JP5803144B2 - Chemical spraying work vehicle - Google Patents

Description

  The present invention relates to a medicine spraying work vehicle for spraying a medicine stored in a medicine tank to a field.

  Conventionally, a chemical solution spreading boom consisting of a center boom and side booms that can be spread on both sides of the center boom is provided on the front part of the machine body so as to be able to roll freely, and the chemical solution etc. from these spreading booms can be applied to the target to be spread on There is also known a configuration in which there is a medicine spraying work vehicle sprayed onto a crop, and the vehicle speed of the medicine spraying work vehicle is measured using GPS.

JP 2004-8187 A

According to the invention described in Patent Document 1, the position information and the speed information obtained from the GPS are detected by installing the GPS receiver, and the chemical solution sprayed from the start of the traveling of the work vehicle based on the obtained position information and the speed information. The structure which can detect the usage-amount of this and can estimate the chemical | medical solution replenishment timing to a chemical | medical solution tank is disclosed.
However, when the working vehicle turns on the shore while spraying the chemical solution from the side booms spread to the left and right of the medicine spraying work vehicle described in Patent Document 1, the side boom outside the turn is on the shore. Raised the operation so as not to touch. However, when approaching the heel while maneuvering the drug spraying vehicle or other work, it is cumbersome to manually raise the side boom outside the turn so that it does not touch the heel. And sometimes damaged.
Accordingly, an object of the present invention is to provide a medicine spraying work vehicle capable of automatically raising or lowering the side boom outside the turning at the time of turning or at the end of turning in consideration of safety.

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 includes a chemical solution tank (18) for storing a chemical solution, a center boom (43) for spraying the chemical solution from the chemical solution tank (18) to the field, and right and left of the center boom (43) . The side boom (44), the GPS receiver (81), the vehicle speed sensor (6) for detecting the rotation speed of the wheels (12 and / or 13), and the vertical movement of the left and right side booms (44) An upper and lower cylinder (29) for performing each, a steering angle sensor (7) for detecting the turning angle of the left and right wheels (12 and / or 13), a chemical tank (18), and a chemical spray boom (43, 44) The control pump (65) for discharging the chemical liquid provided in the chemical liquid flow path between the two, and the chemical liquid flow rate adjustment for adjusting the discharge pressure of the chemical liquid provided in the chemical liquid flow path downstream from the installation location of the control pump (65) Chemical solution with valve (73) In cloth work vehicles,
A flow rate control motor (10) that opens and closes the chemical flow rate control valve (73), vehicle speed calculation means (5) that calculates vehicle speed based on position information obtained by the GPS receiver (81) , and (a) vehicle speed calculation. At least one of the first vehicle speed (VG) obtained by the means (5) and (b) the second vehicle speed (Vs) obtained by the vehicle speed sensor (6) or (c) the first vehicle speed (VG ) And the second vehicle speed (Vs), and the discharge pressure of the control pump (65) is calculated from the relationship between the average vehicle speed of the second vehicle speed (Vs) and the preset chemical spraying amount (A) per unit area. The degree of opening of the chemical flow rate control valve (73) is adjusted by the flow rate control motor (10) so as to coincide with the value, and further turning is automatically performed by detecting a turning angle greater than a predetermined angle by the steering angle sensor (7). Raise the outer side boom (44) Performed, the vehicle speed is chemical spraying work vehicle characterized by comprising a control device (100) having an automatic increase does not control configuration of the side boom (44) of the orbiting outer and equal to or greater than a predetermined value.

  According to the second aspect of the present invention, the time required for the control device (100) to raise the side boom (44) outside the turning by manual operation in advance is stored, and the turning of the steering angle sensor (7) is stored. 2. The chemical spraying vehicle according to claim 1, wherein when the side boom (44) on the outside of the turn is automatically lifted by detecting the angle, the control system is configured to raise the stored manual lifting time. is there.

  According to a third aspect of the present invention, the control device (100) automatically lowers the side boom (44) outside the turn by detecting the turning angle at the end of turning by the steering angle sensor (7), and the vehicle speed is equal to or higher than a predetermined value. The chemical solution spraying work vehicle according to claim 1, further comprising a control configuration that does not automatically lower the side boom (44) outside the turning.

  The invention according to claim 4 stores the time required for the control device (100) to lower the side boom (44) outside the turning by manual operation in advance, and turns the steering angle sensor (7). 2. The chemical spraying vehicle according to claim 1, wherein when the side boom (44) on the outer side of the turn is automatically lowered by detecting the angle, the vehicle is lowered for the stored manual descent time. is there.

According to the fifth aspect of the present invention, the control device (100) stores in advance the time required for raising and lowering the side boom (44) outside the turn by manual operation in advance, and the steering angle sensor (7). when to automatically pivot outside of the side boom (44) on the rising or falling by the detection of the turning angle, characterized by having a control arrangement for the raising or lowering only rise and fall times of the manual where the respectively stored The chemical solution spraying work vehicle according to claim 1.

