 on the outside of the turn is lowered. In the present configuration, the condition at this time is that the medicine spraying vehicle is within a predetermined speed range (about 1.5 km / h to 4.5 km / h). The reason for this speed range is that the vehicle speed at the time of turning travels at about 2 to 4 km / h, although it depends on the work situation, the field condition, and the skill of the driver.

  At this time, the forward / reverse switching may be repeated due to failure of the handle operation or unevenness of the farm scene. In this case, the medicine spraying work vehicle is temporarily stopped, and is out of the range of the condition (about 1.5 km / h to 4.5 km / h). As a result, the rising flag is released. Even if the turn is ended, the side boom 44 does not descend. In order to prevent such a problem, the rising flag is maintained even when the medicine spraying vehicle stops.

  Furthermore, when the raising flag is set (turned on) after the turning start determination, the raising flag may not be cleared until the turning is finished even if the side boom 44 is manually lowered. Normally, if the operator's manual operation is entered during the automatic lifting control of the side boom, this automatic lifting control will be cleared, and there will be a problem that the side boom will lower at the end of the turn. It can prevent the clearing of automatic lifting control.

  As shown in FIG. 4, when lift switches (for example, toggle switches) 142, 142 for manual operation of the left and right side booms 44, 44 are provided on the controller panel 120, the operator manually moves the left and right side booms 44, 44. Elevating operation is possible. The toggle switch is a control operation switch that moves the lever in the shape of a bat linearly up and down or left and right and mechanically transmits it to the contact part to open and close the electric circuit. say.

FIG. 15 shows a flowchart of the lifting control of the side boom 44 in this case.
This flow is illustrated in that the input signal from the manual elevating switch 142 is read after the ascent flag is set, and when there is an input (when the switch is on), an output corresponding to the operation of the manual elevating switch 142 is performed. This is different from the flow shown in FIG.

  For example, after the medicine spreading work vehicle starts turning and the side boom 44 on the outer side of the turning is raised by the side boom raising function, when the operator raises or lowers the manual raising / lowering switch 142, the side boom 44 corresponding to the manual operation is changed. Ascent and descent take place. For example, when the side boom 44 is lifted at a turn other than the maximum lift amount (set with a dial or the like as shown in FIG. 20), since the lift is only halfway, there is a short obstacle. There is a possibility of winning. In such a case, the side boom 44 is raised manually by the manual lift switch 142. If it is determined that it does not need to be raised so much, it is lowered manually.

When the steering angle θ detected by the steering angle sensor 7 is equal to or larger than θ2 and the vehicle is steered in the same direction as when the turn is started, the rising flag is cleared.
That is, when the side boom 44 on the outside of the turn is raised and the lift flag is on when the medicine spraying work vehicle is turning, manual operation by the manual lift switch 142 is accepted, but the lift flag is kept on. Therefore, the side boom 44 can be raised and lowered manually depending on the situation after the side boom 44 is raised.

  Then, when the manual operation of the operator by the manual up / down switch 142 is performed, the lowering time by the side boom lowering function at the end of turning is determined in consideration of the operation time of the raising and lowering of the side boom 44 at this time. It is good also as a structure. For example, if the manual up / down switch 142 is a toggle switch, the center is neutral. There is something to return. Some may not return to neutral even if you take your finger off the switch.

  After the medicine spreading work vehicle starts turning and the side boom 44 is raised by the side boom raising function, when the operator raises or lowers the manual lifting switch 142, the operation time is measured, and the medicine spreading work vehicle Compare with the time taken for automatic ascent (by side boom ascent function) at the start of turning. The lowering output time of the side boom 44 at the end of turning is determined by comparing the operation time with the time of automatic ascent. The automatic ascending time can also be obtained by subtracting the manually operated time from the basic time from when the side boom 44 starts to rise until it stops.

FIG. 16 shows a flowchart of the lifting control of the side boom 44 in this case.
This flow is different from the flow shown in FIG. 15 in that the input signal from the manual elevating switch 142 is read after the rising flag is set, and the operation is validated when there is an input (when the switch is on). Although it is the same, it is different in that the lowering time by the side boom lowering function at the end of turning is determined in consideration of the operation time of the manual lifting switch 142.

