JP5177052B2 - Traveling sprayer - Google Patents

Description

  The present invention relates to a traveling spraying machine for spraying granular materials such as granular fertilizers and herbicides contained in a tank to a farm field by using a feeding pipe while feeding the powdered granular material by a feeding device.

  Conventionally, a spraying boom is supported at the front part of the machine body so as to be able to roll left and right, and the spraying direction of the granular material sprayed from the spraying boom can be inclined forward or rearward with respect to the vehicle width direction. Even when the spreading boom cannot be spread to the horizontal position in the direction orthogonal to the traveling direction, even when the spreading boom is inclined with respect to the traveling direction of the aircraft, it is possible to accurately spray the granular material on the crops to be spread. There is also known a configuration using a GPS for performing traveling control of the traveling spraying machine.

JP 2008-131880 A JP-A-9-154355 JP-A-9-120314

The invention described in Patent Document 1 has a configuration in which a GPS antenna and a receiver are mounted, and when the target route and the actual aircraft position are shifted based on the GPS signal, this can be displayed.
In addition, the invention described in Patent Document 2 has a configuration in which the medicine is not sprayed at a position protruding from the work site based on the GPS signal.
Further, the invention described in Patent Document 3 has a configuration in which the vehicle speed of the work machine is measured based on the GPS signal, and the traveling and spreading work machine can travel at the set traveling speed even when slipping.

  And the spreading work of the granular material in the field is to spread the spreading boom to the left and right, and to spray the granular material ejected from the appropriate place to the field, and to determine the scattering distance of the granular material ejected from the tip of the spreading boom. It is set to the added spreading width.

  At this time, turning is performed to move from the spraying operation in the forward stroke to the spraying operation in the backward stroke, but if the interval between the forward stroke and the backward stroke becomes too wide, there will be a non-spraying section and the fertilization effect will be weakened. If it becomes too much, it becomes a double spraying and causes harmful effects such as fertilizer and injury. Therefore, it is desired to shift from the forward stroke to the backward stroke at an appropriate interval. However, since it is difficult to visually determine fertilizer from the field and crop surface, and it is difficult for even an expert to grasp the properties of the granular material that scatters further from the spray boom, in addition to the length of the spray boom, When the application distance is set as the application width, it is difficult to properly grasp the application width, and it is difficult to set the travel distance in turning.

In addition, when adopting a work mode that continues the spraying operation even while turning, the turning handle is operated to perform the turning operation, but if the timing for entering the turning is delayed, the spreading operation is continued even during the turning. Therefore, if the tip of the long spraying boom reaches the adjacent field and spreads the granular material to the adjacent field, or if the timing is set too early, the spraying will not reach the corner of the field. There is a fear.

  Accordingly, an object of the present invention is to obtain the position information of the traveling spraying work machine and the length information of the spraying boom based on the GPS signal so as not to perform redundant spraying work or non-spraying work at adjacent positions. It is to provide a traveling spraying work machine, and in the case of spraying during turning, it is possible to perform efficient spraying work by eliminating the spread of the above-mentioned adjacent fields and the non-spraying part of the field end. It is to provide a traveling and spreading work machine.

In order to solve the above-described problems of the present invention, the following means are adopted.
That is, the invention described in claim 1 is a vehicle speed sensor (37) that detects the number of revolutions of a transmission unit to a GPS receiver (78) and wheels (4 or 5) that can receive position information and speed information from the GPS on the fuselage. ) And a granular material spraying device (1) for spraying granular material from a granular tube (14) extending in the left-right direction of the aircraft, and from the position information obtained from GPS, the aircraft's straight direction and turning After turning 90 degrees from the position and reaching the turning return position (point e), the next working direction is obtained by turning 90 degrees and moving straight, and the dispersion width of the powder from the powder jet tube (14). (L) is read, the distance (movement distance d1) between both positions is calculated from the obtained straight traveling direction and the adjacent work direction, and the distance between the adjacent work direction and the turning return position (point e) from the adjacent work direction (Movement distance d2) is calculated, and the calculated straight heading and By subtracting the distance (movement distance d2) between the adjacent work direction and the turning return position (point e) from the interval between the contact work directions (movement distance d1), a turning start position (point c) and a turning return position (point e) are obtained. The distance (movement distance d1-d2) is calculated, and the calculated distance (movement distance d1-d2) between the turning start position (point c) and the turning return position (point e) is converted into position information, and the turning return position (e It is a traveling and spreading work machine provided with a control device (15) for obtaining a point.

  The invention according to claim 2 calculates the distance (movement distance d1-d2) between the turning start position (point c) and the turning return position (point e) in accordance with the set amount of the powder particles or the specific gravity of the powder. The traveling and spreading work machine according to claim 1, wherein the turning return position (point e) is obtained by correction.

  According to the first aspect of the present invention, when position information obtained by the GPS receiver 78 is detected to perform turning control of the traveling spraying work machine 2, a predetermined design value unique to each traveling spraying work machine 2 is obtained. The turning return position with higher accuracy can be determined by changing the next stroke entry position at the time of turning according to the spreading width (L).

