JP2942914B2 - Control method of automatic traveling type spraying vehicle and automatic traveling type spreading vehicle - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a control method of an automatic traveling type spraying vehicle which sprays a disinfecting solution on a wall while traveling along a wall in a livestock barn, and to an automatic traveling type spreading vehicle.

[0002]

2. Description of the Related Art A self-propelled spraying vehicle that sprays a disinfectant solution on a wall of a barn sprays the disinfectant solution from a nozzle to the wall while traveling along the wall, and turns when it reaches a corner of the wall. do it,
It passes through the corner.

[0003] In a conventional automatic traveling type spraying vehicle, the disinfecting solution is sprayed on the corners in the same manner as on the non-corner, and there is no particular change.

[0004]

Since the direction of the nozzle is set in conformity with the straight running of the self-propelled spreader at the non-corner, the nozzle at the corner becomes inappropriate. Since the contact of the disinfecting solution on the corner wall greatly deviates obliquely from the direction perpendicular to the wall, and the corner is defined by a substantially perpendicular wall, the turning is performed by a curved line such as an arc. Since the distance from the nozzle to the wall surface increases in the traveling trajectory, the dispersal density and the collision speed of the disinfectant on the corner wall surface decrease.

[0005] It is an object of the present invention to provide a control method of an automatic traveling type spray vehicle and an automatic traveling type application vehicle capable of improving the application of a spray liquid to a wall at a corner portion.

[0006]

The present invention will be described with reference to the drawings corresponding to the embodiments. In the control method of the automatic traveling type spraying vehicle (10) which is a premise of claim 1, while spraying the spraying liquid from the nozzle (28) toward the side wall, the vehicle travels along the wall, At the corner, the vehicle turns and passes through the corner. According to the control method of the automatic traveling type spreader (10) of the first aspect, the vehicle travels while turning while repeating turning and stopping.

[0007] The automatic traveling type spreader (1)
In the control method of (0), while spraying the spray liquid from the nozzle (28) toward the side wall, the vehicle runs along the wall at the non-corner of the wall, and at the corner of the wall, The vehicle turns and passes through a corner. In the control method of the automatic traveling type spreader (10) according to the second aspect, the injection pressure from the nozzle (28) is increased during turning more than during non-turning.

[0008] The self-propelled spreader (1
In the control method of (0), while spraying the spray liquid from the nozzle (28) toward the side wall, the vehicle runs along the wall at the non-corner of the wall, and at the corner of the wall, The vehicle turns and passes through a corner. In the control method of the automatic traveling type spraying vehicle (10) according to the third aspect, the traveling speed is reduced during turning than during non-turning.

According to a fourth aspect of the present invention, there is provided a method of controlling an automatic traveling type spraying vehicle (10) according to the first aspect of the present invention. 28)
Increase the injection pressure from.

According to a fifth aspect of the present invention, there is provided a method of controlling an automatic traveling type spraying vehicle according to the first, second or fourth aspect. Than,
Reduce running speed.

An automatic traveling type dispersing vehicle (10) according to claim 6 has the following components (a) to (c). (A) Nozzle (2) that sprays spray liquid toward the side wall
8) (b) Corner detecting means (40) for detecting the corner of the wall (c) Turning traveling means (60) for turning and traveling while repeating running and stopping alternately at the corners

The self-propelled spreader (10) according to claim 7 has the following components (a) to (d). (A) Nozzle (2) that sprays spray liquid toward the side wall
8) (b) Corner detecting means (40) for detecting the corner of the wall (c) Turning means (60) for turning and running at the corner (d) During turning, the nozzle (28) is turned from the non-turn. Injection pressure control means (82) for increasing the injection pressure

[0013] The automatic traveling type spreader (10) according to claim 8 has the following components (a) to (d). (A) Nozzle (2) that sprays spray liquid toward the side wall
8) (b) Corner detecting means (40) for detecting the corner of the wall (c) Turning means (60) for turning at the corner (d) The running speed is lower during turning than during non-turn. Travel speed control means (70)

According to a ninth aspect of the present invention, there is provided an automatic traveling type spraying vehicle (10) according to the sixth aspect, wherein the injection pressure of the nozzle (28) is further increased during turning than during non-turning. It has injection pressure control means (82).