  When the medicine spreading work vehicle starts turning, the side boom 44 is raised by the side boom raising function, but when the operator lowers the manual lift switch 142 after the raising, the side boom 44 is lowered. Then, the operation time is measured, and the time required for the automatic ascent at the start of the turn and the time required for the side boom 44 to descend at the end of the turn are calculated from the operation time.

When the steering angle θ detected by the steering angle sensor 7 is equal to or larger than θ2 and the vehicle is steered in the same direction as when the turn is started, the lowering process of the side boom 44 on the outside of the turn is performed, and the lift flag is cleared. (Off).
At this time, the side boom 44 on the outside of the turn is automatically lowered by the upper and lower cylinders 29 after a predetermined time has elapsed after the detection of θ2 by the side boom lowering function of the control apparatus 100. And

For example, it is assumed that it takes 10 seconds to automatically raise the side boom 44 outside the turning at the start of turning. If the operation time is 4 seconds, the side boom 44 on the outer side of the turn is lowered over 6 seconds obtained by subtracting 4 from 10 at the end of the turn.
Since the raising speed and the lowering speed of the side boom 44 are the same, in order to make the boom height at the time of spraying work uniform, the time for the side boom 44 to move up from the lowered position (height at the time of working) to the raised position, The time required for the side boom 44 to return from the raised position to the lowered position needs to be the same.

  When the turn is started, the side boom 44 on the outer side of the turn is raised by the side boom raising function, but the set raised position is not necessarily the maximum raised position (maximum position where it can be raised). In some cases, it is possible to further raise by a raising operation (manual operation by the operator).

  Therefore, it is conceivable that the manual elevating switch 142 is raised even after the side boom 44 outside the turning is raised by the side boom raising function after the turning is started. When this raising operation is performed for 5 seconds, if the automatic raising time is 10 seconds, the side boom 44 is raised by 10 plus 5 for 15 seconds. Therefore, at the end of the turn, when the side boom 44 outside the turn is lowered over 15 seconds, which is the automatic rise time 10 seconds plus the operation time 5 seconds, the side boom 44 automatically returns to the height position before the rise. Further, when the side boom 44 is lowered manually for 5 seconds by the manual lift switch 142 after the side boom 44 is lifted, a 5-second downward instruction is issued at the end of turning.

  With this configuration, the side boom lowering function is effective even if the operator manually operates the manual lift switch 142 after the medicine spraying vehicle starts turning, so that the side boom 44 can be surely lowered after the turning is completed. it can. Also, an appropriate descent time is set by determining the time required for the side boom 44 to descend at the end of the turn from the time taken for the automatic rise of the side boom 44 at the start of the turn and the manual operation time of the manual lift switch 142. it can. If the side boom 44 does not return to the original place, it is inappropriate and proper spraying work cannot be performed.

  Further, when the control device 100 recognizes the start of turning and automatically raises the boom of the side boom 44, if manual operation by the manual elevating switch 142 is performed during the raising, the manual operation is prioritized (raised or lowered). The rising flag may be kept on. When the control device 100 recognizes the end of turning in such a state, the raising flag is turned off and the side boom 44 is not automatically lowered.

  Further, when the manual operation of the operator by the manual elevating switch 142 is performed while the side boom 44 on the outer side of the turn is raised by the side boom raising function, the manual boom is turned on to invalidate the side boom raising function, When the manual operation of the operator by the manual elevating switch 142 is performed while the side boom 44 on the outer side of the turn is being lowered by the lowering function, the manual boom operation may be enabled and the side boom lowering function may be disabled.

  By enabling manual operation by the manual elevating switch 142 while the side boom 44 is being raised at the start of turning or while the side boom 44 is being lowered at the end of turning, malfunction of the side boom 44 can be prevented. That is, since manual operation is prioritized, the side boom 44 can be lifted and lowered with the operator's intention, and the operability is excellent. Also, since manual priority has been given once, it will malfunction if it is lowered automatically.

