JP4389116B2 - Drug application control device - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to an improvement in a spray amount control device for a medicine spray vehicle.
[0002]
[Prior art]
A medicine spraying device that controls the medicine spraying pressure of the control spraying device according to the vehicle speed of the mobile agricultural machine to control the amount of medicine spraying per unit area substantially constant is known.
[0003]
[Problems to be solved by the invention]
A conventional chemical spraying device that controls the spraying pressure of a medicine according to the vehicle speed of a mobile agricultural machine and controls the amount of the medicine spraying per unit area to be substantially constant is based on a predetermined standard according to increase / decrease of the vehicle speed. The spraying pressure is adjusted to high and low.
[0004]
Therefore, if the vehicle speed becomes slow, the minimum reference pressure required for atomization of the medicine may not be reached.If the vehicle speed becomes fast, the spraying amount per unit area may fall below the appropriate amount intended by the operator. There was a problem that the medicine could not be sprayed.
Moreover, when performing correction to match the actual spray amount with the set spray amount, it is necessary to improve the stability of the spray amount control.
Further, when the number of spray nozzles can be changed to several types, it is necessary to improve the spray amount control of the medicine according to the characteristics of each spray nozzle.
Therefore, the present invention is intended to solve such a problem.
[0005]
[Means for solving problems]
The present invention provides a chemical spraying amount control device for a control spray device ( 5 ) that controls the spraying amount of a medicine or the discharge amount of a pump according to the vehicle speed of a mobile agricultural machine to control the spraying amount of a medicine per unit area substantially constant. When the mobile farm machine starts traveling, the spraying area of the medicine and the medicine flow rate are detected from the detection information of the return medicine flow sensor (28), the inhalation medicine flow sensor (18), the pressure sensor (30), and the vehicle speed sensor (12). When the spraying amount is calculated and the spraying pressure of the control spray device ( 5 ) or the discharge rate of the pump ( 13 ) is lower than the predetermined value, the spraying of medicine is stopped or the minimum reference pressure is maintained. If the vehicle speed is such that the spraying pressure of the medicine is higher than the predetermined value, the spraying of the medicine is stopped or the maximum reference pressure is continued. Holding While continuing agent diffusing, and configured to issue an alarm to urge the deceleration of the vehicle speed,
A difference is calculated by comparing the calculated spraying area and the spraying amount of the medicine with the actual spraying amount per unit area and the set spraying amount that has been set, and a correction pressure is selected from the difference value and selected. The pressure control motor (34) is automatically adjusted from the correction pressure to change the pressure of the pressure adjusting device (15), thereby correcting the actual spray amount to the set spray amount.
The increase / decrease adjustment output of the pressure adjusting device (15) is performed after the fluctuation range of detection of the return medicine flow rate sensor (28) and the inhalation medicine flow rate sensor (18) falls below a reference value, thereby controlling the spray amount. A configuration that improves stability,
Further, the spray nozzle (19) of the control spray device (5) can be changed to several types, and water is sprayed in a state where the mobile agricultural machine is stopped at a fixed position for each of the several types of spray nozzles (19). However, the relationship between the spray pressure amount and the drug spray amount at each spray nozzle (19) is measured and stored in the storage device, and the type of the spray nozzle (19) attached at the time of spraying the drug is controlled by the controller (20 ), The medicine spraying amount control device performs control according to the characteristics of each spray nozzle (19) .
[0006]
[Action and effect of the invention]
When the mobile farm machine starts traveling, detection information is sent from the drug flow sensor (return) 28, the drug flow sensor (inhalation) 18, the pressure sensor 30, and the vehicle speed sensor 12 to the control unit 20, and from these detection information, the vehicle speed, and The medicine spraying amount per unit area corresponding to the detected vehicle speed is calculated by a predetermined calculation formula, the set spraying amount per unit area is compared with the actual spraying amount, and the difference is calculated. Next, the pressure of the pressure adjusting device 15 of the control spraying device 5 is adjusted by a pressure correction command corresponding to the difference value, and the actual spraying capability is corrected to match the set spraying capability.
