JP3430476B2 - Work vehicle - Google Patents

Description

Description: BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a working vehicle such as a speed sprayer used for spraying chemicals in an orchard where apples, grapes and pears are cultivated. 2. Description of the Related Art Conventionally, for example, Japanese Patent Application Laid-Open No. 62-196709
As disclosed in Japanese Unexamined Patent Publication, there is a technique in which a magnetic field from an induction cable laid in a field scene is detected by a sensor, and the steering of the body is controlled along the cable. [0003] However, when steering control is performed by detecting such a magnetic field, automatic control for following the cable due to instability of detection of the turning portion by the sensor is required. Since malfunction is likely to occur, the arrangement of the cable or the initial setting of automatic control is limited, and there is a problem that simplification of automatic control work and improvement of reliability cannot be easily achieved. SUMMARY OF THE INVENTION [0004] However, according to the present invention, a traveling orbit line formed by a combination of a straight portion and a turning portion is defined by a left-hand line.
Detected by left and right track sensors provided on the front side of the right front wheel
In a work vehicle that automatically moves on the traveling track line, the track sensor is operated in conjunction with the steering angle change operation of the front wheels.
Attitude control means for correcting the detected direction is provided, comprising a transmitter and a receiver work controlled by a remote manual operation, to perform the work in favor of remote manual operation of the transmitter during travel move Eko unit, also times Automatically stops the outer spray at the head and turns
Stores data to automatically start outside spraying again after completion
And the spraying is automatically performed at the turning part.
Stop and automatically start outer spray again after turning
Data is stored for each specific field, and selected and output for each field.
Causing spray pattern selection switch in which the provided, the front wheel
The detection direction of the track sensor is changed in conjunction with the steering angle change operation.
Since the attitude control means to correct is provided, the sensor is turned.
Orbit so that the track line and the sensor
Vertical output can be prevented from dropping, and can be easily switched to remote manual operation to properly turn an unstable road surface , and speed in a field where similar fruit tree conditions continue.
It is easy to save labor such as sprayer spraying work.
In addition, speed sprayer work such as running and spraying
Automatic control pattern settings and specific automatic control patterns
Output of a specific field by selecting switch operation
It can be done easily . Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings. FIG. 1 is a spray control circuit diagram, FIG. 2 is an overall side view of a speed sprayer, and FIG. 3 is a plan view of the same, showing an engine (2) provided in a front hood (1), a driver's seat (3) and steering. A driving operation unit (5) provided with a handle (4), a spray nozzle (6) for spraying a chemical solution, and a blowing fan (7);
Left and right front wheels (8) (8) and rear wheels (9) which are running wheels
(9), a tank (10) for storing a chemical solution, and a tank (1
A spray pump (11) for pressure-feeding the chemical solution of (0) to the nozzle (6) is provided, and the chemical solution is sprayed while traveling. [0006] Further, as shown in FIG.
A hydraulic power steering cylinder (12) controlled by operation is provided, and the cylinder (12) is connected to front and rear axle cases (16) (17) via front and rear crank arms (14) (15) connected by a rod (13). The front and rear wheels (8) and (9) are configured to be four-wheel steered by the cylinder (12). Further, as shown in FIG. 5, the nozzle (6) is provided via a fulcrum shaft (18) provided on the center line in the longitudinal direction of the body, and the spraying direction of the nozzle (6) is changed by a direction correcting cylinder (19). The nozzle (6) is divided into left, right, and middle outlets (20), (21), and (22).
Is formed, and each of the ejection ports (2) is formed through the spray valve (23).
0), (21), and (22) are connected to the spray pump (11), and the chemicals are sprayed from the jet ports (20), (21), and (22) toward the left side, right side, and upper center of the body. ing. [0008] Further, as shown in FIG.
And a power steering valve (25) that is manually operated to switch the cylinder (12) to the hydraulic pump (24) via the valve (25). An automatic steering valve (28) having left and right steering solenoids (26) and (27), a traveling cylinder (29) for operating a traveling clutch and a traveling brake (not shown), and an airframe by controlling the operation of the cylinder (29). A travel control valve (30) for automatically performing travel and stop of the vehicle is provided, and each operation of steering, travel, and stop is automatically performed via each valve (28) (30). . Further, as shown in FIGS. 4 and 7, a traveling track line (31) which is an induction cable to be laid under the field.
