JP3989307B2 - Spraying machine - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
  The present invention is equipped with a GPS (global positioning system), an internal sensor such as an orientation sensor, a tilt sensor, and a vehicle speed sensor, and a stock scanning sensor, and performs autonomous work.Spraying machineIt is related with the technique of driving work management. Specifically, medicinal solution sprayed during autonomous running is gone, the position where work was interrupted is measured and memorized by GPS, and after replenishing medicinal solution, it returns to the position where work was interrupted by autonomous running, It relates to the technology to resume.
[0002]
[Prior art]
  2. Description of the Related Art Conventionally, agricultural work vehicles that are equipped with GPS and sensors and autonomously run and work in a field where crops are already cultivated are known. Examples of the agricultural work vehicle include a spreader machine equipped with a spreader. In such an agricultural work vehicle, the operator drives the agricultural work vehicle up to the work start point in the field. Then, after reaching the work start point, the operator gets out of the work vehicle and exits the field, and the work vehicle starts autonomous traveling and work.
[0003]
[Problems to be solved by the invention]
  In conventional chemical spraying operations on paddy fields, the operatorFor sprayerI was on board and manually operated and sprayed. When the chemical solution in the chemical solution tank runs out during the spraying operation, the operator goes to the end of the temporary field.Spraying machineTo the place where the chemical in the chemical tank is exhaustedSpraying machineIt was moved and the chemical spraying operation was resumed. At this time, the place where the chemical solution in the chemical tank disappeared in the field relied on the memory of the operator, so the actual position and the position where the work was resumed deviated, and the place where the chemical solution has not been sprayed (not yet) (Spreading area) and places where chemicals are sprayed multiple times (overlapping spraying area). This double spraying not only wastes use of the drug but also leads to drug damage.
[0004]
[Means for Solving the Problems]
  The problem to be solved by the present invention is as described above. Next, means for solving the problem will be described.
[0005]
  In claim 1,A GPS (Global Positioning System) mobile station unit, an internal sensor that detects information necessary for autonomously running the spraying machine, and a chemical tank, spraying while traveling autonomously In the spraying machine that performs the work, the chemical tank is provided with a liquid level detecting means that is a chemical quantity measuring means, and the spray amount per unit travel distance or unit travel time is calculated, and the chemical liquid in the chemical tank disappears, or in advance Autonomous travel route created by the autonomous travel program by calculating and displaying the travel distance or travel time until it falls below the set amount, storing the autonomous travel program in the processing unit serving as the control means provided in the mobile station unit Is a process that alternately connects a spraying process that travels while spraying chemicals and a moving process that travels without spraying chemicals. During spraying operations based on autonomous program, drug solution eliminated in subsequent spraying step, or if the advance to be less than the set amount is predicted by calculation after the current spraying step is completed, move-wait field endIs.
[0006]
  In claim 2,2. The spraying work machine according to claim 1, wherein when the chemical solution is replenished to the chemical solution tank, the amount of the chemical solution necessary for spraying the unsprayed area of the field is calculated and displayed.Is.
[0007]
  In claim 3,2. The spray working machine according to claim 1, wherein the amount of the chemical required when the chemical solution is replenished to the chemical solution tank is displayed from the amount of the necessary chemical solution and the dilution ratio of the chemical solution.Is.
[0008]
DETAILED DESCRIPTION OF THE INVENTION
  Next, embodiments of the invention will be described.
[0009]
  Figure 1The spraying machine of the present inventionSide view, Fig. 2Scatter working machine of the present inventionFIG. 3 is a diagram showing a chemical solution piping path of the boom portion, and FIG. 4 is a schematic diagram of the autonomous traveling system in the present invention.
[0010]
  FIG. 5 is a diagram showing a mobile station unit, FIG. 6 is a diagram showing a reference station unit, FIG. 7 is a schematic diagram showing a contact portion between the main unit controller and an autonomous running controller, and FIG. 8 is a schematic diagram showing a display example of a PDA display unit. FIG. 9 shows the present invention.By spraying machineIt is a schematic diagram which shows the 1st Example of an autonomous running route.
[0011]
  FIG. 10 is a flowchart of autonomous driving in the present invention, and FIG.For sprayerIt is a schematic diagram which shows the 2nd Example of the autonomous running route by.
[0012]
  12 is a schematic diagram showing an example of an autonomous traveling route in a field including a medium-width spraying region, FIG. 13 is a rear view of the chemical solution tank, FIG. 14 is a schematic diagram showing a chemical solution piping system, and FIG. The figure which shows the Example of a guidance path | route, FIG. 16 is a flowchart figure of a chemical | medical solution replenishment operation | work.
[0013]
  FIG. 17 is a diagram showing another embodiment of the autonomous guiding path for chemical solution replenishment, FIG. 18 is a flowchart in another embodiment of the chemical solution replenishing operation, and FIG. 19 is a schematic diagram showing a first embodiment of the spraying operation on the field corner, FIG. 20 is a schematic diagram showing a second embodiment of the field corner spraying operation, and FIG. 21 is a schematic diagram showing a third embodiment of the field corner spraying operation.
[0014]
  First, in the present inventionSpreading machine 1011 and 2It explains using.The spreading work machine 101 includes a riding-type traveling vehicle 22, a boom portion 35 disposed at the front and side portions of the traveling vehicle 22, a pump portion 36 disposed at the rear portion of the traveling vehicle, and the pump. It is comprised by the chemical | medical solution tank 24 etc. which were arrange | positioned at the front part of the part 36. FIG.
[0015]
  A pair of left and right main frames 6L and 6R extend horizontally in parallel from the front end of the traveling vehicle 22 to the rear, and a front wheel is provided below the front portion of the main frames 6L and 6R via a front axle case 92F. 7 and 7 are supported, and rear wheels 8 and 8 are supported via a rear axle case 92R below the rear part. A bonnet 10 that covers the engine 9 is disposed on the main frames 6L and 6R and at the front of the traveling vehicle 22. An operation panel 11 is provided on a cover behind the bonnet 10, a steering handle 12 is provided above the operation panel 11, and the spraying work machine 101 is controlled by the operation panel 11 and the steering handle 12. Part.
[0016]
  Further, a chemical tank 24 is disposed on the rear part of the main frames 6L and 6R, and a driver's seat 14 is formed in the center of the front part of the chemical tank 24. It is placed so as to be surrounded. And step 13 is provided between the chemical | medical solution tank 24 and the bonnet 10, and boarding steps 56 * 56 for getting on / off to this step 13 are attached to main frame 6L * 6R.
[0017]
  The boom portion 35 includes a boom 40 having a plurality of nozzles 23, 23,... For spraying a chemical solution, and a mechanism for moving the boom 40 up and down. The boom 40 includes a front boom 41 positioned in front of the traveling vehicle 22 and left and right side booms 42L and 42R that are pivotally supported at both ends of the front boom 41 and extend sideways so as to be foldable. Yes. The boom 40 is provided with a plurality of nozzles 23, 23,. Boom opening / closing cylinders 43 and 43 are interposed between the front boom 41 and the side booms 42L and 42R, respectively. By extending and retracting the boom opening and closing cylinders 43 and 43, the side booms 42L and 42R are provided. Can be rotated to a work position that extends in the horizontal direction so as to be substantially in line with the front boom 41 and a storage position that is positioned rearwardly upward in the front-rear direction.