  According to the second aspect of the present invention, in addition to the effect of the first aspect of the invention, the next stroke entry position at the time of turning is changed in consideration of the set powder amount or the specific gravity of the powder. Thus, a more accurate turning return position can be determined.

It is a top view of the traveling spreading work machine provided with the spreading device by one embodiment of the present invention. It is a side view of the traveling spraying work machine provided with the spraying device of FIG. FIG. 3 is a rear view (FIG. 3 (A)), a plan view (partially drawn section sectional view) (FIG. 3 (B)), and a perspective view (FIG. 3) of a pair of left and right tanks of the spraying device of the traveling spraying machine. (C)). It is a rear view of the traveling spraying work machine provided with the spraying apparatus of FIG. It is a control block diagram of the fertilizer application device of the present invention. It is a control block diagram of a GPS receiver and a main unit controller of the traveling and spreading work machine of FIG. It is a flowchart of the fertilizer spreading control of the traveling spreading work machine of FIG. It is a flowchart of the fertilizer spreading control of the traveling spreading work machine of FIG. It is a flowchart of the fertilizer spreading control of the traveling spreading work machine of FIG. It is a flowchart of the fertilizer spreading control of the traveling spreading work machine of FIG. It is a flowchart of the fertilizer spreading control of the traveling spreading work machine of FIG. It is a driving | running | working image figure at the time of turning of the traveling dispersion | distribution working machine of FIG. It is a flowchart at the time of turning of the traveling dispersion working machine of FIG. It is a flowchart at the time of turning of the traveling dispersion working machine of FIG. It is a flowchart at the time of turning of the traveling dispersion working machine of FIG. It is a figure which shows the relationship between the setting fertilizer amount and specific gravity with respect to the correction amount of the scattering distance of the traveling spraying work machine of FIG.

Embodiments of the present invention will be described below with reference to the drawings.
First, as shown in the plan view of FIG. 1 and the side view of FIG. 2, the granular material spraying device 1 (hereinafter referred to as a fertilizer spraying device will be described as an example of fertilizer as a granular material) 2 is attached to the rear. A pair of left and right tanks 10 and 10 are mounted on the rear of the body of the traveling and spreading work machine 2 that is mounted with the engine 3 at the front, and that appropriately changes the engine speed and transmits the front and rear wheels 4 and 5. The granular material spraying device 1 includes the tank 10, a feeding device 11, a blower 12, a first jet tube 13, a second jet tube (boom) 14, a control unit 15 (FIG. 5), and the like. However, illustration of the second jet tube 14 is omitted in FIG.

  FIG. 3 is a rear view of the pair of left and right tanks 10 and 10 (FIG. 3 (a)), a plan view (partially extending section sectional view) (FIG. 3 (b)), and a perspective view (FIG. 3 (c)). Show. FIG. 4 shows a rear view of the traveling and spreading work machine 2 equipped with the granular fertilizer. Each of the pair of tanks 10 and 10 is provided with a feeding device 11 for feeding a predetermined amount of sprayed granule from the tank 10. The feeding device 11 has a known configuration in which a plurality of rolls 20 are formed on the roll drive shaft 21, and a plurality of feeding recesses are formed in the circumferential direction with the same capacity. The first roll 20a and the second roll 20b have a long axial length, and the third roll 20c and the fourth roll 20d have a short axial length.

  When the roll drive shaft 21 is driven forward, the first and fourth rolls 20a and 20d are driven by the interlocking action of the one-way clutches 22 and 22, so that all of the first to fourth rolls 20a to 20d are driven. It is a configuration to be driven. Conversely, when the roll drive shaft 21 is driven in reverse, the first and fourth rolls 20a and 20d are stopped, and the second roll 20b or the third roll 20c is driven.

On the other hand, the tank 10 is provided with a partition wall 10a having a U-shape in plan view, and the section A (FIG. 3C), the third roll 20c, and the second roll 20c corresponding to the first roll 20a and the second roll 20b of the feeding device 11 are provided. The partition wall 10a is divided into sections B (FIG. 3C) corresponding to the four rolls 20d. The section A is provided for use as a general fertilizer, and the section B is provided for use as a herbicide requiring a small amount of application. Accordingly, when the roll drive shaft 21 rotates in the forward direction, the first roll 20a and the second roll 20b are rotated and interlocked, and the granule in the section A is set in a large amount feeding state. When the roll drive shaft 21 rotates in the reverse direction, only the second roll 20b in the section A is rotated. It will be in the extended state. Note that when the herbicide is introduced into the section B, the feeding amount is different in the forward and reverse directions, and in particular, only a small amount of the third roll 20c is sprayed by reverse rotation.
The pair of left and right roll drive shafts 21 and 21 are configured to be independently driven and rotated by roll drive motors 25L and 25R provided respectively, and these motors 25L and 25R are configured to be linked to forward / reverse switching.