According to a tenth aspect of the present invention, there is provided the automatic traveling type spreading vehicle according to the sixth, seventh or ninth aspect, wherein the traveling speed is further reduced during turning than during non-turning. It has speed control means (70).

[0016]

According to the present invention, there is provided a self-propelled spreader according to claim 1, 2, 3, or 4.
In the control method, the self-propelled sprayer (10)
(28) Run along the wall while spraying the spray liquid toward the wall. The self-propelled spreader (10) turns at the corner and passes through the corner.

In the control method of the automatic traveling type spreader according to the first aspect, at the corner, the automatic traveling type spreader alternately advances and stops. At the corner, the nozzle (28) due to the traveling locus of a curved line such as an arc of the self-propelled spreader (10)
The spread density of the spray liquid decreases due to the increase in the distance from the wall to the wall body, and the deviation of the spray liquid from the right angle to the surface of the wall body decreases. As a result of the temporary stop of (10), the spray liquid from the nozzle (28) is concentrated on and hits the same portion of the wall, so that a decrease in spray density is suppressed.

In the control method for the automatic traveling type spreader (10) according to the second and fourth aspects, the injection pressure from the nozzle (28) increases at the corner. At the corners, due to the increase in the distance from the nozzle (28) to the wall due to the running trajectory of the curved line such as an arc of the self-propelled spraying vehicle (10), and the contact of the spray liquid with the wall surface However, since the deviation from the perpendicular direction increases, the spraying density of the spraying liquid decreases, but as a result of the increase in the injection pressure, the reach of the spraying liquid increases, and the collision pressure of the spraying liquid against the wall increases. Thus, a reduction in the spray density is suppressed.

In the control method for an automatic traveling type spreader (10) according to the third or fifth aspect, at the corner, the automatic traveling type spreader (10) includes:
Reduce running speed. In the corners, the self-propelled spreader (1
0) due to the increase in the distance from the nozzle (28) to the wall due to the running locus of the curved line such as an arc, and because the deviation of the spray liquid from the surface of the wall from the perpendicular direction increases. , The spray density of the spray liquid decreases, but as a result of the decrease in running speed,
Since the influence of the deflection due to the turning speed component of the spraying wheel (10) on the direction of the spraying speed component of the spraying liquid from the nozzle (28) can be kept small, each part of the corner wall is
The time during which the spray liquid is applied is increased, whereby a decrease in the spray density is suppressed.

The self-propelled spraying vehicle (10) according to claim 6, 7, or 8
Then, while traveling, the self-propelled sprayer (10)
8) Spray the spray liquid toward the wall. At the corner, the turning traveling means (60) causes the automatic traveling type spreading vehicle (10) to make a turning traveling.

According to a sixth aspect of the present invention, the turning traveling means (60) alternately repeats the traveling and the stop during the turning of the automatic traveling type spraying vehicle (10).

In the automatic traveling sprayer (10) according to the seventh and ninth aspects, the spray pressure control means (82) increases the spray pressure of the spray liquid from the nozzle (28) during turning rather than during non-turning.

In the automatic traveling sprayer (10) according to claims 8 and 10, the traveling speed control means (70) reduces the traveling speed of the automatic traveling sprayer (10) during turning than during non-turning.

[0024]

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 6 and 7 are a front view and a side view of the automatic traveling type spray vehicle 10 for disinfecting a barn. The self-propelled spraying vehicle 10 for disinfecting a barn is designed to circulate in the barn counterclockwise along a wall. In the lower part, the main body 12 is supported by a front wheel 14 at the center in the left-right direction at the front end, and left and right driving wheels 16 and 18 at the rear end. The main body 12 accommodates a motor 66 described later, elements for various controls, a battery, and the like. The front wheel 14 is a free wheel, and changes its direction to an arbitrary direction according to an external force. The gate-shaped nozzle mounting pipe 20 has a gate-shaped upper portion 22 and a pair of lower portions 24 having lower ends fixed to the front end of the main body 12 and extending vertically on left and right sides of the main body 12, The upper part 22 and the lower part 24 are
The connecting ends are fitted to each other so as to be freely separable and fixed by bolts 26. The plurality of nozzles 28 are connected at appropriate intervals within a range from a predetermined height on the right side of the upper portion 22 to the upper end of the left side via the upper side.
Mounted on The nozzles 28 mounted on the right and left sides of the portal nozzle mounting pipe 20 are directed right and left, and the nozzles 28 mounted on the upper side of the portal nozzle mounting pipe 20 are directed upward. I have. The automatic dispersal vehicle 10 for disinfecting a barn circulates the inside of the barn along the wall of the barn while spraying a disinfecting solution from each nozzle 28 onto the wall and ceiling to perform disinfection.