[0018]
  Further, the front boom 41 and the front part of the main frames 6L and 6R are connected by a parallel link, and boom lifting cylinders 38 and 38 are interposed between one of the parallel links and the main frames 6L and 6R. A lifting link mechanism 37 that allows the boom 40 to be moved up and down by extending and retracting the boom lifting cylinders 38 is formed. Further, a substantially horizontal center of the front boom 41 is supported so as to be tiltable to the left and right with respect to the lifting / lowering link mechanism 37, and a boom horizontal control cylinder 39 is interposed between the front boom 41 and the lifting / lowering link mechanism 37. Even if 22 inclines, it is set as the structure which controls the boom 40 so that the boom 40 may maintain a substantially horizontal attitude | position.
[0019]
  The pump unit 36 obtains power from the engine 9 and pumps the chemical liquid in the chemical liquid tank 24 to the nozzles 23, 23..., And the spray amount related to the control of the chemical liquid discharged from the spray pump 4. It consists of a control device 3 and the like. The spray pump 4 is disposed on the subframes 52L and 52R extending at the rear portion of the traveling vehicle 22 so that the crankshaft built in the crankcase of the spray pump 4 is positioned in the vehicle front-rear direction via a support member. An air chamber, a safety valve, and the like are provided in the upper right part of the crankcase. The spray amount control device 3 includes a flow rate control valve, a motor related to opening and closing of the flow rate control valve, and the like, and is disposed around the crankcase of the spray pump 4.
[0020]
  The spraying machine 101 configured as described above travels on the field by the traveling vehicle 22 with the boom 40 spread, and at the same time, the chemical solution in the chemical solution tank 24 is metered by the pump unit 36 and is applied to the boom unit 35. It is sprayed and sprayed from the nozzles 23, 23,...
[0021]
  As shown in FIG. 3, one end of the pipe 175 is connected to the pump unit 36, and the other end is branched into three and connected to the spray opening / closing valves 176, 177, and 178, respectively. The spray opening / closing valves 176, 177, and 178 configured by electromagnetic valves and the like are configured to be openable and closable independently of each other, and the opening and closing operations thereof are connected to and controlled by the main controller 169. The pipe 179 is disposed along the right boom 42R, and one end thereof is connected to the spray opening / closing valve 176 by a flexible hose 179a. And the other end side of the piping 179 is obstruct | occluded, and the some nozzle 23 is provided in the middle part. Similarly, the pipe 180 is disposed along the front boom 41, and one end thereof is connected to the spray opening / closing valve 177 by a flexible hose 180a. And the other end side of the piping 180 is obstruct | occluded, and the some nozzle 23 is provided in the middle part. The pipe 181 is disposed along the left boom 42L, and one end thereof is connected to the spray opening / closing valve 178 by a flexible hose 181a.
[0022]
  The power from the engine 9 is transmitted to the transmission case 174 via the main clutch 173, and is shifted in the transmission case 174. The front wheels 7 and 7 and the front wheels 7 and 7 are connected to the front and rear axle cases 92F and 92R (shown in FIG. 1). Drive the rear wheels 8, 8. At this time, the main clutch actuator 182 (which is one of the autonomous operation means 124 described later) that operates the main clutch 173 that transmits / cuts the power from the engine 9 to the transmission case 174 is sent to the controller 169 of this machine. Connected and the operation is controlled by the controller 169. When the main clutch 173 is “disengaged” (the power of the engine 9 is cut off and not transmitted to the mission case 174), the spray opening / closing valves 176, 177, and 178 are all closed. Further, even when the side booms 42L and 42R are closed and disposed at the storage position, the spray opening / closing valve corresponding to the closed side boom is closed.
[0023]
  With this configuration, the chemical spraying system is opened and closed in conjunction with the start / stop of the spraying machine 101. As a result, it is possible to reliably carry out spraying work without locally increasing the chemical spray amount when the vehicle is stopped, or conversely, the spray solution is not sprayed immediately when starting, and there is no place where chemical spray is not performed. . The machine controller 169 not only operates the spray opening / closing valves 176, 177, 178 and the main clutch actuator 182 as described above, but also operates the boom up / down / opening / closing and other actuators during boarding / remote operation. belongs to. Other functions will be described in detail later.
[0024]
  The spreader machine 101 includes a manual operation mode in which a pilot rides on a vehicle and operates and operates the steering handle 12 and an operation lever, and a GPS (global Positioning system) is used to obtain vehicle position information, and an automatic operation mode in which a chemical solution spraying operation is performed while traveling in the field by an autonomous traveling program is selected by the switching means provided in the vicinity of the driver's seat 14 or in the wireless operation means 133 It is configured to be possible.
[0025]
  Next, the present inventionSpraying machineWill be described. GPS (Global Positioning System) is a system originally developed for navigation support of aircraft, ships, etc., and it has 24 GPS satellites (six orbital planes) that orbit about 20,000 kilometers above the sky. It is composed of a control station for tracking and controlling GPS satellites, and a user receiver for positioning. As a surveying method using GPS, various methods such as a single side position, a relative side position, a DGPS (differential GPS) side position, an RTK-GPS (real time kinematic-GPS) side position, and the like can be given.
[0026]
  The single side position is a method of receiving information such as the position and time of a satellite transmitted from a GPS satellite with a single antenna. Measure the time required to reach the receiver after the radio wave is transmitted from the satellite, and obtain the distance from the time and the speed of the radio wave. At this time, the GPS satellite whose position is known is used as a moving reference point, and four or more The position of the observation point is determined by knowing the distance from the satellite to the observation point at the same time.
[0027]
  Relative side is a method of using two or more receivers and observing four or more of the same GPS satellites at the same time. Using the GPS satellite position as a reference, each radio signal from the GPS satellite reaches each receiver. Measure the time difference (phase difference of radio waves) to determine the relative positional relationship between the two points (two receivers). Since the radio waves from the same satellite are received at each measurement point, and the radio waves emitted from the satellite pass through similar weather conditions, the difference in the observed values between the two points (two receivers) By taking this, errors such as satellite position errors and troposphere / ionosphere delays included in the observed values can be eliminated.
[0028]
  The DGPS (differential GPS) side and the RTK-GPS (real-time kinematics-GPS) side were observed at the reference station by simultaneously performing GPS observations at the reference station whose position was known and the observation point where the position was to be obtained. In this method, data is transmitted in real time to an observation point by a method such as wireless, and the position of the observation point is obtained in real time based on the position result of the reference station. The DGPS (differential GPS) side position performs independent side positions at both the reference station and the observation point, obtains the difference between the position result and the observed coordinate value at the reference station, and transmits it to the observation point as correction information. The RTK-GPS (real-time kinematics-GPS) side measures the phase at both the reference station and the observation point (relative side), and transmits the phase data observed at the reference station to the observation point. The receiver determines the position of the observation point by analyzing the received data and the data transmitted from the reference station in real time.