  Below the pair of feeding devices 11, 11, through-cylinders 30, 30 whose rear sides are extended obliquely inward with respect to the advancing direction of the machine body are looked into. The air cylinder 31 (FIG. 2) provided with the device 12 is communicated. The other downstream end of each through-cylinder 30, 30, that is, the front side of the machine body is configured to communicate with the first injection tube 13.

  The blower 12 is constituted by a blower fan 12a that is linked to the PTO shaft 32 of the traveling and spreading work machine 2 via an electromagnetic clutch 12b, and the jet air enters the through-cylinder 30 via the blower cylinder 31 and is fed fertilizer. Is transported in an air stream to reach the first jet tubes 13 and 13.

  The left and right first jet tubes 13 are arranged in a space between the tank 10 and an occupant seat 33 provided on the upper part of the traveling and spreading work machine 2, and a cylindrical shaft core is in the aircraft traveling direction in plan view. The second injection tube 14 is connected to the left and right first injection tubes 13 via a bellows tube 40 so as to be inclined.

  That is, a cylindrical body 42 is provided at the distal end of the bellows tube 40, and the cylindrical body 42 is configured to be rotatable around a longitudinal support shaft 44 via an arm body 43, and projects sideways from the arm body 43 from the machine frame side. An electric telescopic cylinder 45 is interposed between the support bracket 34 and the second support tube 34. The second jet tube 14 is laterally expanded to be in a working posture by shortening the electric motor 46 by forward rotation, and is extended by reverse rotation. It is the structure which accommodates the jet tube 14 in the state along an airframe. A bracket 35 is provided on the airframe to support a rotation fulcrum around the vertical support shaft 44 by the electric telescopic cylinder 45.

  With the reverse rotation of the electric motor 46, when the second jet tube (boom) 14 is stored in a state along the fuselage, the pivotal fulcrum around the vertical support shaft 44 is disposed at a position approaching the fuselage side, so that the retracted state is achieved. Since the second jet tube 14 can be brought closer to the machine body side, it can be stored inside a lifting step 36 provided on the machine body side in a plan view, and can be easily moved up and down to the machine body during storage.

  The electric telescopic cylinder 45 and the electric motor 46 are disposed between the rear wheel 5 and the tank 10. Although the mud is splashed up during traveling, it is located inside the rear wheel 5 and can be avoided from the jumping-up location, and it is difficult to cause adverse effects due to mud adhesion to the electric telescopic cylinder 45 and the electric motor 46.

  The cylindrical body 42 is provided with a lateral support shaft 47, and the second jet tube (boom) 14 is connected via the lateral support shaft 47, and moves around the lateral support shaft 47 in addition to the movement to the storage posture. It is the structure which can be rotated up and down by rotating. That is, electric telescopic cylinders 48L and 48R are provided between the mast portions 18 and 18 (FIG. 4) standing on the left and right first jet tubes 13 and 13 and the second jet tubes 14L and 14R, respectively. Based on the expansion and contraction of the cylinder 48, the second injection tube 14 can be rotated up and down around the lateral support shaft 47 with respect to the machine and can be operated in a rolling manner.

  Further, the left or right second jet tubes 14L and 14R can be switched to the vertical posture (non-working posture) or the horizontal posture (working posture) based on the operation of the operation lever not shown at hand. The second nozzle tube 14 is formed with nozzle holes 50, 50... Having a predetermined diameter at predetermined intervals.

Next, the fertilizer application control unit 15 of the fertilizer spraying device 1 having the above configuration will be described.
As shown in the control block diagram of FIG. 5, the fertilizer application control unit 15 operates the operation information of the spray switch 51 (function will be described later) on each of the roll drive motors 25L and 25R, and drives the blower fan 12a by the fan switch 52. Information, a detection signal of the remaining amount sensor 54 provided in the tank 10 and the like are input, and a motor rotation output pulse signal, a motor rotation direction switching signal, and the like are output to each of the roll drive motors 25L and 25R.

  When the spray switch 51 is turned on, the rotation output pulses of the left and right motors 25L and 25R are driven at the preset minimum number of rotations regardless of whether the vehicle speed is present or not, and after a while, the vehicle speed is properly input. The rotation of the motor is controlled so as to be linked to the vehicle speed. Therefore, even if it is in a stopped state at the start of work, a small amount of spraying can be performed and the non-spraying section can be eliminated. The fertilizer application control unit 15 is connected to the machine controller 19 (FIG. 6) of the traveling and spreading work machine 2 and is configured to receive GPS speed data (described later) and speed data from the vehicle speed sensor 37.

  Further, the fertilizer application control unit 15 inputs information on switches provided on an operation panel (not shown). As shown by the control block in FIG. 5, a variable switch 57, a fertilizer setting switch 58, increase / decrease switches 59U and 59D, and a cumulative reset switch 60 are arranged in the vicinity of the liquid crystal display unit 56 on the operation panel. The switch signal is configured to be input to the fertilizer application control unit 15. The display content of the liquid crystal display unit 56 can display the fertilizer application amount setting value, specific gravity value, memory value, and cumulative value related to the application of the fertilizer (or herbicide). It is output accordingly.