  According to the first aspect of the invention, since the reception of radio waves is unstable (thick rain clouds, snow clouds, the influence of topography (valleys, the foot of mountains), etc.) and the accuracy of GPS radio waves may be changed, While the vehicle speed obtained by GPS may become unstable, the reliability of the vehicle speed sensor 6 is high except when the wheel slips. Therefore, the first vehicle speed (VG) obtained from the GPS and the vehicle speed sensor 6 The discharge pressure of the control pump 65 using either the obtained second vehicle speed (the vehicle speed calculated by reading the vehicle speed pulse) (Vs) or the average value of the first vehicle speed (VG) and the second vehicle speed (Vs). And the opening degree of the chemical flow rate adjusting valve 73 is adjusted by the flow rate control motor 10 so as to coincide with the calculated discharge pressure value, so that the preset chemical spraying amount (A) per unit area becomes uniform. Stable chemical spraying is possible by controlling Next, at the same time, since the automatic side boom 44 during high-speed traveling above a predetermined vehicle speed in the road or the like does not rise a problem of breakage of the side boom 44 can be prevented.

  According to the second aspect of the invention, in addition to the effect of the first aspect of the invention, when the side boom 44 on the outside of the turn is automatically raised, the side boom 44 is raised for the previously stored manual rise time. The state manually operated by the operator can be reproduced, and the work according to the field conditions and the like can be performed.

  According to the invention described in claim 3, in addition to the effect of the invention described in claim 1, the side boom 44 is not automatically lowered when traveling at a high speed exceeding a predetermined vehicle speed when traveling on the road or the like. Can be prevented.

  According to the invention described in claim 4, in addition to the effect of the invention described in claim 1, when the side boom 44 outside the turning is automatically lowered, the side boom 44 is lowered for the manual lowering time stored in advance. The state manually operated by the operator can be reproduced, and the work according to the field conditions and the like can be performed.

  According to the fifth aspect of the invention, in addition to the effect of the first aspect of the invention, when the side boom 44 on the outside of the turn is automatically raised or lowered, it is raised by the stored manual rise time. Since it is lowered for the stored manual descent time, the state manually operated by the operator can be reproduced, and work according to the field conditions and the like becomes possible.

It is a side view of the chemical | medical solution spraying work vehicle by one Embodiment of this invention. It is a top view of the chemical | medical solution spraying work vehicle of FIG. It is a control block diagram of the chemical | medical solution spraying work vehicle of FIG. FIG. 2 is a control block diagram of a GPS receiver and a main unit controller of the chemical solution spraying work vehicle of FIG. 1. It is a block diagram of this machine controller and control machine controller of the chemical | medical solution spraying work vehicle of FIG. It is a flowchart of the chemical | medical solution dispersion | distribution control of the chemical | medical solution dispersion | distribution work vehicle of FIG. It is a flowchart of the chemical | medical solution dispersion | distribution control of the chemical | medical solution dispersion | distribution work vehicle of FIG. It is a flowchart of the raising / lowering control of the side boom of the chemical | medical solution spraying work vehicle of FIG. It is a flowchart of the raising / lowering control of the side boom of the chemical | medical solution spraying work vehicle of FIG. It is a flowchart of the raising / lowering control of the side boom of the chemical | medical solution spraying work vehicle of FIG. It is a flowchart of the raising / lowering control of the side boom of the chemical | medical solution spraying work vehicle of FIG. It is a flowchart of the raising / lowering control of the side boom of the chemical | medical solution spraying work vehicle of FIG. It is a top view explaining the driving | running | working mode in the field corner part of the chemical | medical solution spraying work vehicle of FIG. It is a flowchart of the chemical | medical solution dispersion | distribution control of the chemical | medical solution dispersion | distribution work vehicle of FIG.

Embodiments of the present invention will be described below with reference to the drawings.
FIG. 1 shows a side view of a chemical spraying work vehicle with the chemical spraying device attached to the front, and FIG. 2 shows a plan view of the chemical spraying device part. In the present specification, the left and right directions are referred to as left and right, respectively, in the forward direction of the chemical spray vehicle.

The vehicle body 1 of the chemical solution spraying work vehicle supports an axle housing on which the front wheels 12 and the rear wheels 13 are mounted so as to be freely rollable. Further, the front wheel 12 is steered by the rotational operation of the steering handle 14 supported by the handle post 59 and is driven by an engine (not shown) under the bonnet 15. The vehicle body 1 is provided with a chemical tank 18 formed so as to surround the right and left sides from the rear portion of the cockpit 17 so as to be detachable from the vehicle body, and the chemical solution in the chemical tank 18 is pumped to a spraying boom 19 provided on the front side. A control pump 65 is provided below the cockpit 17 of the vehicle body 1.