[0029]
  In the present invention, the RTK-GPS side system with high measurement accuracy is adopted, but the other system may be used and is not limited.
[0030]
  As shown in FIG. 4, the GPS unit 102 according to the present invention mainly includes a mobile station unit 103 mounted on the main body of the spreading work machine 101 and a reference station side unit 104 installed near an agricultural field such as a paddy field. The reference station unit 104 serves as a reference station fixed to the ground, and the mobile station side unit 103 functions as a mobile station (observation point) that seeks a position. As shown in FIG. 5, a front gate-type frame 105 is erected from the rear part of the driver's seat 14 on the upper surface of the spray work machine 101 main body. A storage portion 106 is provided in a portion surrounded by the horizontal portion 105 a and the standing portions 105 b and 105 b of the frame 105, and members other than the GPS antenna 108 in the mobile station unit 103 are stored in the storage portion 106. The GPS antenna 108 is fixed on the upper surface of the horizontal portion 105 a of the frame 105.
[0031]
  In addition to the GPS antenna 108, the mobile station unit 103 includes a GPS receiving unit 109, a processing unit 110 serving as a control unit including a CPU, a RAM, a ROM, and the like, an operation unit 111, a display unit 112, a wireless unit 113, and the like. A radio wave signal from a GPS satellite received by the GPS antenna 108 is transmitted to the processing unit 110 via the GPS receiving unit 109 by a cable. The operation unit 111 is an interface for performing setting for autonomous driving and initial setting for GPS, which will be described later, and is connected to the processing unit 110 with a cable. The display unit 112 is cable-connected to the processing unit 110 and displays the data processing status in the processing unit 110 and various settings input by the operation unit 111. The wireless unit 113 is used for wireless communication between the reference station unit 104 and the wireless operation means 133 carried by the operator and the mobile station unit 103. In addition, a receiving unit 107 is provided for receiving a control signal from the wireless operation unit 133 and stopping the autonomous traveling of the spraying work machine 101 when the operation confirmation signal from the wireless operation unit 133 is interrupted.
[0032]
  In this embodiment, the mobile station unit 103 is fixed to the frame 105. However, for example, other members constituting the mobile station unit 103 other than the GPS antenna 108 are housed in the hood 9 and in front of the driver's seat 14. It is good also as a structure which incorporates the operation part 111 and the display part 112 in the operation panel 11 of the control part located in FIG. In addition, the operation unit 111 may be any input operation by an operator such as a keyboard, a switch, a lever, a push button, or a dial, and the form thereof is not limited. Furthermore, the operation unit 111 and the display unit 112 may be integrated as a touch panel. An existing personal computer may be used as the processing unit 110, the operation unit 111, and the display unit 112.
[0033]
  The reference station unit 104 has substantially the same configuration as the mobile station unit 103, and includes a GPS antenna 114, a GPS receiving unit 115, a processing unit 116, an operation unit 117, a display unit 118, a wireless unit 119, and the like.
[0034]
  As shown in FIG. 5, the GPS antenna 114 of the reference station unit 104 is erected from the ground by a column 114a. Members other than the GPS antenna 114 constituting the reference station unit 104 are configured to be housed in the housing 120. In addition, the reference station unit 104 may be permanently installed in the vicinity of the field using the spraying machine 101 of the present invention, or may be configured to be removable after use.
[0035]
  Next, the autonomous traveling system in the scattering work machine 101 of the present invention will be described with reference to FIG. In addition to the GPS unit 102 described above, the autonomous traveling system includes an autonomous traveling program 121, an internal sensor 122 that detects various types of information on the spreading work machine 101, a stock scanning sensor 123, and autonomous for performing autonomous traveling and work. Operation means 124 and the like are included.
[0036]
  A radio wave signal transmitted from a GPS satellite 125 transmitted at a certain time is received by the GPS antenna 108 of the mobile station unit 103 provided in the spreading work machine 101 and transmitted to the processing unit 110 via the GPS receiving unit 109.
[0037]
  On the other hand, the radio signal transmitted from the GPS satellite 125 at the same time is also received by the GPS antenna 114 of the reference station unit 104 installed near the farm field, and transmitted to the processing unit 116 via the GPS receiving unit 115. Further, it is wirelessly transmitted from the wireless unit 119 to the processing unit 110 via the wireless unit 113.
[0038]
  The processing unit 110 compares and contrasts the radio signal received by the reference station unit 104 with the radio signal received by the mobile station unit 103, and the radio signal transmitted at the same time is received by the GPS antenna 108 and the GPS antenna 114. The relative position between the mobile station unit 103 and the reference station unit 104 is calculated based on the phase difference when received and radio signal information from a plurality of satellites, and the position of the mobile station unit 103 is calculated. The above calculation is performed by the autonomous traveling program 121 stored in the processing unit 110.
[0039]
  By configuring in this way, the three-dimensional relative position between the spraying work machine 101 and the reference station unit 104, that is, the position (including the data in the height direction) of the spraying work machine 101 in the field can be obtained with high accuracy and in real time. It can be measured.
[0040]
  The inner world sensor 122 refers to sensors for detecting information necessary for autonomously running the scattering work machine 101, such as speed, posture, engine speed, and steering angle. More specifically, an engine speed sensor, a vehicle speed sensor, a steering angle sensor, a direction sensor, a roll tilt sensor, a pitch tilt sensor, and the like. Detection signals from these internal sensors 122 are transmitted to the processing unit 110. In the present embodiment, among the internal sensors 122, the azimuth sensor, the roll tilt sensor, the pitch tilt sensor, and the like are disposed in the same storage unit 106 as the mobile station unit 103. The arrangement position is not particularly limited.
[0041]
  The stock copy sensor 123 is disposed on the lower surface of the front side of the machine body (in front of the front wheels 7 and 7) of the spraying work machine 101. The stock copy sensor 123 is used to detect a crop planted at a predetermined interval in the field so that the sprayer 101 does not step on the crop with a wheel, and to control the traveling direction of the sprayer 101. It is done. A detection signal from the stock copy sensor 123 is also transmitted to the processing unit 110.
[0042]
  Based on the detection signal from the internal sensor 122 and the stock copy sensor 123, and the position information of the spraying work machine 101 by the GPS unit 102, the speed and posture of the spraying work machine 101 by the autonomous traveling program 121 stored in the processing unit 110. A signal for autonomously operating the engine speed, steering angle, etc. is transmitted to the autonomous operating means 124. More specifically, the autonomous operation means 124 includes a steering drive actuator, a steering drive solenoid valve (not shown), a boom lifting power cylinder (corresponding to the boom lifting cylinder 38), a boom opening / closing power cylinder (boom opening / closing). And the like, a boom horizontal control power cylinder (equivalent to the boom horizontal control cylinder 39), an accelerator actuator, a main clutch actuator, and the like. In the present embodiment, the position information of the spreader working machine 101 obtained from the GPS unit 102 has high accuracy in the height direction. Therefore, it is possible to control the boom raising / lowering cylinder 38 so that the height from the farm field to the boom 40 is substantially constant during autonomous work, and to make the chemical solution spray state substantially constant.