FIG. 17 shows a flowchart of the lifting control of the side boom 44 in this case.
This flow is different from the flow shown in FIG. 15 in that the input signal from the manual elevating switch 142 is read after the rising flag is set, and the operation is validated when there is an input (when the switch is on). The same.

FIG. 15 is a flow when the manual lift switch 142 is operated after the side boom 44 on the outer side of the turn is raised by the side boom raising function. FIG. 17 is a flowchart of the operation of the side boom 44 on the outer side of the turn by the side boom raising function. FIG. 15 is different from FIG. 15 in that the flow is performed when the manual elevating switch 142 is operated during ascending.
Therefore, the flow of FIG. 17 describes a step of stopping the boom automatic raising process because there is a manual operation while the side boom 44 is raised.

  If the manual operation of the operator by the manual elevating switch 142 is performed while the side boom 44 on the outside of the turn is being raised by the side boom raising function, the manual operation is prioritized and the side boom 44 is raised or lowered. On the other hand, the side boom raising function is disabled. In addition, when there is no manual operation of the operator by the manual raising / lowering switch 142, the side boom raising function remains effective.

  Further, if the manual operation of the operator by the manual elevating switch 142 is performed while the side boom 44 on the outside of the turn is being lowered by the side boom lowering function, the manual operation is prioritized and the side boom 44 is raised or lowered. On the other hand, the side boom lowering function is disabled. Note that when there is no manual operation by the operator using the manual lift switch 142, the side boom lowering function remains valid.

  With this configuration, erroneous operations from the start of turning to the end of turning can be prevented. That is, since manual operation is prioritized, the side boom 44 can be lifted and lowered with the operator's intention, and the operability is excellent. Also, since manual priority is given once, it will malfunction if the automatic function is activated.

  In addition, manual operation by the manual elevating switch 142 is prioritized while the side boom 44 is raised (the boom automatic ascent process is stopped), but the time during which the side boom 44 is raised or lowered while the side boom 44 is raised is counted. It is good also as a structure memorize | stored in the memory 102 and making it fall automatically in consideration of the counted manual time, when making it fall automatically after completion | finish of turning.

FIG. 18 shows a flowchart of the lifting control of the side boom 44 in this case.
This flow is different from the flow shown in FIG. 16 in that after the rising flag is set, an input signal from the manual elevating switch 142 is read, and when there is an input (when the switch is on), the operation is validated. This is the same in that the descent time by the side boom descent function at the end of turning is determined in consideration of the operation time of the up / down switch 142.

FIG. 16 is a flow when the manual lift switch 142 is operated after the side boom 44 on the outside of the turn is raised by the side boom raising function. FIG. 18 shows the flow of the side boom 44 on the outside of the turn being raised by the side boom raising function. This is a flow when the manual lift switch 142 is operated.

  For example, if the manual lift switch 142 is used for the lowering operation 10 seconds after starting the automatic raising of the side boom 44 outside the turning at the start of turning (while the side boom 44 is being raised), the manual operation is given priority. "Boom automatic ascent process canceled". When the lowering operation time is 4 seconds, the side boom 44 on the outer side of the turn is lowered over 4 seconds. Further, when the steering angle θ detected by the steering angle sensor 7 is equal to or larger than θ2 and the vehicle is steered in the same direction as when the turn is started, the lowering process of the side boom 44 on the outside of the turn is performed, and the lift flag is cleared ( Off).

  At this time, the side boom 44 on the outside of the turn is automatically lowered by the upper and lower cylinders 29 after a predetermined time has elapsed after the detection of θ2 by the side boom lowering function of the control device 100. 6 seconds minus seconds. That is, at the end of turning, the side boom 44 on the outside of the turn is lowered over 6 seconds obtained by subtracting 4 from 10.

  On the other hand, as described above, it is also conceivable to perform a lifting operation by the manual lift switch 142 while the side boom 44 is rising at the start of turning. When the raising operation time is 5 seconds, the side boom 44 is further raised for 5 seconds. When the side boom 44 on the outside of the turn is lowered by the side boom lowering function, if the side boom 44 is lowered for 15 seconds by adding the operation time of 5 seconds to the automatic ascent time of 10 seconds, the side boom 44 is raised to the height before being raised. Automatically return to position.

