JP2013247886A - Spray system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To efficiently control the time necessary for spraying or the spray amount according to the state of objects of spreading.SOLUTION: A spray system 1 includes: markers 2 which are arranged between or on the sides of ridges; and a self-propelled spray apparatus 3 which detects the markers 2 and runs and sprays between the ridges on the basis of them. The self-propelled spray apparatus 3 includes: a travelling truck 23 which has driving wheels 22 driven by a wheel drive means 21 and runs between the ridges; a spray means 24 which is mounted on the travelling truck 23; a marker detection means 25 which detects the markers 2; and a control means 26 which controls the wheel drive means 21 and the spray means 24. The control means 26 is so constructed that it changes the control state of the wheel drive means 21 or/and the spray means 24 when a marker 2 is detected by the marker detection means 25.

Description

The present invention relates to a spray system for self-propelled between crop ridges and for fertilizing, controlling, and irrigating crops and fields.

  As a conventional spray system, the agricultural robot apparatus described in Patent Document 1 is exemplified. As shown in FIG. 9, this apparatus is provided with a working mechanism 105 operated by electric power, a moving mechanism and a working mechanism for supplying electric power to a carriage 104 having a moving mechanism capable of moving in a linear direction. An agricultural robot 120 equipped with a power drum 107 that houses a power cable 106, and a control device 108 that moves the power cable out of or from the power drum in conjunction with the movement of the moving mechanism; The agricultural robot is mounted, and a moving carriage 121 that reciprocates in a direction crossing the linear direction of the carriage is connected.

JP 2010-233459 A

  However, in the conventional agricultural robot apparatus, the traveling speed of the agricultural robot 120 from the beginning to the end of the ridge is constant, and the state of the object to be sprayed (the state of occurrence of pests and fungi on the object to be sprayed, There is a problem that it is not possible to control in accordance with the growth status of the plant, and the control is not sufficient.

In order to solve the above problems, the spray system of the present invention comprises:
A marker disposed on the side of the intercostal space or the side thereof,
A self-propelled sprayer that detects the marker, travels between the furrows and sprays based on the marker,
The self-propelled sprayer includes a traveling carriage having driving wheels driven by wheel driving means and traveling between the furrows;
Spraying means mounted on the traveling carriage;
Marker detection means for detecting the marker;
Control means for controlling the wheel driving means and the spraying means,
The control means is configured to change the control state of the wheel drive means and / or the spray means when a marker is detected by the marker detection means.

Although it does not specifically limit as said marker and said marker detection means, The following aspect is illustrated.
(1) The marker has a permanent magnet as the detected element, and the marker detecting means is configured to detect a magnetic field from the permanent magnet. (2) The marker is the detected element. It has a metal piece as an element, The marker detection means is an aspect comprised so that the electrostatic capacitance by this metal piece might be detected.
(3) The marker has an RFID (Radio Frequency IDentification) tag as the detected element, and the marker detection means is configured to detect the RFID tag by communication with the RFID tag.

  The mode of changing the control state of the wheel driving means is not particularly limited, but the wheel driving is performed so as to start running, stop running, change the running direction, or change the running speed. The aspect which changes the control state of a means is illustrated. The mode of changing the control state of the spraying means is not particularly limited, but the control state of the spraying means is changed so as to start spraying, stop spraying, or change the spray amount. An embodiment is illustrated.

  According to this configuration, by arranging the marker according to the state of the object to be sprayed from the start end to the end of the basket, the spray state of the self-propelled sprayer according to the state The running state can be controlled. Thereby, the time and amount of spraying required for spraying can be controlled efficiently.

As the spray system,
The marker is a detected element for causing the marker detection means to detect the presence of the marker,
A holder for holding the detected element;
A locking portion provided on the bottom surface of the holder portion for locking the holder portion to the ground;
The aspect provided with the label part which represented the presence of this marker visually distinguishable from the upper part is illustrated.

  According to this configuration, the marker can be locked to the ground by the locking portion, and the presence of the marker can be visually identified from above by the label portion, Loss of the marker can be prevented.

As the spray system,
There are multiple types of markers,
The said marker detection means illustrates the aspect comprised so that the kind of this marker could be identified.

Although it does not specifically limit as said multiple types of marker, The following aspect is illustrated.
(1) A mode for controlling a travel start operation, a travel stop operation, a reversing operation or a travel speed for the wheel driving means.
(2) An aspect for controlling a spray start operation, a spray stop operation, or a spray amount with respect to the spray means.
(3) A mode in which the operations of (1) or / and (2) are appropriately combined.

