JP2715874B2 - High pressure liquid injection device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a high-pressure liquid injection device for activating a soil by injecting a high-pressure liquid into soil such as a turf or a golf course.

[0002]

2. Description of the Related Art In a lawn or a golf course, it is necessary to periodically perform a management operation (aeration operation) in order to maintain good growth of turf grass, and a vibration type subsoiler is connected to a rear part of a tractor. The soil is incised, or a plurality of holes are formed in the soil surface by a coring device to take out the soil in a pellet form.

[0003] In recent years, as an alternative device, a device for crushing soil by blowing a high-pressure liquid into the soil has been proposed. This high-pressure liquid injection device is pulled by the rear part of a tractor or the like, pressurizes a liquid such as water stored in a tank with a high-pressure pump, and injects intermittently from a plurality of injection nozzles to the surface of the soil. The aeration is performed by crushing and expanding the soil to a predetermined depth. Then, if a chemical solution such as a fertilizer, an insecticide, a bactericide, or a herbicide is put into the tank, fertilization work or control work can be performed.

[0004]

In the conventional high-pressure liquid injection device, before the operation is started, the injection amount and the number of injections of the chemical liquid per unit time are set in advance, and the liquid is injected into the soil according to the set values. . The set value does not change during the operation, and the liquid is singly injected. For example, when performing a pest control operation, an initial setting is made so as to spray an appropriate amount of a chemical solution in order to prevent turfgrass disease. However, it is necessary to spray a large amount of the chemical solution to the area where the turfgrass is diseased, and the initial setting value is insufficient. On the other hand, if the initial setting is made so that a large amount of chemical solution is sprayed in order to recover the disease, a large amount of chemical solution will be sprayed even in a normal turfgrass area, and the chemical solution will be wasted and the management cost will be reduced. Increases.

[0005] Therefore, if the growth of turfgrass is normal, a chemical solution is sprayed based on the setting value of normal control, and the area where the growth of turfgrass is abnormal is accurately identified by a television camera, and then automatically. There is a technical problem to be solved in order to efficiently eject a large amount of chemical solution efficiently , and an object of the present invention is to solve this problem.

[0006]

DISCLOSURE OF THE INVENTION The present invention has been proposed to achieve the above object, and is provided by an injection nozzle for injecting water, chemicals, etc. into the soil which is pulled by a rear part of a tractor or the like.
And a TV camera that shoots the grass surface
An image processing device is provided for identifying the color of turfgrass or the like from the image of the television camera. When it is determined from the identification result that turfgrass growth is abnormal, control for increasing the injection amount or the number of injections of the chemical is performed. -Pressure liquid injection device provided with a section
In the above, the television camera is located in front of the injection nozzle.
And installed at a position higher than the injection nozzle.
It is intended to provide a high-pressure liquid injection device characterized by the above-mentioned.

[0007]

The turfgrass surface in the forward direction of the high-pressure liquid injection device is photographed by a television camera, and the color of the turfgrass is identified from the image of the television camera, so that the turfgrass growing state is always grasped. At this time, the TV camera is positioned in front of the injection nozzle.
In addition, because it is installed at a high position, the injection nozzle
Shooting may be hindered by chemicals injected from the
Wide and accurate shooting of turfgrass conditions without any
it can. If it is determined from the result of the identification that the turfgrass growth is abnormal, the amount of the chemical solution injected per unit time or the number of injections per unit time is increased by a command from the control unit, and the area where the turfgrass growth is abnormal is increased. Only a large amount of the drug solution can be efficiently injected only into the liquid.

[0008]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS One embodiment of the present invention will be described below in detail with reference to the drawings. 1 and 2, a supporting machine frame 13 is connected to a rear portion of a tractor 11 via a three-point link mechanism 12, and a high-pressure liquid injection device 14 is attached to the supporting machine frame 13, and an operation of a hydraulic lifting mechanism 15 is performed. Thus, the high-pressure liquid injection device 14 is formed to move up and down.

The high-pressure liquid injection device 14 includes a tank 16 for storing water, a chemical solution, etc., a high-pressure pump 17 driven by the power of the PTO shaft of the tractor 11, and a plurality of injection nozzles for injecting high-pressure liquid. By intermittently turning on and off the electromagnetic valves 19, 19, etc.,
The high-pressure liquid is injected from the injection nozzles 18, 18 and is injected into the soil. The energization of the electromagnetic valves 19 is performed by a command from the control unit of the controller 20, and the electromagnetic valves 1 are controlled so that the load is not concentrated on the high-pressure pump 17.
., 19,... Are sequentially shifted.

The injection nozzles 18, 18,... And the electromagnetic valves 19, 19,... Are attached to sleds 21, 21 to form a valve unit 22, and the valve unit 22 is advanced on the grass while being pulled by the tractor 11. I do. When not working, the arm 2 is moved by the electric motor 23.
By rotating the valve units 4 and 24 upward, the valve unit 22
Rises from the ground.

Here, the sled 21 is provided with a limit switch 25. When the valve unit 22 floats as shown in FIG. 3, the sensor arm 25a opens downward and the limit switch 25 is turned off. The energization to the electromagnetic valves 19 is shut off. That is, when the valve unit 22 floats and assumes the non-working position, the liquid is not injected from the injection nozzles 18, 18,..., Thereby ensuring safety. When the sled 21 comes into contact with the ground during the operation, the sensor arm 25a is pressed, the limit switch 25 is turned on, and power can be supplied to the electromagnetic valves 19, 19.

