JP5665012B2 - Spraying control device for drug spraying vehicle - Google Patents

Description

  The present invention relates to a spray control device for a drug spraying vehicle that is provided with left and right booms for drug spraying that can move up and down and that travels based on a travel position sensor.

  As described in Patent Document 1, there is known an autonomously traveling medicine spraying vehicle that includes both left and right booms for spraying medicine that can be moved up and down, and that travels on a set route by a travel position sensor. This medicine distribution vehicle moves to the adjacent area along the set round-trip path sequentially based on the aircraft position information obtained by receiving GPS radio waves from the GPS unit, thereby eliminating the overlap and gap between adjacent drug distribution areas. Without inviting, the entire field can be sprayed with a uniform spray density.

JP 2004-8187 A

  However, at the turning start time, in order to fold one of the left and right booms that extend long on both sides of the aircraft, the turning outer boom is folded in the turning movement at the end of the field, which is shifted from the forward journey to the adjacent return journey. , Lift the boom from the working position for low-level spraying to the non-working position for high-level evacuation by tilting in the upward direction, and work again by tilting in the downward direction from the non-working position when the aircraft turns The operation to descend to the position is required, and the complicated work accompanying the direction change including the pump and other related operations for spraying the drug and the confirmation work of the spray resuming position is repeatedly required every time the field edge turns. For this reason, there has been a problem that the efficiency of spraying work is reduced due to an excessive load of the worker.

  The objective of this invention is providing the chemical | medical agent dispersion | distribution vehicle which makes it possible to reduce an operator's load accompanying the resumption of dispersion | distribution after the airframe turning at the time of carrying out medicine dispersion | distribution with the left and right booms being respectively movable up and down.

In the invention according to claim 1, the left and right booms (9b, 9b) for spraying medicine can be moved up and down on a medicine spraying vehicle that starts from the straight spray traveling to the adjacent area by turning and starts the linear spray traveling in the reverse direction. A spray control device for a chemical spray vehicle that controls the left and right booms (9b, 9b) so as to be switchable between a working position for low-level spraying and a non-working position for high-level evacuation.
The boom (9b) outside the turn is controlled to be switched to a non-working position by detecting the first turning angle that is equal to or greater than a predetermined turning determination rudder angle during linear spray traveling, and the rudder angle that is equal to or greater than the first turning determination rudder angle. the second turning decision steering angle or the steering angle detection from the time of after a predetermined turning reference time or more has elapsed detection determines turning termination and, switching the boom by the determination of the turning termination (9b) into a working position Control processing is provided.

  With the spray control device having the above-described configuration, when a predetermined turning operation is performed when the medicine spray vehicle approaches the end of the field by linear spray traveling, the turning outer boom rises and travels along the heel edge while reversing the adjacent area. If the same turning is performed again to match the start position of the linear spraying, the boom is controlled to descend to the working position.Therefore, the boom is controlled in conjunction with the turning start and turning end by detecting the turning operation. Is done.

From by addition, determination of the revolving ends, first turning decision steering angle or more second turning decision steering angle or the steering angle detected after the time point of the steering angle detected predetermined turning reference time or more has elapsed The end of turning is determined by the same turning operation for the second time after turning for a certain time.

According to a second aspect of the present invention, the determination of termination swivel, first second turning decision steering angle which presupposes turning decision steering angle or steering angle running from a position above the predetermined turning reference distance detection of It is characterized by the above-described steering angle detection.
That is, the end of turning is determined by the same second turning operation after turning for a certain distance.

According to a third aspect of the present invention, in the configuration of the first aspect, when the turning end condition is not met between the time of detection of the steering angle equal to or greater than the first turning determination steering angle and the elapse of a predetermined turning limit time. Is characterized by comprising a control process for holding the boom (9b) outside the turning at the non-working position.
If the same turning operation is not performed for the second time in turning within a certain time, the upper boom is held as it is even when automatic lifting is applied.

According to a fourth aspect of the present invention, in the configuration of the second aspect, when the turning end condition is not met between the steering angle detection position equal to or greater than the first turning determination steering angle and the traveling of the predetermined turning limit distance. Is characterized by comprising a control process for holding the boom (9b) outside the turning at the non-working position.
That is, if the same turning operation is not performed for the second time in turning traveling within a certain distance, the upper boom is maintained as it is even when automatic lifting is applied.