  According to this configuration, the control state can be changed to a plurality of types according to the type of the marker, and the self-propelled sprayer can be finely controlled.

As the spray system,
The said marker detection means illustrates the aspect arrange | positioned in the vicinity of the spray nozzle in the said spray means by planar view.

  According to this configuration, since it is not necessary to consider a shift in the position of the marker detection unit and the spray nozzle, it is only necessary to start spraying simultaneously with the detection of the marker, and the control of the spray unit can be configured simply. .

As the spray system,
The said self-propelled sprayer illustrates the aspect provided with the state display means visually recognizable from the front or / and the back which displays a driving | running | working direction and a driving | running | working speed or / and a spraying amount, respectively.

  According to this configuration, the traveling direction, the traveling speed or / and the spray amount can be observed from the front or / and the rear of the self-propelled sprayer, and the operation status of the self-propelled sprayer is observed from, for example, the heel end. can do.

  The spray system according to the present invention has an excellent effect that the time and amount of spray required for spraying can be efficiently controlled in accordance with the state of the object to be sprayed from the start end to the end of the bag. .

It is a side view of a self-propelled sprayer and a marker in a spray system concerning a first embodiment which materialized the present invention. It is a front view of the self-propelled sprayer and a marker. It is a block diagram which shows the control system of the spray system. It is a top view which shows the operation means and state display means of the self-propelled sprayer. It is a figure which shows the marker, (a) is a sectional side view, (b) is a top view of the thing of N pole, (c) has shown the top view of the thing of S pole, respectively. It is a top view which shows the operation example of the spray system. It is a timing chart which shows the operation example of the spray system. It is a top view which shows the spraying system which concerns on 2nd embodiment which actualized this invention. It is a top view which shows the conventional spray system.

  FIGS. 1-7 has shown the spraying system of 1st embodiment which actualized this invention, and the arrow F has pointed out the body front side in each figure. The spray system 1 includes a marker 2 disposed in or between the ribs, and a self-propelled sprayer 3 that detects the marker 2 and travels and sprays the ribs based on the marker 2.

  As shown in FIG. 5, the marker 2 has a plate-like permanent magnet 11 as a detected element for causing the marker detection means 25 (described later) to detect its presence, and a holder portion 12 that holds the permanent magnet 11. The push shaft 13 as a locking portion provided on the bottom surface of the holder portion 12 for locking the holder portion 12 to the ground, and the presence of the marker 2 are visually identifiable from above. And a label portion 14. The holder part 12 and the push-in shaft 13 are integrally formed of resin. The edge of the holder part 12 which covers the side surface of the permanent magnet 11 may or may not be provided, and the permanent magnet 11 and the holder part 12 are fixed by a fixing means such as an adhesive or an adhesive tape. The push-in shaft 13 is inserted into the ground and has a pointed shape and a certain length as a stopper. The reason why the marker 2 is configured in this way is that (1) the marker 2 is inserted into the ground in an actual field and used for good workability and can be prevented from being lost. (2) The marker 2 is repeated This is because it can be used for the control of, and it is safe if it is inserted so that it will not be lost. There are two types of markers 2, one with the N pole of the permanent magnet 11 on the surface side, and the other with the S pole on the surface side. The former is for controlling the running speed with respect to the wheel drive means 21 (described later). Alternatively, and / or for controlling the spray amount for the spray means 24 (described later), the latter for controlling the stop operation or the reversing operation for the wheel drive means 21 (described later). A label portion 14 is fixed on the surface of the permanent magnet 11, and the magnetic pole may be expressed by a color or a character indicating the magnetic pole may be printed. Although the label part 14 of this example is not specifically limited, it illustrates that the N pole is expressed in red and the S pole is expressed in light blue. Accordingly, there is an advantage that the polarity can be easily discriminated without looking at the characters only by the color. The shape of the permanent magnet 11 is not particularly limited, and a shape such as a circle or a rectangle can be appropriately employed.

  As shown in FIGS. 1 to 3, the self-propelled sprayer 3 includes a traveling carriage 23 that has driving wheels 22 driven by wheel driving means 21 and travels between the furrows, and a spray mounted on the traveling carriage 23. Means 24; marker detection means 25 for detecting the marker 2; control means 26 for controlling the wheel drive means 21 and the spray means 24; operating means 27 for operating the running operation and the spraying operation; A state display means 28 for displaying the state and a storage battery 29 as a power source for driving each of these means are provided.