  The automatic (control) mode is activated by input to the fertilizer application control unit 15. That is, when the key switch 62 (FIG. 5) is turned on and the spray switch 51 is turned on, the automatic mode is entered. In this automatic mode, each of the roll drive motors 25L and 25R that drives the roll 20 of the feeding device 11 in accordance with the fertilizer application amount setting value and the vehicle speed so that the fertilizer application amount per unit area is constant, Roll drive motor rotation signal).

  Before starting work, turn on the fertilizer setting switch 58 to display the currently set fertilizer amount (counter-attack fertilizer amount (kg)) and check whether the fertilizer amount is suitable for the work to be done. When the change is made in units of 1 kg by the switch 59U or the decrease switch 59D and the fertilizer setting switch 58 is turned on again for a predetermined time (for example, 2 seconds or more), the value A (kg) is stored.

Next, the specific gravity is set. When the display changeover switch 61 is turned on and “specific gravity” is selected, the current set value is displayed. It is confirmed whether or not the specific gravity value is suitable for the work to be performed. If the specific gravity value is different, it is changed in increments of 0.01 by the increase switch 59U or the decrease switch 59D, and the fertilization setting switch 58 is set again for a predetermined time (for example, 2 seconds or more). When turned on, the value D (g / cm ³ ) is stored.
Thereafter, the fertilizer application control unit 15 is configured to perform the feed amount control of the feed device 11 necessary for spraying the set fertilizer amount while taking in the vehicle speed data. The feed amount increase / decrease control is performed by controlling the rotation speed of the feed roll 20 by the fertilizer application amount calculation means 17.

The left boom spray lever 53L and the right boom spray lever 53R allow the left and right second spray pipes 14L and 14R to spray fertilizer or herbicide, respectively. Move to the position to be sprayed.
3 includes the first and second large rolls 20a and 20b, and the third and fourth small rolls 20c and 20d, and improves the feedability of the particulate matter in the through-cylinder 30. The improved configuration shown is shown. That is, the large rolls 20a, 20b and the small rolls 20c, 20d can be sprayed simultaneously. At this time, the partition wall 10a in the tank 10 is filled with a small amount of herbicide and the tank 10 is filled. Fill with a large amount of fertilizer. Since the herbicide has a large specific gravity and is heavy and the fertilizer applied in a large amount is composed of a relatively light specific component, the herbicide is fed to the front side of the blower conveyance in the through-cylinder 30 and the fertilizer is fed to the rear side. It is configured as follows. With this configuration, clogging can be reduced.

  As shown in FIG. 6, a GPS receiver 78 is connected to the machine controller 19 of the traveling and spreading work machine 2. The GPS receiver 78 receives signals from a plurality of GPS satellites, stores them as current position data of the traveling and spreading work machine 2, and updates the current position data every predetermined time measured by the clock circuit while moving the distance And the speed, that is, the vehicle speed, is calculated by the vehicle speed calculation means 16 in the controller 19 every predetermined time by the clock circuit.

  In the fertilizer spreader 1 that is mounted on the traveling spreader 2 and spreads the fertilizer in conjunction with the vehicle speed, depending on the set fertilizer amount and vehicle speed, the specific gravity of the spray agent, the spread width setting, the unit discharge amount of the roll 20 for feeding, etc. When the rotational speed of the roll 20 is calculated, two sets of the rolls 20a to 20d are provided on the left and right, and the respective rolls 20a to 20d are individually driven by the motors 25L and R to perform the rotational speed control, the traveling and spreading work machine 2 Is equipped with a GPS receiver 78 and a vehicle speed sensor 37, and the speed information obtained from the GPS receiver 78 is obtained by the vehicle speed calculation means 16 by connecting the fertilizer control unit 15 of the fertilizer and the machine controller 19. A configuration in which the vehicle speed is used for calculating the roll speed as the vehicle speed, and the vehicle speed is calculated using a signal from the vehicle speed sensor 37 until the speed information from the GPS is obtained at the start of traveling. That.

  The GPS receiver 78 can obtain vehicle speed information and position information from GPS. At this time, the second jet tube (boom) 14 is spread to the left and right to spread fertilizer and the like, but the power of the blower fan 12a that transports the fertilizer and the like is taken from the PTO shaft 32 of the traveling spreader 2 to set the fertilizer amount. Based on the value, the rotation speed (number of rotations) of the fertilizer feeding motor 25 is changed according to the vehicle speed of the traveling and spreading work machine 2.

  When vehicle speed data from the GPS receiver 78 cannot be obtained during the fertilizer application, the pulse output of the vehicle speed sensor 37 that outputs a vehicle speed pulse by counting the number of gear teeth incorporated in the traveling transmission shaft in the transmission case of the vehicle body is used. Read the vehicle speed and use it to calculate the roll speed.