  On the left side of the chemical tank 18 located below the cockpit 17 and above the floor 54, a recess S is provided so that one operator can get on and off, and a tank-side step 50 is provided on the bottom surface of the recess S. Yes. A machine-side step 53 is provided below the tank-side step 50. This machine side step 53 is located at a position where the upper surface 53A is substantially flush with the floor 54 and the bottom surface of the chemical liquid tank 18.

  Below the machine-side step 53, a ladder member 55 installed in a suspended manner from the floor 54 is provided. The ladder member 55 has an arbitrary number of steps, for example, two steps. The ladder member 55, the machine-side step 53, and the tank-side step 50 are arranged at a predetermined interval. With such a configuration, the operator can reach the cockpit 17 safely and easily by climbing the steps of the ladder member 55, the machine-side step 53, and the tank-side step 50 in order.

In a self-propelled chemical solution spraying vehicle in which the chemical solution tank 18 is mounted on the floor 54 of the machine, the chemical solution tank 18 projects forward to the vicinity of the machine dash panel 56. On the other hand, the chemical liquid tank 18 has a substantially U-shaped structure that completely covers the operator's feet when viewed from above. With such a structure, it is possible to increase the tank capacity without increasing the height of the chemical liquid tank 18 and to ensure the prospect of the backward movement. In addition, by making the chemical tank 18 longer forward, the center of gravity movement of the aircraft due to the displacement of the amount of water in the chemical tank can be kept small, the balance of the aircraft at the time of spraying the chemical can be stabilized, and the running performance can be improved. It is possible to avoid the situation of tilting and sinking.
In FIG. 2, the upper surface of the chemical liquid tank 18 is shown in a substantially rectangular parallelepiped shape with a substantially U shape. However, the shape is not limited to this, and any shape can be used as long as it has a tank step. it can.
The tip shape of the chemical tank 18 is formed so as to be in close contact with the inclined portion 51 that is curved so as to float upward at the front of the floor 54. Therefore, the chemical solution tank 18 can be moved from the rear to the front and matched with the inclined portion 51 and stopped. With such a structure, it is possible to prevent the tire and the chemical tank 18 from interfering with each other due to the rolling of the front wheel 12, etc., and to improve the grounding property of the chemical tank 18 on the floor 54 of the main unit and the stability of the tank 18. .

  At the front part of the vehicle body 1, lift links 3 supported on the left and right sides of the bonnet 15 are attached. The lift link 3 has an upper link 24 and a lower link 25 arranged in parallel, the front end portions are connected by a hitch bracket 4, and the rear end portions are axially supported by upright columns 23 to form a parallel link configuration. The tip of the parallel link is moved up and down by the lift cylinders 27 and 27, so that the spray height of the spray boom 19 can be adjusted.

  A center boom 43 extending in the left-right direction of the machine body is attached to the lower end portion of the hitch bracket 4. The upper and lower cylinders, which are rolling cylinders, are provided with cylinder mounting columns 26 protruding upward at the left and right ends, and extend and contract via a solenoid valve 28 with a hydraulic tank that is electrically controlled at the upper end of the cylinder mounting column 26. An upper end of the (rolling cylinder) 29 is attached, and a side boom 44 is rotatably attached to the lower end of the upper and lower cylinders 29. Accordingly, the side boom 44 is raised and lowered by the expansion and contraction of the upper and lower cylinders 29. When the side boom 44 is housed on both sides of the body, the side boom 44 is supported by the body by the side boom receiver 40.

The spraying boom 19 includes a center boom 43 and a side boom 44 that is foldably connected to the outside of the center boom 43, and spray nozzles 45 (45a, 45b) for spraying chemical liquids are provided at regular intervals. Has been placed.
The side boom 44 is attached to the center boom 43 via the cylinder attachment column 26, and the side boom 44 is opened and closed by an opening / closing cylinder 30 provided on the center boom 43.

  The index rod 52 (FIG. 1) is a rod provided so as to protrude vertically upward from an area near the center of the center boom 43. A lamp made of LED or the like is attached to the upper end of the indicator rod 52, and the lamp is turned on simultaneously with the start of an automatic horizontal control operation described later. Note that the lower end of the index rod 52 may be rotated during automatic horizontal control in conjunction with an operating mechanism or the like. Such a configuration allows the operator to recognize the control state of the booms 43 and 44, avoids erroneous operation of the booms 43 and 44, forgets to turn on the automatic horizontal switch at the time of spraying work, and the long boom (side boom It is possible to avoid the problem that the nozzle 45b at the tip of 44) comes into contact with the crop and breaks.