  According to the first aspect of the present invention, when the medicine spreader approaches the end of the field by linear spray traveling, the turning outer boom rises in conjunction with the predetermined turning operation, and then travels along the heel edge. When the same turning is performed again so as to match the reverse-direction straight-line spray running start position in the adjacent area, the boom is controlled to move down to the work position in conjunction with it. Without requiring this member, it is possible to reduce the load on the operator accompanying the turning of the machine body at the field end.

In addition, since the end of turning is determined by the second turning after a predetermined turning reference time or longer, the accuracy of determining the end of turning can be improved.

According to the second aspect of the present invention, as in the first aspect, when the medicine spreader approaches the end of the field by linear spraying, the turning outer boom rises in conjunction with a predetermined turning operation, and then Since the boom is controlled to descend to the working position in conjunction with the same turning again so as to match the linear spray running start position in the opposite direction of the adjacent area while running along the edge, the turning start and the turning end It is possible to reduce the load on the operator associated with the turning of the vehicle body at the end of the field without requiring special operations and special members, and in addition, by the second turning by traveling over a predetermined turning reference distance Since the end of turning is determined, the accuracy of determining the end of turning can be improved.

In the invention according to claim 3 , in addition to the effect of claim 1, when the same turning operation is not performed for the second time in turning within a certain time, the upper boom remains as it is even when automatic lifting is applied. Since it is held, the malfunction of the boom due to the subsequent turning operation can be prevented in the case of ending the spraying operation or the like.

According to the invention of claim 4 , in addition to the effect of claim 2, the upper boom is maintained as it is even when automatic lifting is applied when the same turning operation is not performed for the second time in turning within a certain distance. Therefore, when the spraying operation is terminated under the application of the automatic lowering function, it is possible to prevent the malfunction of the boom due to the subsequent turning operation.

Side view (a) and plan view (b) of the riding type control machine when the boom is stored Front view when spraying a passenger type control machine Plan view of turning path of riding type control machine in field System configuration block diagram of spray control A sketch of the front panel of an example of the control instruction unit A sketch of the front panel of another example of the control instruction section Example of input configuration of aircraft position information by GPS Boom automatic lowering control flowchart Flow chart of handling when turning is not completed Flow chart of another handling when turning is not completed Information system diagram (a) and detailed configuration diagram (b) of control system using GPS information GPS information processing flowchart Flowchart (a) of turning operation determination processing and flowchart (b) of another processing Flow chart of boom spraying control during turning Flow chart for calculating vehicle speed in spraying Flow chart for calculating vehicle speed based on vehicle speed pulse count Flow chart for calculating vehicle speed when GPS speed data is abnormal Flow chart for calculating vehicle speed when GPS speed data is large Another vehicle speed calculation flowchart when GPS speed data is large

Embodiments specifically configured based on the above technical idea will be described below with reference to the drawings.
FIG. 1 is a side view (a) and a plan view (b) of a riding type control machine, which is an example of a medicine sprayer to which the present invention is applied, during boom storage.

  The medicine spraying vehicle 1 includes a centrally arranged driver seat 6 and a fixed discharge unit on a machine body supported by front and rear wheel steering type left and right front wheels 3 and 3 and left and right rear wheels 4 and 4 so as to be able to travel on the field. A chemical tank 5 arranged at the rear, a boom 9a at the front end of the machine body, left and right booms 9b, 9b that can be deployed on both sides thereof, and various sensors and a controller C that is a control means, which will be described later, constitute a spray control system. Is done.

  The handling of the left and right booms 9b, 9b in the spraying operation is as follows. As shown in FIG. 2, the front view at the time of spraying is extended to the working position for low-level spraying on both sides of the machine body. As shown in the plan view of FIG. 3, in order to ensure spraying to the vicinity of the farm field end, the boom 9b on the outer side of the turning is raised to the non-working position for high-level evacuation and sandwiches the straight portion along the heel edge twice. The boom 9b is lowered again at the end of the turn and spraying is resumed so as to match the spraying end position, and the spraying control system is configured on the premise that such booms 9b and 9b are handled. .