A left and right track sensor (32) (33), which is a pair of left and right magnetic field sensors for detecting the magnetic field of the hood, has the sensors (32) and (33) installed on both sides in front of the hood (1), and the track sensor ( 32) A left and right trajectory detection attitude solenoid (34) (35) as attitude control means for correcting the detection direction of (33), and a neutral holding spring (36) (3).
6), the solenoids (34) and (35) are connected to the sensors (32) and (33) based on the detection results of the stroke sensors (37) for detecting the steering angles of the front and rear wheels (8) and (9). By controlling the solenoids (34) and (35), the attitudes of the sensors (32) and (33) are automatically corrected, and the pickup coils (38) and (3) of the sensors (32) and (33) are adjusted.
9) supports the sensors (32) and (33) in a direction substantially orthogonal to the track line (31) in a plan view. The magnetic field of the running track line (31) is changed by the track sensors (32) and (33). In a work vehicle that automatically detects and moves on a predetermined route, the detection direction of the track sensors (32) and (33) is changed in conjunction with the steering angle changing operation of the front and rear wheels (8) and (9) that are running wheels. Each of the solenoids (3
4) (35) is provided, and the sensors (32) and (33) are rotated in the turning direction. When turning, the track line (31) and the sensors (32) and (33) are parallel to each other, and a vertical output is obtained. It is configured to prevent it from lowering. Further, as shown in FIG. 1, a first microcomputer formed by microcomputers having the same specifications and capable of complementing each other.
Left and right middle spray motors (42), (43), (44) for controlling opening and closing of the left, right, and middle outlets (20), (21), (22); Left and right middle spray switches (45), (46), (47) for manually operating (42) to (44), an operation confirmation switch (48) for the operator to confirm the manual switching operation, and driving of the blower fan (7) Or, an electric blow clutch cylinder (49) for stopping, a blow clutch switch (50) for manually operating the cylinder (49), a spray relay (51) for driving or stopping the spray pump (11), and a bonnet (1) Left and right obstacle detection sensors (52) and (53) provided on both sides of the front surface to detect an obstacle ahead, and a tank (10)
A chemical liquid sensor (54) for detecting the amount of chemical liquid, an automatic mode switch (55) for switching between an automatic control mode and a manual operation mode, and an abnormality record formed by an EEPROM for recording work data such as details of an abnormality when the power is turned off. Memory (5
6) and each motor (42) to (44) according to the specific field
A spray pattern selection switch (57) for manually selecting a control pattern, and a checker (59) for reading and displaying data in the memory (56) by connecting a plug (58).
And a receiver (6) for receiving and inputting a signal of a remote control transmitter (60) for manually performing manual operation (spray operation, traveling stop, steering) of the speed sprayer spraying operation.
1) is connected to the first controller (40). An automatic mode switch (55) and a receiver (61); an engine operation permission relay (62) for detecting the preparation of the speed sprayer operation; a main shift reverse sensor (63) for detecting reverse switching; A sub-transmission high-speed sensor (64) for detecting sub-transmission high-speed switching; a touch sensor (65) provided at the center of the front of the bonnet (1) to detect contact with an obstacle; and a spray for manually operating a direction correcting cylinder (19). A direction change switch (66), an abnormality indicator lamp (67) notifying occurrence of an abnormality, a reception lamp (68) indicating presence or absence of reception of the receiver (61), and automatic switching of an automatic mode switch (55) are displayed. An automatic mode lamp (69), an angular velocity sensor (70) for detecting an angular velocity during horizontal movement of the aircraft, a vehicle speed sensor (71) for detecting an aircraft traveling speed, and an engine Down (2) and the engine speed sensor for detecting a rotational speed (72), the right and left steering solenoid (2
6) (27), a stroke sensor (37), left and right trajectory sensors (32) and (33), and left and right trajectory detection attitude solenoids (34) and (35) are connected to the second controller (4).