[0043]
  The wireless operation means 133 is carried by an operator and includes a plurality of switches and the like for performing various operations from a position away from the spraying machine 101. As shown in FIG. 4, the wireless operation means 133 according to the present embodiment includes a total of six contact switches, and includes a first button 163, a second button 164, a third button 165, a fourth button 166, and a fifth button, respectively. The button 167 and the sixth button 168 are turned on / off. The following ten types of operations are listed as remote operations performed by the operator during autonomous traveling. That is, (1) emergency stop (engine stop) in case of emergency is the first button 163, (2) start and stop of the spreader is the second button 164, (3) the boom rise is the fourth button 166, (4) Boom descending is the sixth button 168, (5) right side boom opening is the third button 165 + fourth button 166, (6) right side boom closing is the third button 165 + sixth button 168, (7) left side boom opening is Fifth button 167 + fourth button 166, (8) Fifth button 167 + sixth button 168 when the left side boom is closed, (9) Third button 165 + fifth button 167 + fourth button 166, (10) The stock scanning sensor lowering is a third button 165 + a fifth button 167 + a sixth button 168. By pressing one or a plurality of buttons in combination as described above, the operability is not impaired, and the number of contact switches provided in the wireless operation means 133 (six in this embodiment) is larger (this embodiment). In the example, 10 types of operations are possible.
[0044]
  As shown in FIG. 7, the receiver 202 provided in the wireless unit 113 has a total of six contact switches from 1 channel to 6 channels, and the first button 163 and the second button 164 of the wireless operation means 133, respectively. By operating the third button 165, the fourth button 166, the fifth button 167, and the sixth button 168, the contact switch corresponding to each button is operated, and the processing unit 110, which is an autonomous running controller, is connected to the processing unit 110 from the wireless operation means 133. Send the operation signal. Each contact output unit of the processing unit 110 is provided with a contact output corresponding to each operation such as a boom up and a boom down.
[0045]
  For example, when the wireless operation unit 133 is operated (the button 166 is pressed) to raise the boom, the 4-channel contact switch corresponding to the operation is turned on in the receiver 202, and the button is displayed on the processing unit 110. A signal indicating that 166 has been pressed is transmitted. As described above, in this embodiment, there are four types of remote operation using the fourth button 166. Specifically, the boom is raised (fourth button 166), the right side boom is opened (third button 165 + fourth button 166), the left side boom is opened (fifth button 167 + fourth button 166), and the stock scanning sensor is raised (first button). 3 button 165 + 5th button 167 + 4th button 166). The processing unit 110 confirms that a signal is transmitted only from the four channels corresponding to the fourth button 166, outputs a signal from the output contact 203 for raising the boom, and activates the remote control relay 204. As a result, a signal is transmitted to the input contact 205 on the machine controller 169 side for raising the boom. In addition, a manual switch 206 is provided in parallel with the remote control relay 204, and the boom can be raised manually when the operator gets on the spraying work machine 101. The manual switch 206 is disposed in the vicinity of the driver's seat 14. This machine controller 169 transmits to the boom cylinder control relay to raise the boom 40. As described above, the boom raising relay unit 207 including the input contact 203, the remote operation relay 204, the output contact 205, and the manual switch 206 is formed between the processing unit 110 that is an autonomous traveling controller and the main unit controller 169. Further, the configuration is substantially the same as that of the boom raising relay unit 207, and relay units corresponding to other remote operations such as boom lowering and boom opening / closing are provided between the processing unit 110 and the controller 169 (not shown). .
[0046]
  As described above, even during autonomous driving, the boom can be raised and lowered and the spreader machine can be remotely controlled to enable remote control, so that signs and steel tower legs are erected in the field and trees around the field. Even if there is, it is possible for the operator to avoid it by remote control so that these do not come into contact with the spreading work machine 101.
[0047]
  Moreover, the remote monitoring monitor 161 shown in FIG. 4 can also be installed outside the field. The remote monitoring monitor 161 is configured to be connectable to the processing unit 110 of the mobile station unit 103, which is an autonomous running controller, via a wireless LAN, and displays various information of the spreading work machine 101 on the display unit 161a, and remotely displays control parameters. It is possible to change with.
[0048]
  Furthermore, a PDA (Personal Digital Assistance) 162 can be used as the remote monitoring monitor 161. The PDA 162 is configured to be able to connect to the processing unit 110 of the mobile station unit 103 which is an autonomous travel controller so as to be connected to the wireless LAN, and can give instructions similar to those of the wireless operation means 133 to the spreading work machine 101. Furthermore, it is possible to display various information of the spreader machine 101 on the display unit 162a of the PDA 162 and to change the control parameters remotely. That is, the PDA 162 is small in size and can be carried by an operator, and has a display unit 162a, input means such as a touch panel and buttons, and a communication function, and thus has the functions of the wireless operation means 133 and the remote monitoring monitor 161. .
[0049]
  FIG. 8 shows a display example of the display unit 162 a of the PDA 162. The display unit 162a includes information on the spraying work machine 101 (for example, position information obtained by the GPS unit 102, a required amount of the chemical solution in the field, a remaining amount of the chemical solution in the chemical solution tank 24, a chemical solution spray rate (spray amount per unit time). ) To an estimated time from chemical solution replenishment), a plan view 171 showing the shape of the field and the spraying machine position 171a in the field, the autonomous traveling route and the chemical solution replenishment position 171b, and the wireless Command buttons 172, 172, etc. corresponding to the buttons of the operation means 133 are displayed. The display method of the display unit 162a is not limited, and the display of the information window 170, the plan view 171, and the command button 172 may be switched in order.
[0050]
  Subsequently, a first embodiment of the spraying method will be described with reference to FIGS. 9 and 10. For example, when performing a spraying operation in a paddy field 126 that is a rectangular field as shown in FIG. 9, the paddy field 126 is evenly sprayed in the paddy field 126. It is important to spray the chemicals so that there is no place (overlapping spray area). Accordingly, the paddy field 126 having a width substantially the same as the horizontal width (hereinafter referred to as “full width”, about 10 meters) when the spraying work machine 101 performing the spraying work extends the left and right side booms 42L and 42R to the side of the vehicle body. The outer edge portion 126a (the hatched portion in FIG. 9) is left, and the spraying operation is started from the work start point 128 (or the work start point 131) located inside the outer edge portion 126a. Finally, the spraying work is performed while making a round around the outer edge portion 126 a, and the spraying work machine 101 moves out of the paddy field 126 from the work end point 129 (or the work end point 132). That is, the spreading work is performed while the spreading work machine 101 travels along the path indicated by the solid line and the dotted line in FIG. 9. At this time, in the travel route of the spraying machine 101 shown in FIG. 9, the part indicated by the solid line indicates a process of traveling while performing the chemical solution spraying work (hereinafter referred to as “spreading process”), and is indicated by the dotted line. The portion indicates a process of traveling without performing the chemical solution spraying operation (hereinafter referred to as “moving process”).