  The spray control system will be described in detail. As shown in the system configuration block diagram of FIG. 4, as the control target by the controller C, the telescopic drive unit 11 and the lift drive unit 12 of the booms 9 b and 9 b, the drug spray pump 13, Each device including the buzzer 14 for notification and the drive unit of the display tool 15 is connected, and as a control condition, a spray setting unit including an automatic lifting setting unit 21 for boom lifting control, a GPS unit 22 for device control, Signals from various sensors such as a steering angle sensor 23, a vehicle speed sensor 24, and a boom stroke sensor 25 are input.

  As shown in FIG. 5, the operation panel 31 for spray setting includes a display switching type spray setting switch and an automatic switch 32 for automatically spraying in accordance with the spray setting. To do. Further, as shown in FIG. 6, a configuration example of another spray setting unit 41 is provided with an automatic switch 43 for automatically spraying along the spray setting together with an LCD display unit 42 that enables various display settings by switching the display. Configure.

  As shown in FIG. 7, the position sensor and the velocity data are input to the controller C by communication based on the position information of the body specified by the GPS radio wave received by the antenna 22a. The speed information obtained from the GPS unit 22 and the vehicle speed sensor 24 based on wheel rotation is defined as the vehicle speed. Based on the information from the GPS unit 22, autonomous driving may be performed by a selection switch for autonomous driving, or the information from the GPS unit 22 is displayed on the screen to display the traveling route, and the vehicle travels according to the traveling route. It is good also as a structure which carries out manual operation.

  The spraying control system calculates the set pressure from the set spraying amount according to the vehicle speed obtained from the GPS unit 22 and the vehicle speed sensor 24, performs the spraying amount control in conjunction with the vehicle speed, and further includes the boom 9b, 9b is equipped with a function of automatically raising and lowering, and the automatic raising raises the boom 9b outside the turning in conjunction with the start of turning, and the automatic lowering works in conjunction with the end of turning of the boom 9b outside the turning in the non-working position. Lower to work position.

  As shown in the flowchart of FIG. 8, the details of the automatic lifting / lowering control are the same as those at the end of the field in the case where the first processing step (hereinafter abbreviated as “S1”) for determining the presence or absence of spraying operation is applicable. Waiting for a steering angle detection (S2a, S2b) equal to or greater than a predetermined turning determination steering angle for determining as turning, the turning direction is determined (S3), and then the boom is raised and its flag set (S4a, S4b) is performed. If necessary, after a predetermined turn reference time has elapsed (S5a to S5c), the second turning angle detection (S6a, S6b) equal to or greater than the turning determination steering angle is waited to determine the turning direction (S7a, S7b). Then, the control process is configured to perform boom lowering and flag reset (S8a, S8b) in the same case by comparing the two turning directions before and after.

  With the above control process, when the medicine spraying vehicle 1 travels on the set route by the travel position sensor 22, the amount of medicine supplied into the pipe is driven by a motor so that the set pressure is calculated based on the spraying amount setting value and the vehicle speed. The booms 9b and 9b are made horizontal by the values of the boom stroke sensor 25 attached to the booms 9b and 9b, the link inclination sensor 26b and the link angular velocity sensor 26a attached to the main body. The boom horizontal valve 16 is controlled.

  In addition, when the boom is automatically raised and lowered during the turn by the selection switch, at the end of the field, the turning outer boom 9b is automatically raised by turning beyond the first turning determination rudder angle when approaching the end of the field by linear spraying traveling. Furthermore, after traveling along the heel edge, if turning beyond the turning judgment rudder angle on the same side for the second time so as to match the straight line travel start position in the opposite direction of the adjacent area, the point will turn At the end, the turning outer boom 9b is lowered to the working position.

  In this way, the end timing of the turn can be reliably determined by detecting the turning operation, and as a result, a special operation at the end of the turn traveling and a special member for the end determination are not required, The spraying of the medicine by the booms 9b, 9b on both sides becomes possible with the start of the linear spraying in the reverse direction of the adjacent area.

  In this case, in the determination of the end of the turn by detecting the steering angle greater than or equal to the second turn determination rudder angle, a lapse of a predetermined turn reference time or more from the point of detection of the rudder angle greater than or equal to the first turn determination rudder angle (S4a to S4c). ) As a condition, it is possible to improve the accuracy of determining the end of a turn. In addition, the same effect can be obtained by setting the travel of a predetermined turning reference distance or more from the position of the steering angle detection of the turning determination steering angle or more for the first time instead of the turning reference time.