Connected to 1). As shown in the flowchart of FIG. 8, when the automatic mode switch (55) is off and only manual control is performed, and when the switch (55) is on and the machine runs at the working speed, the track sensor ( 32) (33)
When the orbit line (31) is detected and the orbit line (31) is substantially straight, the straight section work is started, the straight running control and the full-circle spray control are performed, and the chemical solution is sprayed in a semicircular shape. While moving straight along the orbit line (31) and when the orbit line (31) is curved in, for example, a U-shape in plan view at a turning portion such as a headland in a field, the orbit sensors (32) and (33) The turning section work is started based on the turning command signal, the power steering cylinder (12) is turned and controlled by the left and right steering solenoids (26) and (27), and the steering angle detection and the vehicle speed sensor of the stroke sensor (37) are performed. The turning angle is calculated based on the detection of the traveling speed in (71), the course correction in straight running and the turning in direction change are distinguished, and the partial spray control for stopping the chemical spray outside the turning direction is performed. To change the direction to the next process When the front and rear wheels (8) and (9) are steered by the cylinder (12), the posture solenoids (34) and (9) are based on the steering angles of the front and rear wheels (8) and (9) detected by the stroke sensor (37). 35) is operated, and the track sensors (32) and (33) are rotated in the steering direction of the front wheels (8) and (8), and the pickup coils (38) and (39) of the track sensors (32) and (33) are moved to the track lines ( The pickup coil (38) is supported in a direction substantially orthogonal to (31).
It is configured to prevent the output reduction of (39). When the automatic mode switch (55) is turned on to perform the operation in the automatic mode, the steering wheel (3) and the driver's seat (4) are covered with an openable / closable cover (not shown) to enable unmanned operation. The operator operates the transmitter (60), and the left and right steering solenoids (26) (2)
7) The recirculation operation by control and the spraying stop operation on the outer side of redirection by control of the left and right spray operation motors (42) and (43) are performed by remote manual control of an operator. Further, as shown in the flow chart of FIG. 9, in the turning traveling control of FIG. 8, the turning section is detected by the stroke sensor (37) and the angular velocity sensor (70). When the remote manual operation is performed and the operation signal is sent from the transmitter (60), when the turning is completed, the turning work status is stored, and then the straight work status is read. When there is no remote manual operation, the turning work status is read, and the control is performed based on the read turning work status.At a predetermined steering angle, the outer ejection port is controlled. The spraying of (20) or (21) is stopped, and the aircraft is turned along the trajectory line (31) to change the direction. On the other hand, when the turning is completed by the detection of the sensors (37) and (70), Read the straight line work status, Is controlled performed based on the linear portion working situation forme, those straight spraying operation is performed again,
A work vehicle that automatically moves on a traveling orbit line (31) formed by a combination of a straight portion and a turning portion includes a transmitter (60) and a receiver (61) that perform work control by remote manual operation. The transmitter (6
The configuration is such that the work is performed with priority given to the remote manual operation of 0). Further, the straight section work situation and the turning work situation in FIG. 9 are stored and saved for each specific field.
The field and each work situation are recorded or output by the spray pattern selection switch (57) of FIG.
7) The operation of the specific straight section and the turning section corresponding to the specific field is read by the operation, the spraying work is performed while moving straight and turning, and the turning section operation is performed at the time of remote manual operation of the transmitter (60). It is configured to record and save the situation by rewriting the situation into a manual operation content that matches the actual condition. In a work vehicle that automatically moves on a traveling track line (31) formed by a combination of a linear part and a turning part, Controllers (40) and (41) for storing data for automatically stopping the outer spray at the turning part and automatically starting the outer spray again after the end of the turning are provided and repeatedly performing the outer spray at the turning part. Controllers (40) and (41) for storing data for automatically stopping the spraying and automatically starting the outer spraying again after the reversal for each specific field and selectively outputting the data for each field, and a spray pattern selection Match (57) is provided. Further, as shown in the flowchart of FIG. 10, in the one-side spray control of FIG.
7) By starting the redirection by the detection of (70), one of the left and right spray operation motors (42) and (43) is controlled to control the spout (20) or (21) on the outer side. It closes and stops the spraying of the chemical solution to the outside in the direction of rotation. On the other hand, when the direction of rotation is detected by the detection of the sensors (37) and (70), the closed jet port (20) or (21) is controlled to open. The spraying of the liquid medicine on the outer side of the turning direction is started again, and the rectilinear operation is performed, and the remote manual operation is performed until the turning is completed, and the remote manual signals (left on-off and right on-off signals) are transmitted from the transmitter (60). When sent, spraying of the left outlet (20) is started by the left ON signal, spraying of the left outlet (20) is stopped by the left OFF signal, and spraying of the right outlet (21) is stopped by the right ON signal. Is started and the right spout ( 1 spray) is stopped, the remote manual operation by the transmitter (60) is performed is preferred on EKO unit. After the remote manual operation is performed, the contents of the operation are rewritten as automatic control data, and the operation state of the automatic control is set. Further, by storing the data of each field for each field, a manual operation in each field is not required from the next time. As is apparent from the above embodiments, the present invention provides a traveling track formed by a combination of a straight portion and a turning portion.