When the speed can be calculated from the GPS position information, the vehicle speed obtained by the vehicle speed sensor 37 is corrected, the correction value (VS ′) is obtained from the following equation, and the vehicle speed obtained from the speed information from the GPS is obtained. Use.
VS ′ = N × K × (1−VS / VG)
Here, N is the number of rotations of the wheel, K is a coefficient, VS is a vehicle speed measurement value (average value) by the vehicle speed sensor 37, and VG is a vehicle speed obtained by GPS.
Here, (1-VS / VG) represents a slip state in which the wheel is rotating but the fertilizer application device 1 does not move forward, and (1-VS / VG) × 100 is the slip rate.

  FIG. 7 shows a flowchart for the rotation output control of the fertilizer feeding motor 25 during the vehicle speed control in the above case. In addition, in the flowchart of FIG. 7 and the like, “roll judgment” indicates in advance which of the rolls 20a to 20d in FIG. 3 is used in order to change the fertilizer feed amount according to the set fertilizer application amount. This is a step to identify it.

In this way, even if vehicle speed data from GPS cannot be obtained while fertilizer is sprayed, as soon as the fertilizer spray switch 51 is turned on until the GPS receiver 78 captures the speed and calculates the speed from the GPS position information, Further, fertilizer application work can be performed based on the measured value of the vehicle speed sensor 37.
Further, an average value obtained from the vehicle speed data from the GPS receiver 78 and an average value of the vehicle speed data obtained from the vehicle speed sensor 37 are compared to obtain a correction coefficient (slip rate), and the corrected vehicle speed is based on the correction coefficient. The roll speed can be controlled with high accuracy at the vehicle speed.

Note that when the vehicle speed information is not obtained from the GPS even after a certain time has elapsed, the buzzer 72 outputs an abnormality alarm.
If the vehicle speed information from the GPS cannot be obtained during the fertilizer application, the previous vehicle speed data stored in the memory of the control device 15 is read, and the rotation speed of the feeding roll 20 is determined based on the vehicle speed data. By calculating, it becomes possible to continue work even when speed information from GPS cannot be obtained during fertilizer application.
The vehicle speed data up to the previous time is vehicle speed data in which the vehicle speed when the vehicle speed is calculated from the speed information from the GPS receiver 78 during fertilizer application is stored in the memory.

  Alternatively, the vehicle speed information from the GPS may be stored in the memory, and the calculated vehicle speed from the vehicle speed sensor 37 when the speed information from the GPS cannot be obtained may be corrected. In this case as well, it becomes possible to continue the fertilizer application even if the speed information from the GPS cannot be obtained during fertilizer application, and the calculated speed from the vehicle speed pulse is corrected with the stored GPS speed information. This improves speed accuracy.

  When the speed information from the GPS is obtained, the corrected vehicle speed is naturally obtained in consideration of the vehicle speed data from the GPS. FIG. 8 shows a flowchart for controlling the rotation output of the fertilizer feeding motor 25 during vehicle speed control in this case.

  As described above, the vehicle speed is calculated based on the slip ratio obtained by (1−VS / VG) × 100, and when the vehicle speed is calculated by the vehicle speed sensor 37, the vehicle speed is calculated using the slip ratio. Highly accurate vehicle speed can be calculated.

  The slip ratio is calculated from an average value (VGA) of speed information from GPS and a vehicle speed measurement value (VS) from a vehicle speed pulse at regular intervals, and the calculated speed from the vehicle speed sensor 37 is corrected with the calculated value. With this, more accurate vehicle speed can be obtained. FIG. 9 shows a flowchart for calculating the motor rotation output of the fertilizer feed roll 20 after the slip ratio is obtained.

  Thus, since the speed from the GPS speed information is not used as it is, it can be configured with an inexpensive GPS receiver 78, and when the GPS speed information cannot be detected or the influence of error fluctuation can be reduced.

  Further, when the slip ratio becomes a certain value (for example, 20%) or more, the vehicle speed is calculated by replacing it with the certain value. This is because the slip rate is large and the speed changes (the vehicle speed becomes slower), so that the fertilizer application amount proportional to the vehicle speed is not appropriate. Therefore, by limiting the slip ratio, it is possible to suppress a large speed change and suppress a large fluctuation in the roll rotation speed.

  In addition, when the vehicle speed information from the GPS cannot be obtained during the fertilizer application in consideration of the slip ratio, an alarm is issued by the buzzer 72 to obtain the vehicle speed at a predetermined slip ratio, and the vehicle speed is Determine fertilizer amount based on FIG. 10 shows a flowchart for controlling the rotation output of the fertilizer feeding motor 25 during vehicle speed control in this case.

  Although the vehicle speed information can be obtained from the GPS even during fertilizer application, if the signal from the vehicle speed sensor 37 cannot be obtained for a certain time or more, an alarm is given to the operator that the vehicle speed sensor 37 is abnormal. The buzzer 72 notifies the abnormality, and the fertilizer application amount is determined based on the vehicle speed obtained from the GPS. FIG. 11 shows a flowchart for controlling the rotation output of the fertilizer feeding motor 25 during vehicle speed control in this case. As shown in the flow of FIG. 11, if the vehicle speed sensor 37 has a failure, the vehicle speed is obtained without calculating the slip ratio thereafter.