[0051]
  In the case of the spraying work in the spraying work machine 101 of the present invention, the operator operates the spraying work machine 101 to the work vehicle entry point 127 which is an arbitrary point at the end of the paddy field 126, and stops at the work vehicle entry point 127 (in the field). And get off the spraying machine 101. Next, the operator starts the autonomous traveling of the spraying work machine 101 by the portable wireless operation means 133 (presses the autonomous traveling start button). The spreading work machine 101 circulates around the outer edge 126a of the paddy field 126 immediately before the work, stores the shape of the paddy field 126 obtained from the GPS unit 102 in the processing unit 110, and uses the autonomous traveling program 121 to obtain information on the shape of the paddy field 126. The work route is automatically created based on the work route, or work route data for each field is created in advance and stored in the processing unit 110.
[0052]
  The spreader work machine 101 automatically creates a work vehicle guidance route from the work vehicle entry point 127 to the work start point 128 based on information on the shape of the paddy field 126 by the autonomous traveling program 121 stored in the processing unit 110. The spraying machine 101 autonomously travels on the work vehicle guidance route (from the work vehicle entry point 127 to the work start point 128) and then starts the chemical spraying operation without stopping, and autonomously travels based on the position information by the GPS unit 102. Continue. Finally, when reaching the work end point 129, the spraying work machine 101 automatically ends autonomous traveling and stops.
[0053]
  In addition, although it is possible to create many autonomous traveling routes of the spreading work machine 101, it is desirable to select the route having the shortest traveling route from the viewpoint of work speed. However, there are actually obstacles (signboards, steel tower legs, etc.) in the field, a specific part of the field is soft ground, or a point where the work vehicle can enter the field is restricted to a specific place. Various situations are conceivable. In addition, it is not preferable that the spraying machine 101 passes through the place where the spraying work is once performed from the viewpoint of the pest control / control effect by spraying the chemical solution. Therefore, it is important to configure the autonomous traveling program 121 so that various conditions are input or stored in the processing unit 110 in advance and the optimum traveling route can be selected in consideration of these various conditions.
[0054]
  Next, a second embodiment of the spraying work method will be described with reference to FIG. Even when spraying work is performed on the same paddy field 126 as in the first embodiment, there are several autonomous traveling routes that can be created. In the first embodiment, a path for carrying out the spraying operation from the inside leaving the outer edge portion 126a of the paddy field 126 is adopted, but in the second embodiment, the outer edge portion 126b adjacent to only one end among the four field end portions. (The hatched portion in FIG. 11) is left, the spraying operation is started from the work start point 184, and finally returns to the work vehicle entry point 183 through the outer edge portion 126b. In the second embodiment, the work vehicle entry position point 183 and the work end point 185 are the same place, but the work end point may be arranged at another point on the end of the field.
[0055]
  The paddy field 126 is substantially rectangular in plan view, and its long side is substantially the same as an even multiple of the full width. However, the paddy field 186 shown in FIG. 12 is generally rectangular in plan view, and the long side is a substantially odd multiple of the full width. It is. As described above, it is not preferable that the spraying machine 101 passes through the place where the spraying work is once performed from the viewpoint of the pest control / control effect by spraying the chemical solution. However, when the work vehicle approach path of the spraying work machine 101 is limited depending on the situation around the farm field and the work vehicle entry point 187 and the work end point 189 must be matched, the work solution does not pass through the place where the chemical solution has already been sprayed. Thus, it is difficult to create a work route. Therefore, the left and right edge portions of the paddy field 186 are defined as a medium-width work area 186a (shaded area in FIG. 12), and one of the left and right side booms 42L and 42R (in this embodiment, the right-hand side boom) when traveling. The autonomous running / dispersing work is performed in a state in which 42R) is rotated to the storage position. In the present embodiment, the autonomous traveling / spraying operation is performed with the right-hand boom 42R rotated to the storage position. Conversely, the same effect can be obtained even when the left-hand boom 42L is rotated to the storage position. Play.
[0056]
  The boom 40, which is the boom portion of the spraying machine 101 according to the present embodiment, includes a front boom 41 and left and right side booms 42L and 42R, and spray spray opening and closing valves 176 and 177 that supply and stop the chemicals independently of each other. -178 is provided. Therefore, in this embodiment, only the front boom 41 (short width spraying), the front boom 41 + the left or right side boom 42 (medium width spraying), all the booms (full width spraying), and the like are various chemical spraying modes. Can be selected. Therefore, the spraying width of the spraying machine 101 is changed in accordance with the size of the field, the chemical solution is sprayed uniformly (without generating unsprayed areas and overlapping sprayed areas), and the place where the chemical liquid has already been sprayed is passed. It is possible to select no travel route. In this embodiment, the boom has a three-divided structure (front boom 41 and left and right side booms 42L and 42R). For example, the boom has a five-divided structure, and each boom has a chemical spray pipe, a nozzle, and a spray opening / closing valve. By providing, it is possible to perform the spraying operation in a state where the spraying width is precisely matched to the field.
[0057]
  Next, the management of the amount of the chemical solution in the chemical solution tank 24 during autonomous traveling and the behavior of the spray work machine 101 when the chemical solution is exhausted will be described. The chemical liquid tank 24 of the spraying work machine 101 of the present embodiment has a shape that covers the driver's seat 14 from the side surface and the rear surface. In the chemical liquid tank 24, as shown in FIG. 14, a liquid level detecting means 190 which is a chemical quantity measuring means is provided. The liquid level detection means 190 is a capacitance type, optical type, ultrasonic type level sensor or liquid level sensor, and is configured to detect the amount of chemical in the chemical tank 24 and transmit it to the controller 169 of this machine. Is done. At this time, the liquid level detecting means 190 may be of a form for detecting the upper limit and the lower limit of the liquid level or a form of measuring the liquid level with high accuracy.
[0058]
  As shown in FIG. 13, a water suction port 24 a for sending out the chemical liquid from the chemical liquid tank 24 is provided at the center of the left and right of the rear lower surface of the chemical liquid tank 24, and a hose 46 extends from the water suction port 24 a to the chemical liquid inlet of the spray pump 4. It is connected through communication. Similarly, two chemical liquid return ports 94a, 95a, 96a, and 97a that are recirculated from the pump unit 36 to the chemical liquid tank 24 are provided on the lower back side of the chemical liquid tank 24 on the left and right sides with the water intake port 24a as the center. Yes. These return ports 94a, 95a, 96a, and 97a are provided in the lower part of the chemical solution tank 24, and a chemical solution tank is utilized by using the flow pressure of the chemical solution that is returned to the chemical solution tank 24 from the return ports 94a, 95a, 96a, and 97a. The chemical solution in 24 is agitated.