  As described above, this configuration is the content of the manual operation while the side boom 44 is being lifted, and the time from when the side boom 44 starts to lift until the manual operation is started is S1, and then the manual operation is performed. The time spent. If the operation time for manual ascent is S2, the time for automatically descending is S1 + S2. If the operation time for manual lowering is S3, the time for automatic lowering is S1-S3.

  With this configuration, even when the manual lifting switch 142 is manually operated while the side boom 44 is being raised by the side boom raising function, the automatic lowering control at the end of turning by the side boom lowering function is possible, and the operability is improved. To do.

  In addition, if the lifting operation by the manual lifting switch 142 is performed before the start of turning of the medicine spraying work vehicle, this manual operation is validated, and further, the lifting operation by the manual lifting switch 142 is performed at the start of turning when the steering angle θ is equal to or greater than θ1. If performed, the side boom raising function may be disabled.

  Since the side boom 44 on the outer side of the turn is raised by the raising operation of the manual lift switch 142, the side boom raising function can prevent the side boom from being raised more than necessary. At this time, the side boom lowering function is also stopped, so that it is possible to prevent a malfunction in which the lowering position of the side boom 44 is inappropriate at the end of turning by the side boom lowering function.

FIG. 19 shows a flowchart of the lifting control of the side boom 44 in this case.
When the engine is started and the traveling of the medicine spraying vehicle is started, the control device 100 determines whether or not the medicine is being sprayed. When the chemical solution is being sprayed, the steering angle θ is detected by the steering angle sensor 7, but the ascending operation by the manual elevating switch 142 is performed even before the turning is started (before θ 1 is detected). Makes the operation effective and raises the side boom 44 on the outside of the turn.

  Then, after confirming that the lift flag is set when the steering angle θ is equal to or greater than θ1 and the medicine spraying vehicle starts turning, the side boom lift function is disabled, the lift operation by the manual lift switch 142 is enabled, and the side The boom 44 is raised.

In this flow, “No” is entered in the question “Is there a rising flag set?” After the steering angle θ becomes equal to or greater than θ1, but before that, the manual lifting switch 142 performs the lifting operation. Therefore, the rising flag is set. Therefore, the question does not proceed to No, and “No” is entered for convenience from the flow of the flow.
With this configuration, the raising operation of the side boom 44 can be arbitrarily performed by the operator, and unnecessary raising can be suppressed.

  An automatic switch 145 for raising and lowering the side boom 44 may be provided, and the switch 145 may be a multistage rotary switch or volume switch. Unlike the manual switch (manual lift switch 142), this is a switch for automatic lift control of the side boom 44, and can change the above-described lift time.

FIG. 20 shows an example of the automatic lift switch 145.
As it is turned to the right, the time for raising and lowering the side boom 44 becomes longer. The numbers around the automatic lift switch 145 are not the number of seconds indicating the rising time, but the position when rotated to the right to the maximum is the position of about 5, and the rising time and falling time are maximized. That is, the side boom 44 is raised to the maximum ascending position. The numerical value of the dial is obtained by dividing the rising amount of the side boom 44 into five stages. The time may be displayed, or the angle of the side boom 44 may be displayed.

FIG. 21 shows a flowchart of the lifting control of the side boom 44 in this case.
When the engine is started and the flow is started, the input signal from the automatic lift switch 145 is read, and when there is an input from the automatic lift switch 145 (when the switch is on), the rising time of the side boom 44 at the start of turning Set. The lowering time of the side boom 44 at the end of turning automatically becomes the same time.

  For example, when the automatic elevating switch 145 is turned to the maximum on the right side, the automatic ascent time becomes 10 seconds. When the position is set to 4, the ascending time and the descending time of the side boom 44 outside the turn are about 8 seconds. Since the ascending speed and the descending speed of the side boom 44 are the same, the ascending position is lower than the case of 10 seconds.