As shown in FIG. 1, a television camera 26 is installed at the center of the front of the lower surface of the supporting machine frame 13 in the left and right direction to photograph the turf grass surface in front of the injection nozzles 18, 18,. The image photographed by the television camera 26 is sent to the controller 20 after performing image processing described later.
The controller 20 is provided with a dial switch for setting the liquid injection amount per unit time and a dial switch for setting the number of liquid injections per unit time.
Initially set to an appropriate position according to the traveling speed of 1 and the state of turfgrass. Further, a switch box 27 is installed near the driver's seat of the tractor 11, and various operation switches such as a start switch and a stop switch for starting injection are provided, and a pilot lamp and an alarm buzzer are provided.

FIG. 4 is a block diagram of the control system, and FIG. 5 is a flowchart. The power is turned on by the operation switch described above, and the injection amount and the number of injections of the chemical solution per unit time are initially set by the dial switch. These signals are input to a control unit in the controller 20. And
The valve unit 22 descends and the limit switch 2
If 5 is on, the television camera 26 takes an image of the turfgrass surface. The image signal of the television camera 26 is converted into R, G, and B components by an image processing device, and R, G, B
Is divided into 256 levels to identify the color of turfgrass.
The color of Koryo turf in the normal growing state is represented by 10-2.5G5.5 / 11 in the Munsell signal. The color is represented by the Munsell symbol 4-5YR6 / 12.

Therefore, the color of normal turfgrass is changed to RGB
R = 90, G = 145, B = 80, but the color of the turfgrass that became abnormal due to the disease was R = 1.
80, G = 120 and B = about 65. In the abnormal state, the luminance of R increases by 100%, the luminance of G decreases by 17.2%, and the luminance of B also increases by 18.8% compared to the normal state.
Decrease. The control unit determines whether the turfgrass growing state is normal or abnormal by discriminating the increase / decrease of the R, G, and B luminances. .. Are driven.
If the abnormality is abnormal, the on-time or the number of times of the electromagnetic valves 19 is amplified to increase the amount of chemical solution injected per unit time or the number of times of injection. Considering the case where turfgrass is in the early stage of disease onset, the luminance of R increases by 100%, the luminance of G decreases by about 8.6%, which is half the above-mentioned value, and the luminance of B also decreases by half, to 9.4%. When it has decreased to a certain extent, it is determined that there is an abnormality, and the pulse signal to the electromagnetic valves 19 is amplified. Further, when the luminance of any one of R, G, and B changes to the above range, control may be performed so as to immediately determine that the lawn grass is abnormal.

Here, a pressure sensor 28 is provided in a line between the high-pressure pump 17 and the electromagnetic valves 19, 19, and constantly monitors the pressure of the chemical solution. Normally, the electromagnetic valves 19 are sequentially turned on at different timings, so that the pressure in the pipeline pulsates greatly. If any of the injection nozzles 18 is clogged,
The detection value of the pressure sensor 28 changes, and the specific electromagnetic valve 1
The pulsation when the switch 9 is turned on is smaller than the pulsations of the other electromagnetic valves. At that time, the control unit controls the specific electromagnetic valve 19.
It is determined that an abnormality has occurred in the pipeline, and the operator is notified of the abnormality by an alarm buzzer, a pilot lamp, or the like. Thereby, the operator can instantly recognize the abnormal state even during the operation, and can confirm which electromagnetic valve pipe is abnormal.

The present invention can be variously modified without departing from the spirit of the present invention, and it goes without saying that the present invention extends to the modified ones.

[0017]

According to the present invention, as described in detail in the above embodiment, the surface of turfgrass is photographed with a television camera, and the growing state of turfgrass is determined by image processing. At this time,
The bi-camera is located in front of the injection nozzle and at a high position
Since it is installed, chemicals sprayed from the spray nozzle, etc.
Wide range without disturbing shooting
In addition, the state of the turfgrass can be accurately photographed. When it is determined from the result of the identification that the turfgrass growth is abnormal, the injection amount or the number of injections of the chemical solution is increased in real time, and a large amount of the chemical solution is efficiently injected only into the abnormal area of the turfgrass caused by disease and pests. can do.

In this manner, the chemical solution injection operation can be performed extremely effectively without wasting the chemical solution, and the management cost can be reduced and the work efficiency can be improved.

[Brief description of the drawings]

FIG. 1 shows an embodiment of the present invention and is a side view of the entire apparatus.

FIG. 2 is a perspective view of the device.

FIG. 3 is a vertical sectional side view of a main part of the valve unit.

FIG. 4 is a block diagram of a control system.

FIG. 5 is a flowchart of control.

[Explanation of symbols]

 Reference Signs List 11 Tractor 14 High-pressure liquid injection device 18 Injection nozzle 19 Electromagnetic valve 20 Controller 22 Valve unit 26 TV camera

Claims (1)

(57) [Claims] 1. A is pulled to the rear of a tractor or the like, water to soil
・ Shooting of spray nozzle for injecting chemicals etc. and turfgrass surface
And a video camera for identifying shades of turfgrass and the like from images of the TV camera .
If it is determined from the identification result that the growth of turfgrass is abnormal, the high-pressure liquid injection device provided with a control unit for increasing the injection amount or the number of injections of the chemical solution is used as the television camera.
Is located in front of the injection nozzle and the injection nozzle
A high- pressure liquid injection device, which is installed at a higher position .