[0059]
  As shown in FIG. 14, the chemical solution flows from the water inlet 24 a of the chemical solution tank 24 to the three-way switching cock 77 through the hose 46, and after the foreign matter is removed by the strainer 78, the chemical solution flows into the spray pump 4.
[0060]
  The crankcase of the spray pump 4 is provided with an air chamber and a safety valve at the front and rear, and can accumulate the chemical liquid pumped by the reciprocating motion of the piston and discharge it at a constant pressure from the discharge port. Further, of the chemical liquid discharged from the discharge port of the spray pump 4, surplus water equal to or higher than the set pressure is returned from the safety valve 79 through the hose 94 to the return port 94 a provided on the back surface of the chemical liquid tank 24.
[0061]
  On the other hand, the chemical solution having a pressure equal to or lower than the set pressure is guided to the spray amount control device 3 through the hose 45. The spray amount control device 3 controls the amount of the chemical liquid fed to the nozzles 23, 23,... Of the boom 40 by two flow control valves (spray side valve 91, return side valve 90). The spray amount control device 3 is opened and closed by a motor 30, and the motor 30 is configured to be operated by a main unit controller 169. The command to the machine controller 169 can be issued by a manual switch provided near the driver's seat 14 or by the control unit 110 which is an autonomous running controller. The chemical liquid flowing into the branch pipe 32 from the spray pump 4 via the hose 45 is branched into a spray side path and a chemical liquid tank return side path. A return valve 90 is disposed in the middle of the hose 95 that is the return path of the chemical tank in the branch pipe 32. When the return valve 90 is open, the chemical passes through the hose 95 and passes through the hose 95. The liquid is returned to the chemical liquid tank 24 through a return port 95 a provided at the lower back of the tank 24.
[0062]
  On the other hand, the chemical solution sent from the branch pipe 32 to the spray side path is guided to the spray side valve 91 through the hose 99. The spray side valve 91 is opened during the spraying operation, and controls the amount of the chemical liquid ejected from the nozzles 23, 23... Provided in the boom 40 according to the opening state of the spray side valve 91.
[0063]
  The chemical liquid that has passed through the spray side valve 91 further flows into the stirring branch pipe 33. The agitation branch pipe 33 is provided with two agitation discharge ports 96b and 97b, and the agitation discharge ports 96b and 97b are connected to return ports 96a and 97a provided at the lower rear portion of the chemical tank.・ 97 is connected. The chemical solution pumped from the stirring discharge ports 96b and 97b is returned to the chemical solution tank 24 and agitates the chemical solution in the chemical solution tank 24. Therefore, using the flow of the chemical solution sent from the total of the four return ports 94a, 95a, 96a, and 97a into the chemical solution tank 24 together with the two tank return ports 94a and 95a, the chemical solution is being controlled during the control operation. It is always stirred and configured so that the concentration of the chemical solution is not biased and precipitation or the like does not occur.
[0064]
  The stirring branch pipe 33 is provided with a flow sensor 57. Therefore, the flow rate sensor 57 can detect the amount of the chemical liquid fed to the nozzles 23 of the boom 40. Further, instead of the flow rate sensor 57, a pressure sensor may be provided. The flow sensor 57 is connected to the machine controller 169 and configured to be able to transmit data relating to the flow. The chemical solution that has passed through the stirring branch pipe 33 reaches the discharge valve 31, and when the discharge valve 31 is open, it is sent through the pipe 175 to the nozzles 23, 23,. The configuration on the downstream side from the pipe 175 is as shown in FIG.
[0065]
  The following two types of chemical liquid amount management methods during autonomous running are conceivable.
[0066]
  The first chemical liquid amount management method will be described with reference to FIGS. 15 and 16. When the chemical liquid in the chemical liquid tank 24 runs out during autonomous traveling (more strictly speaking, if the operation of the pump unit 36 is continued until the chemical liquid in the chemical liquid tank 24 runs out completely, the spray pump 4 may break down. When the liquid level detecting means 190 detects that there is a liquid level in the vicinity of the lower limit of the chemical tank 24), the operation of the pump unit 36 is stopped, and the chemical spraying valves 176, 177, 178 and the spray side valves are stopped. 91 is closed. Then, information on the position 208 (hereinafter referred to as “spraying work interruption point”) of the spraying machine 101 in the field at the time when the chemical liquid in the chemical tank 24 is exhausted is obtained from the GPS unit 102 and stored in the processing unit 110. .
[0067]
  Subsequently, the autonomous traveling program 121 creates an autonomous guidance route from the spraying operation interruption point 208 to the chemical solution replenishment point 209 (the end of the field where the chemical solution can be replenished without the operator stepping on the field). At this time, it is preferable that the autonomous guidance path is configured to pass through the unsprayed region as much as possible. Then, the spraying machine 101 returns autonomously to the chemical solution replenishment point 209 and stops. After the operator refills the chemical tank 24 with the chemical solution, the wireless operation means 133, the PDA 162, etc., restart button (corresponding to the second button 164 for starting and stopping in the wireless operation means 133, and one of the command buttons on the PDA 162 When the button is pressed, the spraying machine 101 autonomously travels to the spraying work interruption point 208 and restarts the spraying work when the spraying work interruption point 208 is reached.
[0068]
  By configuring in this way, the spraying work machine does not depend on the operator's memory for the spraying work interruption point, and the spreading work machine guides between the spraying work interruption point and the chemical solution replenishment point based on the position information by the GPS unit with high positional accuracy. Since the route is automatically created and the traveling is reciprocated between the spraying work interruption point and the chemical solution replenishment point by autonomous traveling, the chemical solution is replenished and the spraying work is resumed. It is possible to return to the spraying work interruption point which is the boundary of the above with high accuracy, and to perform a uniform and reliable spraying work without generating an unsprayed area or an overlapping sprayed area in the field. In addition, the operator does not need to manually operate between the spraying operation interruption point and the chemical solution replenishment point, and only has to wait at the chemical solution replenishment point (farm field end) and replenish the chemical solution, so that the workability is excellent.
[0069]
  The 2nd chemical | medical solution amount management method is demonstrated using FIG. 17 and FIG. During autonomous traveling, information on the chemical flow rate (a chemical spray amount per unit time) from the flow sensor 57 and information on the remaining amount of chemical in the chemical tank 24 from the liquid level detection means 190 are transmitted to the processing unit 110 via the controller 169. Is done. In the autonomous running program 121 stored in the processing unit 110, the current amount of the chemical solution and the chemical solution in the chemical solution tank 24 disappear based on the above information (it is detected that the liquid level has come near the lower limit of the chemical solution tank 24). The expected travel distance (or expected travel time) up to the time is calculated. The estimated travel distance (or time) is displayed on the display unit 162a of the PDA 162 or the display unit 161a of the remote monitoring monitor 161. The autonomous traveling route created by the autonomous traveling program 121 has a configuration in which a portion that travels while spraying chemical liquid (spraying process) and a portion that travels without spraying chemical liquid (moving process) are alternately connected. ing.