  In the flow shown in FIG. 10 and FIG. 11, the operator can know the abnormality by issuing an alarm with the buzzer 72, so that it can know the subsequent fertilizer application work state and take countermeasures.

  The fertilizer application control device 15 of the traveling spraying machine 2 according to the present embodiment shows that the traveling spraying machine 2 at the point a in the field advances straight as shown in FIG. After reaching point c, such as near the shore via the point, when turning around 180 degrees and turning to the adjacent work direction at point f to resume the spreading work of fertilizer, etc., the traveling spraying work machine before turning 180 degrees The traveling sprayer 2 is moved to the spraying start position (point f) after turning so that the fertilizer can be sprayed so that the spraying width (L) does not overlap while maintaining the predetermined spraying width (L) of 2. Can do.

  At this time, if the traveling spraying machine 2 is spraying fertilizer, etc., the position information of the point where the traveling spraying machine 2 is located is read from the GPS, and then moves straight from the point a to the point b shown in FIG. The azimuth angle (θa) is read as the traveling azimuth.

  The azimuth angle θa specifies the traveling direction and reads the azimuth angle θa based on the longitude / latitude information of the point a and the longitude / latitude information of the a ′ point after traveling. That is, the coordinates of the point a are read on the assumption that GPS signals are input at a predetermined time interval, and the azimuth is calculated when the coordinates of the point a ′ after the predetermined time are confirmed, and at the point a ′ at the time of calculation. The obtained azimuth angle is “θa”. The adjacent work position azimuth θf is a direction of 180 ° with respect to the traveling azimuth θa, and is calculated by the azimuth angle θf = θa + 180 °.

Next, an azimuth angle (θf) is input as an adjacent work azimuth of the point f that is parallel to the traveling azimuth (θa). Further, a predetermined spreading width (L) such as fertilizer of the traveling spraying work machine 2 is input, and a distance d1 between the point c and the point f in the direction orthogonal to the straight traveling direction of the traveling spraying work machine 2 is set as the spreading width ( L) (d1≈L), and then, a set numerical value input in advance as the average turning radius d2 of the traveling spraying work machine 2 is read. The average turning radius d2 is a distance d2 in a direction orthogonal to the straight traveling direction of the traveling sprayer 2 between the point e (turning return position), which is a position before turning 90 degrees before the point f, and the point f. It corresponds to.
In addition, said spreading | diffusion width | variety L is the length which added the granular material scattering distance Lm from the right-and-left nozzle tube tip to the distance Ls between both ends of the right-and-left nozzle tube (L = Ls + 2Lm).

  In order to calculate the distances d1, d2 and (d1-d2) that the traveling spreader 2 moves at the time of turning, position information (latitude and longitude) of points a to f shown in FIG. 12 is obtained. deep. In addition, when calculating the distance between two points from the latitude and longitude of two points, the latitude and longitude are taken on the X-axis and Y-axis of the two-dimensional coordinates, and each position on a specific X-axis and Y-axis A table for displaying the distance at the intersection of information is prepared in advance. For example, if the latitude and longitude of the point c is (Xc, Yc) and the latitude and longitude of the point e is (Xe, Ye), the distance between the two points F (L) = m (F (Xc, Yc) −F (Xe, Ye) )) Here, F represents a function, and m represents a constant.

  Thus, the position on the coordinates of the point e (turning return position) can be easily determined before reaching the point c shown in FIG. 12, so that the operator can be notified that the point c has been reached from the point a shown in FIG. The turning of the traveling and spreading work machine 2 is started while recognizing the character or voice display. When the turning is started, the rotation output of the fertilizer feeding roll drive motors 25L and 25R provided in the spray tank 10 is turned off, and the spraying operation is stopped (in this embodiment, fertilizer is sprayed from point a to point c, c Do not spray from point to point f.

  In some cases, spraying may continue even during turning, but switching at point e is not performed. ) When it is detected from the GPS received signal that it has reached point e (turning return position) by turning and going straight, the buzzer is sounded to determine the spray start position (point f) after turning and the turning return position is determined. indicate. The spraying start position (point f) after the turning is performed, for example, by displaying FIG. 12 on the display panel. Next, turning 90 degrees from point e (turning return position), and when reaching the spraying start position (point f) after turning, turning is ended and the rotation output of the fertilizer feeding motor 25 provided in the spray tank 10 is turned on. Restart fertilizer application.

A control flowchart in this case is shown in FIG.
When the vicinity of the point a is reached during the spraying of the granular material by the traveling sprayer, the azimuth angle θa as the traveling azimuth is determined from the position information (longitude / latitude information) read from the GPS by moving between the two points straight ahead ( S1-S3). Next, an angle 90 ° is added to the azimuth angle θa to calculate the azimuth angle θd of the turning azimuth, and an angle 180 ° is added to calculate the azimuth angle θe of the adjacent work azimuth (S4, S5). Furthermore, the spreading width Lm, the set fertilizer application amount A, and the specific gravity σ that have been set and input in advance are read (S6 to S8).