[0007]
Therefore, in such a spray pressure control process, it is determined whether or not the detected vehicle speed is lower than the low speed reference value. If the detected vehicle speed is lower than the low speed reference value, the medicine spraying is stopped or the lowest holding the reference spray pressure performs control to continue the chemical spray, an alarm generated et al is to encourage accelerated vehicle speed. Further, it is determined whether or not the detected vehicle speed is higher than the high speed reference value. If the detected vehicle speed is higher than the high speed reference value, the medicine spraying is stopped or the predetermined maximum reference pressure is maintained and the medicine spraying is performed. performs control to continue, alarm emitted et al is to encourage a reduction in vehicle speed.
[0008]
As described above, in the case where the vehicle speed of the passenger management machine 1 is slow and the minimum reference pressure necessary for the atomization of the medicine is not reached, an inappropriate spraying operation for preventing the medicine from being atomized is stopped, Alternatively, if the spraying is continued while maintaining the minimum spray pressure, and the vehicle speed is too high to reach the specified spraying amount per unit area, the spraying operation is stopped or the predetermined maximum Since the medicine spraying is continued by the reference pressure, an inappropriate medicine spraying operation can be avoided. Further, the increase / decrease adjustment output of the pressure adjusting device 15 is performed after the detection fluctuation range of the return medicine flow rate sensor 28 and the inhalation medicine flow rate sensor 18 is lower than the reference value, so that the stability of the spray amount control is improved. become.
Moreover, the spray nozzle 19 of the control spray device 5 can be changed into several types. Then, for each of several types of spray nozzles 19, the relationship between the spray pressure amount and the spray amount of each medicine is measured and stored while actually spraying water or the like with the mobile farm machine stopped at a fixed position. Store in the device. At the time of spraying the medicine, by inputting the type of the spray nozzle 19 attached to the control unit 20, it is possible to improve the control of the spray amount of the medicine according to the characteristics of each spray nozzle 19.
[0009]
DETAILED DESCRIPTION OF THE INVENTION
Hereinafter, an embodiment of the present invention will be described.
The body 2 of the passenger management machine 1 is provided with front and rear wheels 3 and 4 having the same diameter, and a control spray device 5 is attached to the front of the body 2. An engine 6 is mounted above the left and right front wheels 3 and 3, and the engine 6 is covered with a bonnet 7. A seat 8 is provided above the left and right rear wheels 4, 4, and a handle 9 is disposed in front of the seat 8. An instrument panel 10 is provided below the handle 9 at the rear of the bonnet 7. When the steering wheel 9 is steered left and right, the left and right front and rear wheels 3 and 4 are steered simultaneously. A chemical tank 11 is detachably attached around the seat 8 above the body 2.
[0010]
Power is transmitted from the output shaft of the engine 6 to the front wheels 3 and the rear wheels 4 via the travel transmission device, and the vehicle speed sensor 12 detects the rotational speed of the transmission shaft of the travel transmission device to detect the vehicle speed. Further, the power is transmitted from the output shaft force of the engine 6 to the chemical spray pump 13 via the work machine transmission.
[0011]
The lower water inlet of the chemical liquid tank 11 communicates with the pump 13 through the water absorption pipe 14, and the pump 13 is connected to the pressure regulator 15 through the pressure pipe 14. The pressure adjusting device 15 adjusts the pressure of the discharged chemical liquid, and includes a balance tank 15a, a relief valve 15b, an open / close cock 15c, a return hose 15d, and the like. The starting end side of the pipe 16 is connected to the pressure adjusting chamber of the pressure adjusting device 15, a part of the chemical solution is returned to the chemical solution tank 11, and the drug precipitated in the lower part of the chemical solution tank is agitated.
[0012]
The chemical solution discharge port of the pressure adjusting device 15 is branched into a plurality of high pressure hoses 17, 17,..., And a chemical inflow sensor (inhalation) 18 as a flow rate detecting means is attached to a connecting portion immediately before the branching. The high-pressure hoses 17, 17,... Are further connected to the central boom 5a and the left and right booms 5a, 5b constituting the control spray device 5 via an intermediate hose (not shown), and the chemical solution is sprayed from the spray nozzles 19, 19,. To do.
[0013]
Next, the chemical | medical agent spraying amount control apparatus of the control spraying apparatus 5 is demonstrated based on FIG.