[0070]
  Whether or not the chemical liquid in the chemical liquid tank 24 runs out during a certain spraying process can be determined by comparing with the above-described predicted travel distance (or predicted travel time). For example, it is assumed that the calculation predicts that the chemical solution will disappear at the expected application interruption point 211 in the middle of the application step 210 in FIG. . In this case, the spraying machine 101 extends from the end point 212a of the immediately preceding spraying step 212 to the chemical solution replenishment point 213 at the field end (the field end where the operator can replenish the chemical without stepping into the field). The autonomous traveling route is created by the autonomous traveling program 121 from the autonomous guidance route and the chemical solution replenishment point 213 to the start point 210a of the spraying process 210, and autonomously travels to the chemical solution supplement point 213 along the autonomous guidance route, and stops. To do.
[0071]
  After the operator replenishes the chemical solution, the wireless operation means 133, the PDA 162 or the like restarts the button (for example, the wireless operation means 133 corresponds to the start / stop second button 164, and the PDA 162 is one of the command buttons "work" When the button is pressed, the spraying machine 101 autonomously travels to the start point 210a of the spraying process 210, which is the next spraying process, and restarts the spraying work when the start point 210a is reached.
[0072]
  With this configuration, it is possible to replenish the chemical solution before the chemical solution in the chemical solution tank runs out based on information from the flow sensor and the liquid level detection means, and work efficiency is improved. For example, it is easy to create an autonomous travel route with the shortest total travel distance by avoiding the chemical solution replenishment work that reciprocates along the long-distance autonomous guidance route when there is no chemical solution in a place where the distance from the chemical solution replenishment point is large It becomes. In addition, since the remaining amount of the chemical solution in the chemical solution tank is constantly monitored, it is easy for the operator to grasp the point at which the chemical solution runs out even during manual operation, and the workability is excellent.
[0073]
  Further, when the chemical solution is replenished, the amount of the chemical solution necessary for spraying the remaining unsprayed area of the field can be determined by calculation, and this is displayed on the display means provided on the body or the display unit of the PDA 162 or the remote monitoring monitor 161. You can also. By configuring in this way, the operator can perform an economical spraying operation while minimizing the amount of chemical solution to be replenished. In addition, the chemical solution is usually generated by supplying a large amount of water to the chemical solution tank 24, then adding a stock solution of the drug, and dissolving / stirring, but the liquid level detecting means 190 can accurately grasp the amount of water supply. Therefore, a predetermined dilution rate is stored in the autonomous traveling program 121, the amount of the stock solution of the medicine to be added is calculated from the dilution rate and the amount of water supply, and the display means provided on the body or the display of the PDA 162 or the remote monitoring monitor 161 is displayed. It can also be displayed on the section. By configuring in this way, it is possible to omit the work of the operator measuring the amount of water supplied at the time of replenishing the chemical solution and calculating the addition amount of the medicine from the dilution factor, and the workability is excellent.
[0074]
  In addition, the application of agricultural chemicals to crops shipped as products is prohibited from a predetermined number of days before the harvest date, but in the present invention, the application date and time, application location, application work route, chemical application amount per unit area, Work information such as the type of sprayed chemical and the dilution rate can be stored in the processing unit 110. Therefore, the reliability of the crop is improved by attaching the work information as the growth information of the crop shipped as a product. Also, the work information can be used when the next spraying work plan is made.
[0075]
  Subsequently, the operation of the spraying machine 101 when performing the spraying work while turning the corner of the farm field will be described with reference to FIGS. 19 to 21. The spreader machine 101 of the present invention is configured so that it cannot be retracted during normal traveling work. Therefore, particularly when performing the spraying operation while turning in corners, it is important to devise the travel route, the boom spraying width, and the posture in order to make the unsprayed area as small as possible.
[0076]
  In the present invention, three kinds of turning methods are prepared as corner turning methods, and an arbitrary turning method is selected by pressing a “turning method selection” which is one of the manual switch on the machine side or the command button 172 of the PDA 162. Configured to be possible. The three types of turning methods are (A) time priority turning, (B) medium width uniform turning, and (C) full width uniform turning. In addition, after that, the right side surface of the spraying work machine 101 moves forward along the end portion of the farm 191 and enters the corner 191a, and turns 90 degrees to the left (counterclockwise in plan view), from the corner 191a. The case of leaving will be described as an example.
[0077]
  First, the time priority turning of (A) will be described. As shown in FIG. 19, the work spreader 101 extends the left and right side booms 42L and 42R to the side and spreads the entire width (the left and right side booms 42L and 42R extend to the left and right of the machine body, It enters the corner 191a of the field 191 while performing the chemical solution spraying in the largest state. When the turning start point 192 on the autonomous traveling route is reached, the spray opening / closing valve 178 that controls the supply of the chemical solution to the pipe 181 provided in the left side boom 42L is closed, and the chemical solution spray from the left side boom 42L is turned off. To. The spraying machine 101 turns 90 degrees to the left and sprays the chemical solution from the front boom 41 and the right boom 42R up to the full width spraying restart point 193. Subsequently, the spraying machine 101 opens the spray opening / closing valve 178 when it reaches the full width spraying restart point 193, and retreats from the corner 191a while spraying the full width again. This turning method is excellent from the viewpoint of work time because the time required for turning is short, but the area of the unsprayed region 194 indicated by the hatched portion in FIG. 19 is the largest among the three types of turning methods. There is a problem.
[0078]
  Next, the middle width uniform turning of (B) will be described. As shown in FIG. 20, the work spreader 101 closes the right side boom 42R and arranges it at the storage position, and the left side boom 42L extends to the left side with a medium width spreader (the left side boom 42L and the front boom 41). The chemical enters the corner 191a of the farm 191 while performing the chemical solution spraying with a spraying width that is a combined length. When the turning start point 195 on the autonomous traveling route is reached, the spray opening / closing valve 178 that controls the supply of the chemical solution to the pipe 181 provided in the left side boom 42L is closed, and the chemical solution spray from the left side boom 42L is turned off. To. The spraying machine 101 turns 90 degrees to the left and performs short-width spraying only from the front boom 41 up to the short-width spraying restart point 193. Subsequently, the spraying machine 101 opens the spray opening / closing valve 178 when it reaches the medium width spraying restart point 193, and retreats from the corner 191a while performing the medium width spraying again. In this turning method, the area of the non-sprayed area 197 indicated by the hatched portion in FIG. 20 is smaller than the non-sprayed area 194 in the time-priority turning in (A), and from the non-sprayed area 201 in the full-width uniform turning described later. Somewhat big. Moreover, since the work width is a medium width smaller than the time-priority turn of (A), the total length of the autonomous traveling route is increased compared to the case of the time-priority turn of (A), and the work time becomes slightly longer.