FIG. 4 is a functional block diagram of the traveling mode switching control of the automatic traveling type spray vehicle 10 for disinfecting a barn. The front distance sensor 40 is attached to a front portion of the main body 12, and detects a distance to an obstacle in front of the main body 12. Since the corner of the wall of the barn is defined by two planar wall surfaces, the corners have walls on the right and front of the automatic traveling sprayer 10 for the barn disinfection, and The arrival of the self-propelled spreader vehicle 10 at the corner can be detected by detecting a state where the vehicle is sufficiently close to the front wall. The running mode switching means 42 detects whether or not the wall is standing sufficiently close to the front of the automatic running sprayer 10 for livestock disinfection, that is, whether or not the vehicle has reached the corner, based on the detection signal from the forward distance sensor 40. I do. If the traveling mode switching means 42 is a non-corner,
The traveling mode is the straight traveling mode, and if it is a corner, the traveling mode is the turning traveling mode. The self-propelled sprayer 10 for livestock disinfection turns and runs,
When there is no wall standing forward enough,
Since the distance to the front wall of the automatic dispersal vehicle 10 for livestock disinfection detected by the forward distance sensor 40 is equal to or greater than a predetermined value, the traveling mode switching means 42 detects that the vehicle has passed the corner, and The disinfection self-propelled sprayer 10 is returned from the turning traveling mode to the straight traveling mode.

FIG. 5 is a functional block diagram of the straight traveling mode control of the automatic traveling type dispersing vehicle 10 for livestock disinfection. The side distance sensor 44 is attached to the right side of the main body 12, and detects the distance to the right wall. In determining the mounting position, the dimensions, the turning mechanism, the traveling speed, and the like of the spraying vehicle 10 are considered. Left electromagnetic clutch 48 and right electromagnetic clutch 50
From the motor 66 (FIG. 1) to the left driving wheel 16 and the right driving wheel
The driving force is interposed in each power transmission path up to 18, and the power transmission is connected and disconnected, and the driving and stopping of the left driving wheel 16 and the right driving wheel 18 are switched. The straight traveling means 46 detects the distance to the right wall by the detection signal from the side distance sensor 44, and when the distance increases to a predetermined value or more, that is, when the distance is too far from the wall, the left electromagnetic clutch 48 and The right electromagnetic clutch 50 is engaged and disengaged, respectively, whereby the rotational power of the motor 66 is transmitted only to the left drive wheel 16, and the automatic traveling type dispersing vehicle 10 for livestock disinfection is Steered toward. Further, when the distance is reduced to a predetermined value or less, that is, when the vehicle travels too close to the wall, the straight traveling means 46 disconnects and connects the left electromagnetic clutch 48 and the right electromagnetic clutch 50. As a result, the rotation power of the motor 66 is transmitted to the vehicle, and the automatic traveling type spray vehicle 10 for disinfecting a barn is steered in the direction opposite to the wall due to the difference between the left and right rotations. In this manner, the automatic dispersal vehicle 10 for livestock disinfection is configured such that only one of the left drive wheel 16 and the right drive wheel 18 is driven, and travels straight while alternately swinging left and right. . Since the traveling speed of the automatic traveling sprayer 10 for livestock disinfection is about 50 cm / sec, it exhibits sufficient straight traveling performance for traveling with alternating swing to the left and right.
One can achieve adequate spray of extinguishing venom, and may very easily the steering structure.