On the input side of the control unit 20 built in the CPU, via the input interface, a spray amount setting switch 21, a display changeover switch 22, a spray width setting switch 23 for setting the spray width of the left and right booms 5a and 5b, and a reset switch. 24, a spread amount increase adjustment switch 25, a spread amount decrease adjustment switch 26, an automatic / manual changeover switch 27, a drug flow sensor (return) 28 for detecting the return flow rate of the medicine, and a suction amount of the medicine into the pump 13. A drug flow sensor (inhalation) 18 for detecting, a pressure sensor 30 for detecting the discharge pressure of the drug, a vehicle speed sensor 12, a 4WS switch 31 for switching to four-wheel steering traveling, an FWS switch 32 for switching to front-wheel steering traveling, left and right front wheels 3, 3 A steering angle sensor 33 for detecting the steering angle is connected to each other.
[0014]
Further, on the output side of the control unit 20, a pressure control motor 34 for controlling the discharge pressure of the medicine through an output interface, a buzzer 35, an independent clutch driving means 36 for turning on and off the independent clutch, front wheel steering. An FWS lamp 37 that displays traveling, a 4WS lamp 38 that displays four-wheel steering traveling, and a drive means 39 for a four-wheel steering traveling valve are connected to each other.
[0015]
FIG. 4 shows the control panel 40. The control panel 40 is provided with a display unit 41. The display unit 41 sequentially displays a medicine spraying amount per 1 are, a medicine spraying amount, and a chemical spraying pressure. When the right display changeover switch 22 is pressed, these displays are sequentially switched, and corresponding to these displays, the pressure display lamp 42, the unit spray amount display lamp 43, and the cumulative spray amount display lamp 44 provided on the left side. Blinks with each other.
[0016]
On the lower side of the display unit 41, a spray width setting switch 45, a spray amount setting switch 21, an automatic / manual switch 27, a spray amount increase adjustment switch 25, a spray amount decrease adjustment switch 26, and a reset switch 24 are displayed from the left side. Further, a display changeover switch 22 and a correction switch 46 are provided on the right side of the display unit 41.
[0017]
Next, the scattering control of the above configuration will be described.
In this control, the actual spraying amount in a predetermined area is compared with the set planned spraying amount, the spraying pressure is corrected according to the difference, and the spraying amount is optimized.
[0018]
At the start of the spraying operation, the operator presses the spraying width setting switch 23 to set, for example, a spraying width of 8 m, and then presses the spraying amount setting switch 21 to set, for example, a drug spraying amount of 25 l per 10 ares. Press the switch 46. Then, a target application amount of 25 l per unit area of 10 are set.
[0019]
When the riding management machine 1 starts running, the detection information of the medicine flow rate sensor (return) 28, the medicine flow rate sensor (inhalation) 18, the pressure sensor 30, and the vehicle speed sensor 12 are input to the control unit 20, respectively. From the detection information, the spray area of the medicine and the spray amount of the medicine are sequentially calculated by a predetermined calculation formula.
[0020]
When the chemical spraying of the unit area 10 are finished, the actual spraying amount is calculated from the detection information, and then the set spraying amount per unit area is compared with the actual spraying amount, and the difference is calculated. Is done. Next, the correction pressure corresponding to the difference value is selected and determined from the correction graph shown in FIG. Next, the pressure control motor 34 is adjusted in accordance with a control command from the control unit 20 to adjust the pressure of the pressure adjusting device 15 to correct the actual spraying capacity so as to match the set spraying capacity. Therefore, after the correction, the actual spraying of the medicine that matches the set spraying amount is performed.
[0021]
In the conventional apparatus, when the division of the unit area is, for example, a unit area of 10 or 30 are determined by the operator and the intended application amount is not achieved, the operator himself adjusts the pressure of the pressure adjusting device. In other words, the spread amount must be adjusted by operating the increase / decrease switch of the spread amount, and the calculation is troublesome and troublesome.
[0022]
However, in this embodiment, as described above, for example, when the set spraying target per unit area of 10 ares is 25 liters and the actual spraying amount is 28 liters, the medicine spraying per unit area is performed. Each time 3 is completed, the spraying pressure is automatically corrected for 3 l, which is the difference, so that it is not necessary for the operator to calculate the difference in spraying amount, and even an elderly person can spray the drug appropriately. .
[0023]
In addition, the operator may temporarily increase the amount of spray by operating the spray amount increase adjustment switch 25 while the farmer is traveling in a field part where there is a lot of damage caused by pests and insects. The spraying operation may be continued without changing the initial value, but it can be restored to the original set spraying amount by controlling the spraying amount every time the spraying operation per unit area is completed. Can be spread.