Depending on the operator, the traveling speed of the medicine spraying vehicle may be different, and if it is traveling at a high speed and it is lowered for 10 seconds at the end of the turn, the turn is completed and the vehicle is running straight. Nevertheless, it is assumed that the side boom 44 has not yet been lowered. Since the medicine is sprayed after the side boom 44 has been lowered, in such a case, there may be a place where the medicine cannot be sprayed in the straight traveling section after the end of the turn.
However, since the side boom 44 descends earlier by setting the ascending time and the descending time of the side boom 44 outside the turn to be small, such a problem does not occur.

On the other hand, when traveling at a slower speed, the side boom 44 can be slowly lowered in accordance with the end of the turn by setting the time for raising and lowering the side boom 44 outside the turn longer.
With this configuration, the ascending time and the descending time of the side boom 44 on the outside of the turn can be changed, so that the operability and workability of drug spraying can be improved, and the time can be set according to the difference between operators and the work situation.

  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 that sprays 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 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 Pilot's seat 18 Chemical liquid tank 19 Spreading boom 21 Support frame 23 Post 24 Upper link 25 Lower link 27 Lift cylinder 26 Cylinder mounting post 28 Solenoid valve with hydraulic tank 29 Upper and lower cylinders (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 (5)

A chemical tank (18) for storing the chemical,
A center boom (43) for spraying the chemical solution from the chemical solution tank (18) to the field, and side booms (44) arranged on the left and right of the center boom,
Vehicle speed detection means (6) for detecting the rotational speed of the wheels (12 and / or 13);
Upper and lower cylinders (29) for moving the left and right side booms (44) up and down,
Steering angle detection means (7) for detecting the steering angle of the left and right wheels (12);
A control pump (65) for discharging a chemical solution provided in a chemical flow path between the chemical solution tank (18) and the chemical spraying boom (43, 44), and a chemical solution on the downstream side from the installation location of the control pump (65) In the medicine spraying work vehicle provided with the chemical liquid flow rate adjustment valve (73) for adjusting the discharge pressure of the chemical liquid provided in the flow path,
A flow rate control motor (10) for opening and closing the chemical flow rate control valve (73);
The discharge pressure of the control pump (65) is calculated from the relationship between the vehicle speed obtained by the vehicle speed detection means (6) and the predetermined amount of medicine sprayed per unit area (A), and matches the calculated discharge pressure. In addition, the medicine spraying function for adjusting the opening of the chemical flow rate control valve (73) by the flow rate control motor (10) and the steering angle (θ) by the steering angle detection means (7) at the start of turning are a first predetermined angle. In the above-described case, the side boom raising function for automatically raising the side boom (44) outside the turning, and the steering angle (θ) by the steering angle detecting means (7) at the end of turning are equal to or greater than the second predetermined angle. And a control device (100) having a side boom lowering function for automatically lowering the side boom (44) outside the turning after a predetermined time has elapsed after detecting the turning angle. Drug dispersion work vehicle.   The medicine spraying operation according to claim 1, further comprising a descent time changing means (140) capable of changing the predetermined time for lowering the side boom (44) outside the turn by the side boom lowering function. car.   The control device (100) is configured such that the steering angle (θ) by the steering angle detection means (7) once becomes equal to or less than a third predetermined angle after the side boom (44) outside the turn by the side boom raising function starts to rise. 2. The medicine spraying work vehicle according to claim 1, further comprising a side boom lowering effective function for determining that the vehicle is traveling straight while turning and enabling the side boom lowering function.   The medicine spraying work vehicle according to claim 1, wherein the first predetermined angle in the side boom raising function and the second predetermined angle in the side boom lowering function are different angles. The control device (100) has a neutral determination angle of the steering angle (θ) determined by the steering angle detection means (7) determined to be straight traveling before the start of turning and after the end of turning, and the side boom raised to determine that the vehicle is turning. A determination angle storage means (102) for storing a first predetermined angle in the function and a second predetermined angle in the side boom lowering function;
The third predetermined angle in the side boom lowering effective function is larger than the neutrality determination angle stored in the control device (100), and smaller than the first predetermined angle and the second predetermined angle. The drug spray work vehicle according to claim 3, wherein the drug spray work vehicle is provided.

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