  The traveling cart 23 has a four-wheel drive wheel 22 on a traveling frame. The drive wheel 22 is configured to rotate at a required rotational speed by a drive motor 21a and a drive chain 21b as wheel drive means 21. The traveling carriage 23 of this example does not have a steering device, and is configured to travel along a recess between the furrows. The traveling carriage 23 is manually moved when changing, and a handle 30 is provided to operate the carriage 23 manually.

  The spray means 24 is mounted on the front end of the traveling carriage 23. In this example, 5 spray nozzles 31 are installed on one side and 10 on both sides, and can be sprayed on both sides. The chemical solution supplied from the chemical solution tank 40 and pressurized by the pump 32 is supplied from the hose 33 to the spray nozzle 31.

  The marker detection means 25 is arranged in the vicinity of the spray nozzle 31 in the spray means 24 in a plan view and in the vicinity of the ground in a side view, and by detecting the magnetic force of the marker 2 grounded to the ground, It is a magnetic detector that detects the type of the marker 2 (N pole or S pole) in an identifiable manner.

  As shown in FIG. 4, the operation means 27 includes a start button 35, a stop button 36, a forward button 37, a reverse button 38, and a speed knob 39. The operation of the self-propelled sprayer 3 can be performed by operating the Start button 35 and the Stop button 36, and the Stop button 36 also has an emergency stop function. The traveling direction can be selected with the forward button 37 and the reverse button 38. The speed adjustment at the time of traveling is adjusted according to the purpose of control by the speed knob 39, and the vehicle usually travels in a constant high speed traveling mode. The low-speed driving mode in the furrow is usually set to about half the speed of the high-speed driving mode, but it can be adjusted according to the situation.

  As shown in FIG. 4, the state display means 28 includes a forward lamp 41, a reverse lamp 42, and a slow lamp 43 for displaying the traveling mode. The purpose of providing this traveling mode lamp is that the length of the cocoon U is usually 50 m to 100 m in house cultivation, the far end is far away and the self-propelled sprayer 3 goes to the end of the culm, This is because it is difficult to observe conditions such as the presence or absence of anomalies, so this observation is facilitated. For this reason, in this example, by assigning three large high-intensity lamp colors to each of the forward lamp 41, the reverse lamp 42, and the slow lamp 43, the forward and backward travel is performed even from a distance behind the self-propelled sprayer 3. This makes it possible to observe the distinction between running in the low-speed running mode. If there is an abnormality in the self-propelled sprayer 3, one or more lamps may be configured to blink.

  As shown in FIG. 3, the control means 26 is configured using a microcomputer. As shown in FIG. 3, the control means 26 includes a control circuit 26a, a motor drive circuit 26b, and a valve drive circuit 26c. The control means 26 includes signals such as a mode switching button (forward button 37, reverse button 38) for operating the self-propelled sprayer 3, a speed knob 39 for switching the traveling speed, a Start button 35, a Stop button 36, and the like. Signals such as a marker detection signal from the marker detection means 25 and a detection signal from the collision prevention detection means 44 to the saddle U are optimally processed to display the drive motor 21a, the status display means 28, drive the electromagnetic valve 45, etc. Control is performed. The chemical solution is supplied to the spray nozzle 31 by controlling a predetermined chemical solution dilution with the electromagnetic valve 45 by the pump 32. The spray amount from the spray nozzle 31 is set to an optimum spray amount by adjusting the pressure of the pump 32, and on the self-propelled sprayer side, only the opening / closing operation of the electromagnetic valve 45 is controlled. The control means 26 of this example is configured to change the control state of the wheel drive means 21 and / or the spray means 24 when the marker 2 is detected by the marker detection means 25 as shown in the following description of the operation.