[0024]
Next, another embodiment of spraying control will be described.
In this embodiment, the spraying pressure and the discharge are controlled in the spraying amount control device of the control spraying device 5 that controls the spraying amount of the medicine or the discharge amount of the pump according to the vehicle speed to control the spraying amount per unit area substantially constant. In the case of a vehicle speed where the amount is lower than the predetermined value and proper spraying is not possible, stop spraying the drug, or keep spraying the drug while maintaining the minimum reference pressure that allows proper spraying work, When the vehicle speed is set to increase the vehicle speed and the spraying pressure is higher than the predetermined value, the medicine spraying is stopped or the maximum reference pressure is maintained and the medicine spraying is continued. An alarm that prompts the vehicle to slow down is issued.
[0025]
When the riding management machine 1 starts traveling, detection information is input to the control unit 20 from the drug flow sensor (return) 28, the drug flow sensor (inhalation) 18, the pressure sensor 30, and the vehicle speed sensor 12, and the vehicle speed is determined from these detection information. The pressure increase adjustment command or the decrease adjustment command is calculated so that the spray amount of the medicine per unit area corresponding to the detected vehicle speed is calculated by a predetermined calculation formula and becomes the spray amount corresponding to the detected vehicle speed from the control unit 20. The pressure of the pressure adjusting device 15 is adjusted to a pressure corresponding to the vehicle speed.
[0026]
In such a spray pressure control process, it is determined whether or not the detected vehicle speed is lower than the low speed reference value. If the detected vehicle speed is lower than the low speed reference value, the spraying of medicine is stopped, or the minimum spray pressure is set to the minimum spray pressure. Control for holding and continuing the spraying of the medicine is performed, and at that time, an alarm is displayed on the display unit 41 to prompt the vehicle speed to increase. When the detected vehicle speed is lower than the low speed reference value, vehicle speed control using the vehicle speed as the low speed reference value may be performed to maintain the minimum spray pressure and continue the medicine spraying.
[0027]
In addition, it is determined whether or not the detected vehicle speed is higher than the high speed reference value. If the detected vehicle speed is higher than the high speed reference value, the medicine spraying is stopped or the maximum reference pressure is maintained to spray the medicine. Control is continued, and at that time, an alarm for prompting the vehicle speed to be reduced is displayed on the display unit 41. When the detected vehicle speed is higher than the high-speed reference value, the vehicle speed may be set to the high-speed reference vehicle speed, and the maximum reference pressure may be maintained and spraying of the medicine may be continued.
[0028]
As described above, when the vehicle speed of the passenger management machine 1 becomes lower than the low speed reference value and does not reach the minimum reference pressure required for atomization of the medicine, an instruction to increase the speed is given. If the spray rate per unit area does not reach the specified set spray rate because the speed is higher than the high-speed reference value, an instruction to decelerate is issued, so that the operator's coping method becomes clear and a quick response can be made. Can be performed smoothly.
[0029]
In the medicine spraying control of the control spraying device 5, the spraying pressure is controlled by increasing / decreasing the pressure adjusting device 15, but before the increase adjusting output or the decreasing adjusting output, the medicine flow rate sensor (return) 28. In addition, when the increase / decrease adjustment output is performed after the detection fluctuation range of the medicine flow rate sensor (inhalation) 18 is lower than the reference value, the stability of the spray amount control can be improved. FIG. 6 shows the control flow.
[0030]
In starting the engine 6, when starting the spraying control of the spray control device 5, the pressure regulator 15 is set to a predetermined initial pressure, and then the drug flow sensor (return) 28 and the drug flow sensor ( When the detection fluctuation range of the suction 18 becomes equal to or less than the specified value, the control of the spray pressure can be improved by adjusting the increase / decrease of the pressure adjusting device 15 and starting the control of the spray pressure. FIG. 7 shows the control flow.
[0031]
Next, another embodiment of spraying control will be described.
In this embodiment, the spray nozzle 19 of the control spray device 5 can be changed to several types, and during the spraying operation for each type of the spray nozzle 19, the spraying of the medicine is carried out while increasing the spray pressure by a predetermined amount. The data is detected by the drug flow sensor (suction) 10 and the drug flow sensor (return) 28, and the relationship between the spray pressure and the drug spray amount is measured and stored in the storage device.