Next, the distance d1 to the adjacent work position is calculated as d1 = (L / 2) + (L / 2) −α (S9), the turning return moving distance d2, the moving distance from the start of turning (d1−d2) Are calculated respectively (S10, S11). Here, d2≈airframe turning radius, α is the spread overlap width in the adjacent work.
The processing so far is performed until the point c is reached. Then, the turning operation is performed at the point c by the operator's judgment, but the turning start is determined by the turning angle output from the turning sensor (not shown) (S12), and simultaneously the feed motor rotation output is turned off (S13).

  Simultaneously with the turning start determination, the position information of the point c is read (S14), the position information (longitude / latitude information) of the point e is calculated, and set as the point e (turning return position) (S15, 16). That is, after determining that it is a point c, the turning return position, that is, the coordinates of the e point (longitude / latitude information) is calculated, the aircraft is advanced with this as a target, and it is determined that it is the e point. Then, a turning back operation is performed.

  Then, the vehicle travels straight while judging whether the traveling direction is the turning direction θd (from point d to point e) (S17), and when it reaches the return position (point e), the buzzer is turned on and the operator is informed. Notify the user and prompt a return turning operation (S18 to S20).

  While the aircraft is turning back, the adjacent work position information (longitude / latitude information of the point f) is called (S21), and the adjacent work position (point f) is displayed on the display screen or the like (S22). The operator turns while looking at the display screen and determines whether or not the aircraft has reached the adjacent direction θf based on the signal from the GPS. When the operator reaches this adjacent direction, it is determined that the turn has ended. . At the end of turning, a rotation output is made to the roll feeding motors 25L and 25R, and the spraying operation is resumed by driving.

  When the fertilizer is sprayed from the fertilizer tank 10 in conjunction with the vehicle speed, the rotation speed of the feed roll 20 is calculated based on the set fertilizer application amount, the vehicle speed, the specific gravity of the spray agent, the spray width setting, the unit discharge amount of the feed roll 20, and the like. Two sets of feeding rolls 20 are provided on the left and right sides, and each feeding roll 20 can be individually driven by a drive motor 25 to control the rotational speed.

  In addition, when the speed information obtained from the GPS receiver 78 is used as a vehicle speed for calculation of roll rotation speed calculation, the position information (latitude, longitude) after turning is based on the position information (latitude, longitude) during powder dust dispersion. ) Is calculated and the turning return position (point e in FIG. 12) to the next stroke at the time of turning is notified to the operator, the turning return position can be changed according to the length of the set spray width (L). .

  Thus, when the position information is detected by the GPS and the turning control is performed, the next stroke approach position at the time of turning is changed by the predetermined spreading width (L) determined by the traveling spraying work machine 2, thereby achieving higher accuracy. The turning return position (point e) can be determined.

  When the GPS receiver 78 and the vehicle speed sensor 37 are mounted, and the speed information obtained from the GPS receiver 78 is used as a vehicle speed for calculating the roll rotation speed of the spray tank 10, the slip rate is calculated from the speed information during fertilizer spraying. By calculating and correcting the calculated vehicle speed by the vehicle speed sensor 37 when calculating the turning return position (travel distance) to the next stroke at the time of turning, it is possible to spread fertilizer and the like with higher accuracy.

A control flowchart in this case is shown in FIG.
When the traveling sprayer 2 is in the fertilizer spraying operation, the vehicle speed average value (VS) (average value of the measured values) is calculated using the vehicle speed pulse (measured value of the vehicle speed sensor 37), and the traveling sprayer 2 The spread width (L) is read, the position information of the traveling spreader 2 is read from the GPS, the average value (VGA) is calculated from the vehicle speed (VG) obtained by the GPS receiver 78, and obtained from the VGA and VS. The slip ratio (1-VS / VGA) is calculated in step a.

  In order to calculate the travel distance during the turn by correcting with the obtained slip ratio, when the turn starts in step b, the vehicle speed average value (the measured value of the vehicle speed sensor 37) is again used for the turn. VS) is calculated, and the travel distance during travel (travel distance (d1-d2)) corrected by the slip ratio obtained in step a is obtained. At 72, an alarm is issued and displayed on the display unit 56. When turning is completed, the driving of the feeding roll 20 is resumed and the fertilizer is sprayed while going straight.

  In this way, in the control according to the flowchart of FIG. 14, when calculating the travel distance at the time of turning, the calculation accuracy of the travel distance is improved by using the slip rate calculated from the GPS speed information during traveling, and appropriate turning Is possible.

Moreover, the 2nd jet pipe 14 is extended to right and left, and manure is spread | dispersed. The power of the blower fan 12a that transports the fertilizer is taken from the PTO drive shaft 32 of the machine, and the swivel return position is corrected based on the fertilizer application amount setting value A and the specific gravity σ of the fertilizer sprayed from the second jet pipe 14 that is spread to the left and right. It can be set as the structure to do. FIG. 15 shows a flowchart of control in this case. That is, in this flowchart, “spreading width determination” is performed as follows. The set fertilizer application amount A and specific gravity σ are read, and the scattering distance Lm is calculated by applying the following equation.
Lm = Ls + f (A, σ)
Here, Ls is a reference scattering distance, and f (A, σ) is a function based on the set fertilizer application amount A and specific gravity σ, and is an adjustment distance of the scattering distance.