Next, with reference to FIG. 6, the operation of the self-propelled sprayer 3 of this example in the field will be described. In house cultivation such as house, shaping of cocoon U is done, and crops (cucumber, eggplant, bell pepper, etc.) are planted in cocoon U. The chemical liquid pressurized by the pump 32 is supplied to the self-propelled sprayer 3 of this example through the hose 33. The hose 33 is guided without great resistance by a hose routing roller 46 or the like installed for each kite U. The self-propelled sprayer 3 travels while pulling the hose 33. When it reaches the end of the kite, spraying is stopped and the rotational drive of the drive wheel 22 is reversed, and the vehicle travels backward while straddling the hose 33 and returns to the start of the kite.
In this example, it is assumed that pests or fungi are abnormally generated between points A and B in the travel route of the self-propelled sprayer 3 between the furrows. Marker 2 (N pole) is installed at each of these points while confirming the state of occurrence of this pest or the like in advance before controlling. Moreover, the marker 2 (S pole) for detecting the inversion timing and stop timing of the self-propelled sprayer 3 is installed at the start end and the end of each basket U. The self-propelled sprayer 3 detects these markers 2 with the marker detection means 25, so that the self-propelled sprayer 3 not only reciprocates from the heel end to the heel end but also between the point A and the point B. By slowing the traveling speed (that is, the low-speed traveling mode) than the traveling speed (that is, the normal spray amount in the high-speed traveling mode), the plant is sufficiently sprayed.

  FIG. 7 shows the traveling state of the self-propelled sprayer 3 according to the output of the marker detection means 25 that detects the signal of the marker 2 in the case of FIG. Basically, when traveling, the electromagnetic valve 45 is opened so as to be in a spray state. Here, as an example, the traveling speed represents movement in a high-speed traveling mode (High) in which the traveling speed is normal and a low-speed traveling mode (Slow) in which the speed is slower than usual. Even if marker 2 (S pole) is detected at the start of forward travel, it is ignored and travel is started in the high speed travel mode. During forward travel, the first marker 2 (N pole) detects the travel speed, and the next marker 2 (N pole) detects the normal high speed travel mode. As described above, the high-speed driving mode and the low-speed driving mode are switched every time the marker 2 (N pole) is detected. When the marker 2 (S pole) is detected during forward travel, spraying is stopped and the rotational driving of the drive wheel 22 is reversed to reverse travel. In this example, in the backward path by reverse travel, the marker 2 (N pole) is detected in the same manner as the forward path, but the marker 2 is ignored and travels at a normal speed High. When the marker 2 (S pole) is detected during reverse travel, the rotational drive of the drive wheel 22 is stopped. As described in detail above, in the present spray system 1, the traveling speed changes when the self-propelled sprayer 3 detects the marker 2 (N pole), and the spray stop and drive are detected when the marker 2 (S pole) is detected. A series of sequences is configured so as to perform an operation of reversing the rotational drive of the wheels. Needless to say, a large number of markers 2 (N poles) may be arranged between the furrows. Moreover, it is good also as a structure which replaced the role of the marker 2 (N pole) and the marker 2 (S pole).

  According to the spray system 1 of the present example configured as described above, the marker 2 is disposed in accordance with the state of the object to be sprayed between the heel end and the heel end, and accordingly, according to the state. Thus, the spraying state and traveling state of the self-propelled sprayer 3 can be controlled. Thereby, the time required for spraying and the amount of agricultural chemicals used can be controlled efficiently.

  The marker 2 includes a permanent magnet 11, a holder part 12, a push-in shaft 13 and a label part 14. According to this configuration, the marker 2 can be locked to the ground by the push-in shaft 13, and the presence of the marker 2 can be visually identified from above by the label portion 14. Loss of the marker 2 can be prevented.

  In addition, there are a plurality of types of markers 2, and the marker detection means 25 is configured to detect the types of the markers 2 in an identifiable manner. According to this structure, according to the kind of this marker 2, the control state of each part by the control means 26 can be changed into multiple types, and the self-propelled sprayer 3 can be finely controlled.

  The marker detection means 25 is disposed in the vicinity of the spray nozzle 31 in the spray means 24 in plan view. According to this configuration, since it is not necessary to consider the positional deviation between the marker detection means 25 and the spray nozzle 31, it is sufficient to start spraying simultaneously with the detection of the marker 2, and the control of the spray means 24 can be configured simply. .

  The self-propelled sprayer 3 includes a state display unit 28 that displays the traveling direction and the traveling speed, and is visible from the rear. According to this configuration, the traveling direction and the traveling speed can be observed from behind the self-propelled sprayer 3, and the operation state of the self-propelled sprayer 3 can be observed from the beginning.

  Next, FIG. 8 shows a second embodiment that embodies the present invention. This spray system 51 is mainly different from the first embodiment in the following points. Accordingly, portions common to the embodiment are given the same reference numerals, and redundant description is omitted.