Next, the control process regarding the completion | finish of spraying traveling work is demonstrated.
As shown in the flowchart of handling when turning is not completed in FIG. 9, counting of the travel time is started from the time of starting turning by detecting the steering angle equal to or greater than the first turning determination steering angle (S11), and the second turning determination is made. Determination of rudder angle detection beyond the rudder angle (S12a, S12b) is performed, and determination of the elapse of a predetermined turning limit time from the point of detection of the rudder angle greater than the first turning determination rudder angle without reaching this rudder angle detection ( If the condition is satisfied in S13), the travel time count is stopped and cleared so as to continue the upper holding of the boom (9b) outside the turn (S14a), and the boom raising flag is reset ( A control process when turning is not completed is provided by S14b).

  In this way, when the spray traveling is finished without performing the second turning to the next spraying start position under the application of the automatic lifting function, the turning of the boom 9b remains at the lifted position after the start of turning. Since the operation is not performed, the boom 9b is forced to be held at the raised position when a predetermined turning limit time elapses, so that the boom is prevented from descending due to the subsequent turning operation by shifting to the handling when the turning is not completed. Can do. Further, the same effect can be obtained by using, as a criterion for determination, a vehicle traveling at a predetermined turning limit distance from a position at which a turning angle is detected that is equal to or greater than the first turning determination rudder angle instead of being determined based on the turning limit time. .

  Further, as another example of control when turning is not completed, as shown in the flowchart of FIG. 10, when the turning direction is not the same by the direction determination (S22a to S23b) for the second turning, By configuring the control process to perform only the lift flag reset (S25), it is possible to avoid the lowering of the boom due to the subsequent turning operation by reverse turning. In addition, by configuring the control process to perform only the boom lift flag reset (S25) with turning off in the case of being turned off by the determination of the automatic lift setting (S21a, S21b), by releasing the automatic lift setting after the completion of the spraying work The boom lowering (S22) can also be avoided by turning in the same direction of the transition.

(GPS information)
Next, handling of GPS information will be described.
As shown in the information system diagram (a) of the control system shown in FIG. 11, GPS information is sent from the GPS unit 22 that detects the position of the aircraft by GPS radio waves to the controller C for the traveling speed of the aircraft necessary for spraying medicine. In parallel with this, traveling information is sent from the vehicle speed sensor 24 that detects wheel rotation to the main controller C, and the control device controller S performs spraying control based on the vehicle speed obtained from the GPS information and the traveling information. .

  In this case, as shown in the detailed configuration diagram (b) of FIG. 11, the connection portion between the GPS unit 22 and the controller C of this unit determines whether or not the connector is turned on when the GPS side 51a and the controller side 51b of the connector are connected. The signal 52 is configured to be sent to the machine controller C.

  The controller C can easily and reliably determine the connection of the GPS unit based on the connection determination signal 52 that is turned on when the GPS unit 22 is connected. The GPS vehicle speed by the GPS unit 22 and the calculation by the vehicle speed sensor 24 can be determined. The speed control can be reliably distinguished by using the vehicle speed.

  Also, as shown in the GPS information processing flowchart of FIG. 12, the speed information is read from the GPS unit 22 (S31) to determine the presence / absence of data (S32). Is set and transmitted to the control machine controller S (S33a, S33b), so that when the data cannot be acquired from the GPS unit 22 by the main controller C, the chemical spraying process to deal with the abnormality in the control machine controller S is ensured. Can do.

(Turning judgment)
Next, as for the turning operation determination process, as shown in the flowchart (a) of FIG. 13, the vehicle speed sensor is read to calculate the vehicle speed (S41a, S41b), and the turning determination angle θ1 that is the reference for turning operation is set. It is set according to the vehicle speed (S42), and this turning determination angle θ1 is determined so as to increase / decrease contrary to the increase / decrease of the vehicle speed, that is, to be small when the vehicle speed is fast and large when the vehicle speed is slow. Wait until the turning determination angle θ1 is reached (S43, S44), and perform control such as raising the boom. In this way, when the outer boom at the time of turning automatically rises corresponding to the turning action, the steering turning angle for judging turning is changed according to the vehicle speed, thereby making an appropriate turning judgment according to the vehicle speed. Can do.