FIG. 1 is a functional block diagram of the straight running mode control. Left electromagnetic brake 62 and right electromagnetic brake 64
Brakes the left driving wheel 16 and the right driving wheel 18, respectively.
The automatic dispersal vehicle 10 for disinfecting a barn is designed to go around the barn counterclockwise, so that each corner passes through the counterclockwise turn. The turning traveling means 60 disconnects and connects the left electromagnetic clutch 48 and the right electromagnetic clutch 50, respectively, and turns on the left electromagnetic brake 62 and the right electromagnetic brake 64, respectively.
Turn off. As a result, the automatic traveling sprayer 10
The rotational power is transmitted to only the right driving wheel 18 while the left driving wheel 16 is being braked, and the rotational difference between left and right is greater than in the straight running mode, so that the vehicle can turn sharply. Depending on the situation, clockwise patrol may be required.In such a case, in the right turn, the turning traveling means 60 connects and disconnects the left electromagnetic clutch 48 and the right electromagnetic clutch 50, respectively,
The left electromagnetic brake 62 and the right electromagnetic brake 64 are turned off and on, respectively. The turning traveling means 60 also turns
The motor 66 is turned on and off alternately with time. For example, the ON time and the OFF time of the motor 66, that is, the progress time and the stop time are set to 0.7 seconds and 1.0 seconds, respectively. When the motor 66 is on, the left driving wheel 16 or the right driving wheel 18 on the outside in the turning direction is in a driving state, and the automatic dispersal vehicle 10 for livestock disinfection advances while the motor 66 turns off when the motor 66 is off. Left driving wheel 16 or right driving wheel 18
Is stopped even though the left electromagnetic clutch 48 or the right electromagnetic clutch 50 is in contact, and the automatic dispersal vehicle 10 for disinfecting a barn stops. Each part of the corner wall surface concentrates the disinfectant by stopping the automatic traveling sprayer 10 for livestock disinfection,
Since it is sprayed, the nozzle 28
Despite the increase in the distance from the wall to the wall surface and the increase in the inclination angle of the spray of the disinfectant on the wall surface, the reduction in the spray density is suppressed.

FIG. 2 is a functional block diagram of the traveling speed control of the automatic traveling type spray vehicle 10 for disinfecting a barn. Travel speed control means
70 decreases the rotation speed of the motor 66 in the turning traveling mode as compared with the straight traveling mode. As a result, the running speed of the automatic traveling sprayer 10 for livestock barn disinfection at the corners decreases, and each part of the wall surface of the corners increases the time for spraying the spray liquid. Therefore, despite the increase in the distance from the nozzle 28 to the wall surface and the increase in the inclination angle of the spray of the disinfecting liquid on the wall surface, a decrease in the spray density is suppressed.

FIG. 3 is a functional block diagram of the injection pressure control. The injection pressure control means 82 switches the discharge pressure of the motor-driven pump 80, for example, by switching pressure regulating valves having different pressure regulation values, and sends the disinfecting liquid from the pump 80 to the upper portion 22. The pump 80 increases the injection pressure in the turning traveling mode more than in the straight traveling mode. The injection pressure of the nozzle 28 is, for example, 1.5 kgf / cm 2 in the straight running mode.
On the other hand, in the cornering mode, 3.0 kgf / square c
m. As a result, the injection pressure from the nozzle 28 at the corner increases, and each part of the wall of the corner can be sprayed with the spray liquid having the increased reaching distance and the collision pressure.
Due to the cornering turning, a decrease in the spraying density is suppressed despite an increase in the distance from the nozzle 28 to the wall surface and an increase in the inclination angle of the spray of the disinfectant on the wall surface.

The automatic traveling type spraying vehicle 10 for disinfecting a barn of the embodiment is for disinfecting the barn. According to the present invention, the spraying vehicle 10 automatically travels along a wall including a corner and applies a spray liquid to the wall. The present invention can be applied to a control method for all spraying vehicles and a spraying vehicle. Furthermore, although the automatic traveling type dispersing vehicle 10 for livestock disinfection is a trackless and airless dispersing type, the present invention is, for example, a type that is operated unmanned along a track designed to meander in a field or a speedless type. The present invention is also applicable to an aerial spray automatic traveling type spraying vehicle such as a sprayer. In the case of the track type, in addition to the forward distance sensor 40, a corner can be detected by detecting a change from a straight track to a curved track, detecting acceleration in the left-right direction, and the like.

[0031]

According to the first and sixth aspects of the present invention, while turning at the corner, the automatic traveling type spraying vehicle is appropriately stopped, and as a result, the spray amount of the spray liquid to the wall of the corner is increased, and the spraying is performed. A decrease in density can be suppressed.