  In the spray system 51 of the present example, the self-propelled sprayer 53 can only travel forward, and the drive wheels 22 are configured to transmit driving force only in the forward drive direction by the one-way clutch. For detecting the end of the soot, a reversing plate 54 is provided at the end of the soot instead of the marker 2 (S pole), and this is a contact detecting means (not shown) such as a microswitch provided at the front end of the self-propelled sprayer 3. ) And the self-propelled sprayer 3 is stopped.

  Moreover, the spray system 51 of this example is provided with a changer 55 for moving the self-propelled sprayer 53 in the heel width direction at the heel end. This resurfacing machine 55 includes a body 56 configured to be movable in the width direction, and the body 56 includes a lifting platform 57 configured to be able to mount the self-propelled sprayer 3, and a self-propelled spray. And a hose winding device 58 for discharging and winding the hose 33 for supplying the chemical liquid to the machine 3. The airframe 56 is configured to detect the position of the intercostal space by detecting an intercostal space detection marker 59 by marker detection means (not shown). The intercostal detection marker 59 and the marker detection means for detecting it are configured in the same manner as the marker 2 and the marker detection means 25 of the first embodiment. The elevator 57 is lowered when the airframe 56 stops between the soots, and the self-propelled sprayer 3 can enter and exit. When the airframe 56 moves in the eaves width direction, the mounted self-propelled sprayer 3 Is configured to raise. When the self-propelled sprayer 3 travels forward, the hose take-up device 58 allows the hose 33 to be pulled out freely according to the advancement, and when the self-propelled sprayer 3 stops at the end of the rod, the hose 33 is wound up. Thus, the self-propelled sprayer 3 is configured to be pulled back to the lifting platform 57. In the spray system 1 of the present example, the soot switching is automated by configuring in this way.

  Also by the spray system 51 of this example, the same effect as 1st embodiment can be acquired.

In addition, this invention is not limited to the said embodiment, For example, it can also be suitably changed and embodied as follows, for example in the range which does not deviate from the meaning of invention.
(1) The marker 2 has a metal piece as the element to be detected, and the marker detection means 25 is configured to detect a capacitance due to the metal piece.
(2) The marker 2 has an RFID tag as the detected element, and the marker detection means 25 is configured to detect the RFID tag by communication with the RFID tag.

DESCRIPTION OF SYMBOLS 1 Spraying system 2 Marker 3 Self-propelled sprayer 11 Permanent magnet 12 Holder part 13 Pushing shaft 14 Label part 21 Wheel drive means 21a Drive motor 21b Drive chain 22 Drive wheel 23 Traveling carriage 24 Spray means 25 Marker detection means 26 Control means 26a Control circuit 26b Motor drive circuit 26c Valve drive circuit 27 Operating means 28 Status display means 29 Storage battery 30 Handle 31 Spray nozzle 32 Pump 33 Hose 35 Start button 36 Stop button 37 Forward button 38 Reverse button 39 Speed knob 41 Forward lamp 43 Reverse lamp 43 Slow lamp 44 Collision prevention detection means 45 Electromagnetic valve 46 Roller 51 Spray system 53 Self-propelled sprayer 54 Reversing plate 55 Changing machine 56 Airframe 57 Lift platform 58 Ho Winding device 59 Intercostal detection marker F Front of machine U U

Claims (5)

A marker disposed on the side of the intercostal space or the side thereof,
A self-propelled sprayer that detects the marker, travels between the furrows and sprays based on the marker,
The self-propelled sprayer includes a traveling carriage having driving wheels driven by wheel driving means and traveling between the furrows;
Spraying means mounted on the traveling carriage;
Marker detection means for detecting the marker;
Control means for controlling the wheel driving means and the spraying means,
The said control means is a spray system comprised so that the control state of the said wheel drive means or / and a spray means may be changed, if a marker is detected by the said marker detection means. The marker is a detected element for causing the marker detection means to detect the presence of the marker,
A holder for holding the detected element;
A locking portion provided on the bottom surface of the holder portion for locking the holder portion to the ground;
The spray system according to claim 1, further comprising a label portion that visually identifies the presence of the marker from above. There are multiple types of markers,
The spray system according to claim 1, wherein the marker detection unit is configured to detect the type of the marker in an identifiable manner.   The spray system according to any one of claims 1 to 3, wherein the marker detection unit is disposed in the vicinity of a spray nozzle in the spray unit in a plan view.   The said self-propelled sprayer is provided with the state display means visually recognizable from the front or / and back which each displays a running direction and a running speed or / and a spray amount. A spraying system as described in.

Images