Further, as described above, the fine adjustment amount ΔLm (= f (A, σ)) is calculated by the function of the set fertilizer application amount A and the specific gravity σ. Instead of this, the fine adjustment amount ΔLm of the scattering distance Lm is arbitrarily set. It is good also as a structure which can be set manually. It is also possible to read this as a turning adjustment input and correct the turning return position.
In addition, there exists a relationship as shown in FIG. 16 between the setting fertilizer application amount A with respect to the correction amount of the scattering distance Lm, and specific gravity (sigma).
In this way, it is possible to adjust the fertilizer application area with high accuracy against overlapping of application areas and the occurrence of unspread areas.

  Although not shown in FIG. 15, the rotational speed (number of rotations) of the feeding rotor drive motor 25 can be controlled in accordance with the vehicle speed corrected by the slip ratio during traveling of the traveling spraying work machine 2.

  From the speed information obtained from the GPS receiver 28, the position information (at the time of fertilizer application) is calculated when various position information such as the adjacent work position is calculated starting from the turning return position information and the running control during turning is performed. (Latitude, longitude) is stored in the non-volatile memory together with the set fertilizer amount data etc. as field position information, and the traveling and spreading work machine 2 acquires the field position from a plurality of position information during the traveling while referring to this. The accuracy in determining the position of the field can be improved.

  Similarly, position information (latitude, longitude) when an abnormality occurs during spraying work is stored in the nonvolatile memory. Based on this information, the position in the field is determined when the work is resumed, and displayed on the display unit and buzzer output. If it is set as the structure notified by, it can spray from the position at the time of work resumption, and can eliminate the section of non-spraying.

  The present invention is not limited to the traveling spraying machine 2 that sprays fertilizer and the like provided with the granular material spraying device 1, and may be used for work vehicles that spray other fertilizers and the like.

DESCRIPTION OF SYMBOLS 1 Granules dispersion | distribution apparatus 2 Traveling dispersion | distribution work machine 3 Engine 4 Front wheel 5 Rear wheel 10 Tank 10a Partition wall 11 Feeding device 12 Blower 12a Blower fan 12b Electromagnetic clutch 13 1st injection pipe 14 2nd injection pipe (boom) 15 Control part (controller)
16 Vehicle speed calculation means 17 Fertilizer application amount calculation means 18 Mast unit 19 Machine controller 20 Roll 21 Roll drive shaft 22 One-way clutch 25 Roll drive motor 30 Through cylinder 31 Blow cylinder 32 PTO shaft 33 Passenger seat 34 Support bracket 35 Bracket 36 Lifting step 37 Vehicle speed sensor 40 Bellows tube 42 Cylindrical body 43 Arm body 44 Vertical support shaft 45 Telescopic cylinder 46 Electric motor 47 Horizontal support shaft 48 Electric telescopic cylinder 49 Inclination sensor 50 Injection nozzle 51 Spray switch 52 Fan switch 53 Boom spray lever 54 Tank Remaining amount sensor 56 Liquid crystal display unit 57 Variable switch 58 Fertilizer setting switch 59U, 59D Increase / decrease switch 60 Cumulative reset switch 61 Display switch 62 Key switch 72 Buzzer 78 GPS receiver

Claims (2)

A GPS receiver (78) capable of receiving position information and speed information from the GPS on the airframe, a vehicle speed sensor (37) for detecting the rotational speed of the transmission part to the wheels (4 or 5), and particles extending in the left-right direction of the airframe It is provided with a granular material spraying device (1) for spraying granular material from a body jet tube (14),
From the position information obtained from the GPS, after finding the straight direction of the aircraft and turning 90 degrees from the turning start position and reaching the turning return position (point e), turn 90 degrees further, and determine the adjacent work direction to go straight ahead,
Read the dispersion width (L) of the granular material from the granular tube (14),
An interval (movement distance d1) between both positions is calculated from the obtained straight direction and adjacent work direction,
The distance (movement distance d2) between the adjacent work direction and the turning return position (point e) is calculated from the adjacent work direction,
The turn start position (point c) and the turn back are calculated by subtracting the distance (movement distance d2) between the adjacent work direction and the turning return position (point e) from the calculated distance between the straight direction and the adjacent work direction (movement distance d1). Calculate the distance (movement distance d1-d2) between the positions (points e),
A control device (15) is provided for converting the calculated turn start position (point c) and turn return position (point e) (movement distance d1-d2) into position information to obtain the turn return position (point e). A traveling spraying machine characterized by that.   The turning return position (e) is calculated by correcting and calculating the distance (movement distance d1-d2) between the turning start position (point c) and the turning return position (point e) according to the set amount of powdered powder or the specific gravity of the powder. The traveling spraying work machine according to claim 1, wherein a point is obtained.

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