According to the second, fourth, seventh and ninth aspects of the present invention, the spray pressure at the nozzles increases during turning at the corners, so that the reach of the spray liquid and the collision pressure against the wall increase, and the spray density increases. Can be suppressed.

According to the third, fifth, eighth and tenth aspects of the present invention, while turning at the corner, the traveling speed of the self-propelled spraying vehicle is reduced, so that each part of the wall of the corner is sprayed with the spray liquid for a long time. Therefore, a decrease in the spraying density can be suppressed.

[Brief description of the drawings]

FIG. 1 is a functional block diagram of straight running mode control.

FIG. 2 is a functional block diagram of traveling speed control of an automatic traveling type dispersing vehicle for livestock disinfection.

FIG. 3 is a functional block diagram of injection pressure control.

FIG. 4 is a functional block diagram of a traveling mode switching control of an automatic traveling sprayer for livestock disinfection.

FIG. 5 is a functional block diagram of a straight traveling mode control of the automatic traveling type dispersing vehicle for livestock disinfection.

FIG. 6 is a front view of the automatic traveling sprayer for livestock disinfection.

FIG. 7 is a side view of an automatic traveling sprayer for livestock disinfection.

[Explanation of symbols]

DESCRIPTION OF SYMBOLS 10 Automatic traveling type spraying vehicle for livestock disinfection (automatic traveling type spreading vehicle) 28 Nozzle 40 Forward distance sensor (corner detecting means) 60 Turning traveling means 70 Traveling speed control means 82 Injection pressure control means

──────────────────────────────────────────────────続 き Continuation of the front page (56) References JP-A-63-158152 (JP, A) (58) Fields investigated (Int. Cl. ⁶ , DB name) B05B 17/00 101 A01B 69/00 303 A01M 7/00

Claims (10)

(57) [Claims] 1. A vehicle travels along the wall while spraying a spray liquid from a nozzle (28) toward a side wall, and turns at the corner of the wall to form the corner. A method for controlling an automatic traveling type spraying vehicle (10), characterized in that the vehicle travels while turning while repeating turning and stopping alternately. 2. While spraying a spraying liquid from a nozzle (28) toward a side wall, it travels along the wall at a non-corner of the wall, and runs at a corner of the wall. Make a turn,
Self-driving sprayer adapted to pass through the corner
The control method according to (10), wherein the injection pressure from the nozzle (28) is increased during turning, compared to during non-turning. 3. While spraying a spraying liquid from a nozzle (28) toward a side wall, it travels along the wall at a non-corner of the wall, and runs at a corner of the wall. Make a turn,
Self-driving sprayer adapted to pass through the corner
The control method according to (10), wherein the traveling speed is reduced during turning, compared to when the vehicle is not turning. 4. The nozzle (2) is turned during turning, compared to during non-turning.
The injection pressure from (8) is increased.
The control method of the self-propelled spreader described in the above. 5. The control method for an automatic traveling type spraying vehicle according to claim 1, wherein the traveling speed is reduced during the turning as compared with during the non-turning. 6. A nozzle (28) for spraying a spray liquid toward a side wall, (b) a corner detecting means (40) for detecting a corner of the wall, and (c). An automatic traveling type dispersing vehicle having a turning traveling means (60) for turning and traveling while alternately repeating traveling and stopping at a corner portion. 7. A nozzle (28) for spraying a spray liquid toward a side wall, (b) a corner detection means (40) for detecting a corner of the wall, (c) a corner. The section has a turning traveling means (60) for turning and traveling, and (d) an injection pressure control means (82) for increasing the injection pressure of the nozzle (28) during turning without turning. Self-propelled spreader. 8. A nozzle (28) for spraying a spray liquid toward a side wall, (b) a corner detecting means (40) for detecting a corner of the wall, (c) a corner. Automatic traveling type spraying, characterized in that the section comprises a turning traveling means (60) for turning and traveling, and (d) a traveling speed control means (70) for lowering the traveling speed during non-turning than during non-turning. car. 9. An automatic traveling type dispersing vehicle according to claim 6, further comprising an injection pressure control means (82) for increasing the injection pressure of said nozzle (28) during turning while not turning. . 10. The automatic traveling type dispersing vehicle according to claim 6, further comprising traveling speed control means (70) for lowering the traveling speed during turning than during non-turning.