  As another example of the turning operation determination process, as shown in the flowchart (b) of FIG. 13, the operation speed is calculated by comparing the detected steering angle with the previous value (S51a to S51c). Contrary to the increase / decrease, the determination angle is corrected to increase / decrease to set the turning determination angle θ1 (S52a, S52b), and the presence / absence of the turning operation is determined based on the turning determination angle θ1. Thus, by correcting the steering angle for turning determination by the steering operation speed, it is possible to make an appropriate turning determination according to the steering operation speed.

(Spray control)
As shown in the flowchart of FIG. 14, the boom spreading control accompanying the turning is configured by configuring a control process to stop the spreading (S62) at the same time when the boom is raised (S61) by the determination of the start of turning. Since the spreading of the outer boom 9b raised by entering the turning operation is interrupted simultaneously with the raising, the operability can be improved.

  In addition, when the turning finish determination (S63a to S64b) is performed after the boom is raised and the spraying is stopped at the start of turning, the spraying is resumed by the spraying start (S66) simultaneously with the boom lowering (S65). Configure the process. As described above, since the spraying is resumed simultaneously with the lowering at the end of the turning of the outer boom 9b raised by the turning, the operability can be improved with respect to the restarting of the spreading.

(Vehicle speed processing)
As shown in the flowchart of FIG. 15, the vehicle speed calculation in the scattered travel is performed for a certain period of time from the start of the travel, using the value calculated every time the GPS vehicle speed data is read (S 71 a to S 71 d). The control processing is configured so that the actual vehicle speed during traveling is dispersed and adjusted based on the vehicle speed calculated by the moving average processing (S72a to S73b) from the speed data. In this way, by setting the GPS vehicle speed data for each time as the actual vehicle speed only for a certain time from the start of traveling, it is possible to prevent a delay in changing the actual vehicle speed at the start of traveling and to suppress fluctuations in the actual vehicle speed during spraying. be able to.

  Next, as for the vehicle speed calculation based on the vehicle speed pulse count, as shown in the flowchart of FIG. 16, when the actual vehicle speed during traveling is calculated from the speed data by the moving average, the count value of the vehicle speed pulse is checked (S81). Therefore, when the count value has decreased by a certain percentage from the previous time, a control process is performed in which the read GPS speed data is set to the actual vehicle speed (S82).

  In this way, the GPS vehicle speed data is read and the GPS vehicle speed is calculated, and then the read vehicle speed pulse is reduced by a certain percentage, the calculated GPS vehicle speed is set to the actual vehicle speed, thereby calculating the actual vehicle speed being sprayed. While suppressing the fluctuation, it is possible to prevent a delay in changing the actual vehicle speed when the vehicle stops traveling.

  Next, the calculation of the vehicle speed of the GPS speed data is performed by determining the GPS data (S94 to S96) when the vehicle speed pulse count value being dispersed is equal to or greater than a certain value (S91 to S93), as shown in the flowchart of FIG. If the vehicle speed is equal to or lower than the predetermined vehicle speed, the previous value is set as the actual vehicle speed (S97). When such a situation continues for a predetermined time, a control process is performed to determine whether the GPS vehicle speed is abnormal (S98a, S98b).

  In this way, when the vehicle speed pulse count is equal to or greater than a certain value, if the GPS vehicle speed calculated from the read GPS data is not equal to or greater than the certain value, the previous value is set as the actual vehicle speed. By making it abnormal, even if GPS vehicle speed data fluctuates, the influence on the actual vehicle speed detection value can be suppressed, and if such a state continues, the operator can be notified of the abnormality.

  Next, the calculation of the vehicle speed when the GPS speed data is large, as shown in the flowchart of FIG. 18, when the GPS speed data is larger than the value obtained by multiplying the vehicle speed calculated by the vehicle speed pulse by a certain value (S101 to S106), the previous time. Is set to the actual vehicle speed (S107), and a control process for determining a GPS vehicle speed abnormality (S108, S109) by continuing the state for a certain period of time is configured.