Right and left track provided with line (31) in front of left and right front wheels (8)
In a working vehicle which is detected by the sensors (32) and (33) and automatically moves on the traveling track line, the front wheel (8)
In conjunction with the steering angle changing operation, the trajectory sensor (32) (3)
Attitude control means (34) (3) for correcting the detection direction of (3)
5) is provided, and a transmitter (60) and a receiver (61) for controlling the work by remote manual operation are provided, so that the work is performed with priority given to the remote manual operation of the transmitter (60) when traveling around the turning unit. Also, the outer spray is automatically stopped at the turning part to finish turning.
Data to automatically start outer spraying again after
And the spraying is automatically stopped at the turning part.
Stop and automatically start outer spraying again after turning.
Data is stored for each specific field and selectively output for each field.
With a spray pattern selection switch (57)
The trajectory sensor interlocks with the steering angle changing operation of the front wheel (8).
(32) Attitude control means for correcting the detection direction of (33)
Since (34) and (35) are provided, the sensor (32)
(33) is rotated in the turning direction, and the track line
(31) and sensor (32) (33) are parallel and vertical
Output can be prevented from lowering, and it can be easily switched to remote manual operation to properly turn the unstable road surface , and speed in the field where similar fruit tree conditions continue
Labor saving such as sprayer spraying can be easily performed.
Speed sprayer for running and spraying
Setting of automatic control patterns and specific automatic control
Specify the output of the pattern by operating the selection switch (57)
It can be easily carried out on a field or the like.

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a spray control circuit diagram. FIG. 2 is an overall side view of a speed sprayer. FIG. 3 is a plan view of the same. FIG. 4 is a plan view of a power steering cylinder mechanism. FIG. 5 is a rear view of the spray nozzle unit. FIG. 6 is a steering hydraulic circuit diagram. FIG. 7 is a plan view of a track sensor unit. FIG. 8 is a flowchart of automatic spray control. FIG. 9 is a flowchart of turning control. FIG. 10 is a flowchart of spray control. [Description of References] (8) Front wheel (31) Traveling track line (32) (33) Track sensor (34) (35) Solenoid (posture control means) (57) Select switch (60) Transmitter (61) Receiver

Continued on the front page (51) Int.Cl. ⁷ Identification code FI B62D 1/28 B62D 1/28 (72) Inventor Takashi Yamada 1-32 Chayacho, Kita-ku, Osaka Inside Yanmar Agricultural Machinery Co., Ltd. (56 References JP-A-5-154424 (JP, A) JP-A-4-330242 (JP, A) JP-A-62-196709 (JP, A) JP-A-5-44256 (JP, U) (58) Field surveyed (Int.Cl. ⁷ , DB name) A01M 7/00 A01B 69/00 B05B 17/00 B61B 13/00 B62D 1/28

Claims (1)

(1) A running track line (31) formed by a combination of a straight portion and a turning portion is provided on the front side of the left and right front wheels (8).
Left and right orbit sensors (32) and (33)
In the work vehicle to a top travel trajectory line is moved automatically, before
The trajectory sensor in conjunction with the steering angle changing operation of the wheel (8)
(32) Attitude control means for correcting the detection direction of (33)
(34) Provided with (35), a transmitter (60) and a receiver (61) that perform work control by remote manual operation, and give priority to remote manual operation of the transmitter (60) when traveling around the turning unit. Work, and automatically stops the outer spray at the turning part.
Stop and automatically start outer spraying again after turning.
Data stored in memory and repeated
Automatically stop and after the end of turning the outer spray automatically again
Starting data is stored for each specific field, and
A spray pattern selection switch (57) for selective output is set.
Work vehicle, characterized in that digit.