[0079]
  Next, the full width uniform turning of (C) will be described. As shown in FIG. 21, the work spreader 101 enters the corner 191a of the farm 191 while performing full width spreading with the left and right side booms 42L and 42R extending laterally. Then, when reaching the turning start point 199 on the autonomous traveling path in the immediate vicinity of the farm field end in the forward direction of the spraying work machine 101, the right boom 42R is closed and disposed at the storage position, and the spray opening / closing valve 176 is disposed.・ Close all 177 and 178 and turn off spraying from all booms. The spraying machine 101 travels autonomously without spraying any chemical until it reaches the full-width spraying restart point 200 via an S-shaped travel route that turns right after the left turn. Subsequently, when the spraying work machine 101 reaches the full width spraying resumption point 200, the right side boom 42R is opened and disposed at the work position, and the spraying opening / closing valves 176, 177, 178 are all opened, The chemical solution spraying is turned on and the corner 191a is exited while spraying the full width again. This turning method involves somewhat complicated operations such as opening and closing the boom during the turning work, and the time required for turning is longer than the time-priority turning in (A), but the total length of the autonomous traveling route is given priority in time (A). This is only slightly longer than the turn, and is substantially the same as the time-priority turn in (A) when viewed from the overall work time. In addition, the area of the unsprayed area 201 indicated by the hatched portion in FIG. 21 is the smallest among the three types of turning methods, and is the best in performing uniform spraying.
[0080]
  By configuring as described above, during autonomous running, it is possible to select three types of turning methods having different characteristics according to the usage situation and perform a spraying operation suitable for the needs of the operator. Moreover, even when autonomous traveling work is performed on a spraying work machine having a configuration that cannot be retracted, it is possible to perform a substantially uniform spraying work up to a corner.
[0081]
  In the present embodiment, the main unit controller 169 of the spraying work machine 101 and the processing unit 110 that is an autonomous traveling controller are separate from each other and are configured to be connected by a cable. However, these are integrated. Thus, the control may be performed by a single control unit including a CPU, a RAM, a ROM and the like.
[0082]
【The invention's effect】
  Since the present invention is configured as described above, the following effects can be obtained.
[0083]
  As shown in claim 1A GPS (Global Positioning System) mobile station unit, an internal sensor that detects information necessary for autonomously running the spraying machine, and a chemical tank, spraying while traveling autonomously In the spraying machine that performs the work, the chemical tank is provided with a liquid level detecting means that is a chemical quantity measuring means, and the spray amount per unit travel distance or unit travel time is calculated, and the chemical liquid in the chemical tank disappears, or in advance Autonomous travel route created by the autonomous travel program by calculating and displaying the travel distance or travel time until it falls below the set amount, storing the autonomous travel program in the processing unit serving as the control means provided in the mobile station unit Is a process that alternately connects a spraying process that travels while spraying chemicals and a moving process that travels without spraying chemicals. During spraying operations based on autonomous program, to be less than the amount set chemical is eliminated in the next spraying process, or in advance If predicted by calculation, move to standby at field edge after current application processTherefore, the chemical solution can be replenished before the chemical solution in the chemical solution tank runs out, and work efficiency is improved.
[0087]
  As shown in claim 2,Calculate and display the amount of chemicals required for spraying in the unsprayed areas of the field when the chemical tank is refilledAs a result, the operator can reduce the amount of the chemical solution to be replenished to the minimum and perform an economical spraying operation.
[0088]
  As shown in claim 3,Based on the amount of the necessary chemical solution and the dilution ratio of the chemical solution, the chemical amount required when the chemical solution is replenished is displayed in the chemical solution tank (24).Therefore, it is possible to omit the operation of measuring the amount of water supplied by the operator at the time of replenishing the chemical solution and calculating the amount of the drug to be added from the dilution ratio, and the workability is excellent.
[Brief description of the drawings]
[Figure 1]Scatter working machine of the present inventionSide view.
[Figure 2]Scatter working machine of the present inventionFIG.
FIG. 3 is a diagram showing a chemical solution piping path of a boom part.
FIG. 4 is a schematic diagram of an autonomous traveling system according to the present invention.
FIG. 5 is a diagram showing a mobile station unit.
FIG. 6 is a diagram showing a reference station unit.
FIG. 7 is a schematic diagram showing a contact portion between the machine controller and the autonomous running controller.
FIG. 8 is a schematic diagram showing a display example of a PDA display unit.
FIG. 9 shows the present invention.Spraying machineThe schematic diagram which shows the 1st Example of the autonomous running route by.
FIG. 10 is a flowchart of autonomous running in the present invention.
FIG. 11 shows the present invention.For sprayerThe schematic diagram which shows the 2nd Example of the autonomous running route by.
FIG. 12 is a schematic diagram showing an example of an autonomous traveling route in a farm field including a medium-width spraying region.
FIG. 13 is a rear view of the chemical tank.
FIG. 14 is a schematic diagram showing a chemical liquid piping system.
FIG. 15 is a diagram showing an example of an autonomous guidance route for chemical solution replenishment.
FIG. 16 is a flowchart of chemical solution replenishment work.
FIG. 17 is a diagram showing another embodiment of the autonomous guidance route for chemical solution replenishment.
FIG. 18 is a flowchart in another embodiment of the chemical solution replenishment operation.
FIG. 19 is a schematic diagram showing a first embodiment of a field corner spraying operation.
FIG. 20 is a schematic diagram showing a second embodiment of a field corner spraying operation.
FIG. 21 is a schematic diagram showing a third embodiment of a field corner spraying operation.
[Explanation of symbols]
  23 nozzles
  24 chemical tank
  40 boom
  41 Forward boom
  42L / 42R Side boom
  101 Agricultural work machines
  102 GPS unit
  103 Mobile station unit
  104 Reference station unit
  108 GPS antenna
  122 Inside sensor
  123 stock scanning sensor
  176 ・ 177 ・ 178 Spreading valve
  190 Liquid level detection means

Claims (3)

A GPS (Global Positioning System) mobile station unit, an internal sensor that detects information necessary for autonomously running the spraying machine, and a chemical tank, spraying while traveling autonomously In the spraying machine that performs the work, the chemical tank is provided with a liquid level detecting means that is a chemical quantity measuring means, and the spray amount per unit travel distance or unit travel time is calculated, and the chemical liquid in the chemical tank disappears, or in advance Autonomous travel route created by the autonomous travel program by calculating and displaying the travel distance or travel time until the amount falls below the set amount, storing the autonomous travel program in the processing unit serving as the control means provided in the mobile station unit Is a process that alternately connects a spraying process that travels while spraying chemicals and a moving process that travels without spraying chemicals. During the spraying operation based on the autonomous running program, if it is predicted by calculation that the chemical solution will run out or fall below the preset amount in the next spraying process, move to the end of the field and wait for the current spraying process A spraying machine characterized by that. The spraying work machine according to claim 1, wherein when the chemical liquid is replenished to the chemical liquid tank, the amount of the chemical liquid necessary for spraying the unsprayed area of the field is calculated and displayed. 2. The spraying machine according to claim 1, wherein the amount of the chemical required when the chemical liquid is replenished to the chemical liquid tank is displayed from the amount of the necessary chemical liquid and the dilution rate of the chemical liquid.

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