  Specifically, the vehicle speed pulse is counted to calculate the determination vehicle speed V1, and when the GPS vehicle speed VG calculated from the read GPS speed data is larger than the determination vehicle speed V1, the actual vehicle speed is set to the previous value, and the state is kept for a certain time. When it continues, it determines with GPS abnormality.

  Thus, when the GPS vehicle speed data is larger than the value obtained by multiplying the calculated vehicle speed by the vehicle speed pulse by a certain value, the actual vehicle speed is set to the previous value, so that the actual vehicle speed detection value is affected even if the GPS speed data fluctuates. Therefore, it is possible to determine that the continuation is abnormal and notify the operator.

  As another example of calculating the vehicle speed when the GPS speed data is large, as shown in the flowchart of FIG. 19, the vehicle speed pulse is counted to calculate the determination vehicle speed V1 (S111 to S113), and the read GPS speed data is used. According to a comparison check (S114 to S116) between the calculated GPS vehicle speed VG and the determination vehicle speed V1, when the GPS vehicle speed VG is higher than the determination vehicle speed V1, the data for calculating the average vehicle speed is corrected with the slip ratio and the corrected vehicle speed Vh (S117, S118).

  In this way, the actual vehicle speed during traveling is calculated from the speed data by moving average processing, and when the GPS speed data is larger than the value obtained by multiplying the calculated vehicle speed by the vehicle speed pulse by a certain value, the GPS speed data is replaced with the calculated vehicle speed. By calculating the moving average, even if GPS speed data fluctuates, the influence on the actual vehicle speed detection value can be suppressed.

DESCRIPTION OF SYMBOLS 1 Drug spreading vehicle 9a Boom 9b Boom 21 Automatic raising / lowering setting part 22 GPS unit 23 Steering angle sensor 24 Vehicle speed sensor 32 Automatic switch 41 Spreading setting part 42 Display part 43 Automatic switch C Machine controller S Control machine controller

Claims (4)

Left and right booms (9b, 9b) for drug spraying are provided in a medicine spraying vehicle that shifts from a straight spray traveling to an adjacent area by turning and starts a straight spray traveling in the opposite direction. , 9b) in a spray control device for a drug spray vehicle that controls the work position for low spraying and the non-working position for high-level evacuation, respectively.
The boom (9b) outside the turn is controlled to be switched to a non-working position by detecting the first turning angle that is equal to or greater than a predetermined turning determination rudder angle during linear spray traveling, and the rudder angle that is equal to or greater than the first turning determination rudder angle. the second turning decision steering angle or the steering angle detection from the time of after a predetermined turning reference time or more has elapsed detection determines turning termination and, switching the boom by the determination of the turning termination (9b) into a working position A spray control device for a drug spray vehicle, comprising a control process. Left and right booms (9b, 9b) for drug spraying are provided in a medicine spraying vehicle that shifts from a straight spray traveling to an adjacent area by turning and starts a straight spray traveling in the opposite direction. , 9b) in a spray control device for a drug spray vehicle that controls the work position for low spraying and the non-working position for high-level evacuation, respectively.
The boom (9b) outside the turn is controlled to be switched to a non-working position by detecting the first turning angle that is equal to or greater than a predetermined turning determination rudder angle during linear spray traveling, and the rudder angle that is equal to or greater than the first turning determination rudder angle. It is determined that the turn has ended by detecting a steering angle that is equal to or greater than the second turning determination steering angle on the precondition that the vehicle travels a predetermined turning reference distance from the detected position, and the boom (9b) is moved to the working position by this turning end determination. A spray control device for a drug spray vehicle, comprising a control process for switching to If there is no steering angle detection greater than or equal to the second turning determination rudder angle between the time of detection of the steering angle greater than or equal to the first turning determination rudder angle and the elapse of a predetermined turning limit time, the second 2. The spray control of the medicine spraying vehicle according to claim 1, further comprising a control process for holding the boom (9 b) outside the turn at a non-working position without determining the end of the turn even when the steering angle is detected. apparatus. If the turn end condition is not met between the position at which the steering angle is detected that is equal to or greater than the first turning judgment rudder angle and the travel of the predetermined turning limit distance, the second turning judgment rudder angle is passed after that distance. The spray control device for a medicine spray vehicle according to claim 2, further comprising a control process for holding the boom (9b) outside the turning at a non-working position even when the steering angle is detected as described above .

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