[0032]
Thus, water is actually sprayed at a fixed position while referring to the relationship between the spraying pressure and the chemical spraying amount for each type of spray nozzle 19. During the spraying, the pressure control motor 34 is adjusted to adjust the pressure adjusting device 15, and the characteristics of the spraying pressure amount and the chemical spraying amount are sequentially measured according to the program while changing the spraying pressure by a predetermined amount. Based on this characteristic, the amount of sprayed medicine per unit time is measured every time the spraying pressure increases by a predetermined amount, and is recorded in an electrically rewritable non-volatile memory. This is what you do.
[0033]
Therefore, at the time of controlling the spraying amount of the medicine, by inputting the type of the spray nozzle 19 to the control unit 20, the spraying amount is controlled by the characteristic value stored in the nonvolatile memory of the control unit 20. The application amount control can be improved.
[Brief description of the drawings]
FIG. 1 is an overall side view of a passenger management machine.
FIG. 2 is a side view of a main part.
FIG. 3 is a block diagram of a control device.
FIG. 4 is a front view of the main part.
FIG. 5 is a graph of pressure correction.
FIG. 6 is a flowchart.
FIG. 7 is a flowchart.
[Explanation of symbols]
DESCRIPTION OF SYMBOLS 1 ... Passenger management machine 2 ... Airframe 3 ... Front wheel 4 ... Rear wheel 5 ... Control spray device 5a ... Central boom 5b ... Left boom 5c ... Right boom 6 ... Engine 7 ... Bonnet 8 ... Seat 9 ... Handle 10 ... Instrument panel 11 ... Chemical liquid tank 12 ... Vehicle speed sensor 13 ... Pump 14 ... Water absorption pipe 15 ... Pressure regulator 16 ... Return pipe 17 ... High-pressure hose 18 ... Drug flow rate sensor (inhalation)
DESCRIPTION OF SYMBOLS 19 ... Spray nozzle 20 ... Control part 21 ... Spreading amount setting switch 22 ... Display change switch 23 ... Spreading width setting switch 24 ... Reset switch 25 ... Spreading amount increase adjustment switch 26 ... Spreading amount decrease adjustment switch 27 ... Automatic / manual changeover switch 28 ... Drug flow sensor (inhalation)
30 ... Pressure sensor 34 ... Pressure control motor

Claims (1)

In the medicine spraying amount control device of the control spray device ( 5 ) , which controls the spraying amount of the medicine or the discharge amount of the pump according to the vehicle speed of the mobile farming machine to control the medicine spraying amount per unit area substantially constant, the mobile farming machine When the vehicle starts traveling, the medicine spraying area and the medicine spraying amount are calculated from the detection information of the return medicine flow rate sensor (28), the inhalation medicine flow rate sensor (18), the pressure sensor (30), and the vehicle speed sensor (12). If the spraying pressure of the control spraying device ( 5 ) or the discharge rate of the pump ( 13 ) is lower than the predetermined value, the spraying of the medicine is stopped or the minimum reference pressure is maintained. Continue spraying and issue a warning to increase the vehicle speed. If the vehicle spray speed is higher than the specified value, stop spraying the drug or keep the maximum reference pressure. Continue spraying drugs While, a configuration for issuing an alarm prompting the deceleration of the vehicle speed,
A difference is calculated by comparing the calculated spraying area and the spraying amount of the medicine with the actual spraying amount per unit area and the set spraying amount that has been set, and a correction pressure is selected from the difference value and selected. By automatically adjusting the pressure control motor (34) from the correction pressure and changing the pressure of the pressure adjusting device (15), a correction is made to match the actual spraying amount with the set spraying amount,
The increase / decrease adjustment output of the pressure adjusting device (15) is performed after the fluctuation range of detection of the return medicine flow rate sensor (28) and the inhalation medicine flow rate sensor (18) falls below a reference value, thereby controlling the spray amount. A configuration that improves stability,
Further, the spray nozzle (19) of the control spray device (5) can be changed to several types, and water is sprayed in a state where the mobile agricultural machine is stopped at a fixed position for each of the several types of spray nozzles (19). However, the relationship between the spray pressure amount and the drug spray amount at each spray nozzle (19) is measured and stored in the storage device, and the type of the spray nozzle (19) attached at the time of spraying the drug is controlled by the controller (20 ), The medicine spraying amount control device performs control according to the characteristics of each spray nozzle (19) .

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