Here, the automatic horizontal control operation means that the side booms 44 and 44 are opened by the open / close cylinders 30 and 30 in the horizontal direction on the extension line of the center boom 43 (left and right direction toward the traveling direction of the machine body). That is, when the rolling cylinder is extended to the maximum, the side booms 44 and 44 are controlled so as to be horizontal with respect to the horizon of the earth .

  Next, the control unit of the chemical solution spraying vehicle having the above configuration will be described. As shown in the control block diagram of FIG. 3, the controller 100 has a steering changeover switch and a horizontal switch (the horizontal switch has an automatic switch, a parallel switch, and a manual switch. The horizontal control for maintaining the horizontal of the horizontal line, the parallel switch for maintaining the parallel posture of the booms 43 and 44 with respect to the farm scene 1, the manual switch for manually adjusting the posture of the booms 43 and 44 at an arbitrary tilt position ), Vehicle speed sensor 6, steering angle sensor 7, control lever sensor (lever sensor for turning on / off chemical spray), lift arm sensor, stroke sensor, slope sensor, GPS antenna (reception) Connected to an input circuit that receives a signal from 81, a steering device (handle 14 and hydraulic pressure for wheel steering) A solenoid (comprising a cylinder and a solenoid for operating the cylinder, etc.) (the chemical spraying vehicle of this embodiment is equipped with FWS, 4WS, and RWS, and all four wheels are moved by hydraulic cylinders), a lifting solenoid (For the cylinder 29), a horizontal solenoid (for the cylinder 30), a buzzer, an output circuit to the display unit, and the like are connected.

  As shown in FIG. 4, a control machine comprising a controller 100, a chemical tank 18, chemical booms 43 and 44, chemical hoses 61 and 66, a chemical flow hose 61 and 66, a flow control valve 73, etc. The controller of this embodiment is configured from the controller 101 of FIG. 5B (FIG. 5), and a GPS receiver 81 is connected to the controller 100 of this apparatus. The GPS receiver 81 receives signals from a plurality of GPS satellites, stores the signals as current position data of the machine, calculates a moving distance while updating the current position data at predetermined time intervals measured by a clock circuit, The speed, that is, the vehicle speed, is calculated by the vehicle speed calculation means 5 in the main unit controller 100 every predetermined time by the clock circuit. In addition, the controller 100 receives an input from a vehicle speed sensor 6 that detects the rotational speed of the axle.

  In the chemical spraying work vehicle of this embodiment, in the control machine B that is mounted on the work vehicle and sprays the chemical liquid in conjunction with the vehicle speed, the chemical spray amount is determined by the chemical concentration and the vehicle speed, etc. Decide. The GPS receiver 81 can obtain vehicle speed information and position information from GPS.

Moreover, the structure of the chemical | medical solution dispersion | distribution piping system as shown in FIG. 5 was employ | adopted. The water supply path (hose) 61 of the chemical tank 1 8 or we provide a water supply cock 62, a control pump 65 is provided at the outlet portion of the suction filter 64 provided downstream of the water supply channel (hose) 61 from the water supply cock 62. A water discharge hose 66 is connected to the outlet portion of the control pump 65, and the tip of the water discharge hose 66 is connected to the installation portion of the spray cock 69 via a diluting chemical liquid path 67. A safety valve 70, an air chamber 71, a flow rate control valve 73, and a flow rate sensor 74 are installed in this order from the upstream side between the water discharge hose 66 and the diluted chemical liquid path 67.

Further, a surplus water hose 75 is connected between the water discharge hose 66 of the pressure setting portion of the safety valve 70 and the chemical liquid tank 18. If the safety valve 70 is opened, excess chemical solution in the water discharge hose 66 can be returned to the chemical solution tank 18 . Also, the stirring hose 79 connected to the chemical liquid tank 18 is branched from the upstream side of the water discharge hose 66 is provided from the installation section of Yomizu hose 75. The opening degree of the flow control valve 73 is controlled by the flow control motor 10 shown in the control block diagram of FIG.

Drug solution the center boom 43 via a spray cock 69 has a configuration for supplying a dilution liquor to the side boom 44. The supply amount (A) per unit area (for example, 10 ares) of the diluted chemical solution to each boom 43, 44 can be adjusted by the flow control valve 73 .

After the speed data and position data from the GPS receiver 81 are received by the controller 100, the speed and position data are calculated, the speed is calculated by the vehicle speed calculation means 5, and the obtained value is converted into a speed signal. The vehicle speed is calculated by the vehicle speed calculation means 5 (first vehicle speed (VG)) by serial communication to the control machine controller 101. In addition, the vehicle is provided with a vehicle speed sensor 6 for measuring the rotation speed of the axle by a vehicle speed pulse, and the vehicle speed (second vehicle speed (Vs)) can also be obtained from the vehicle speed sensor 6. Thus, the first vehicle speed (VG) based on the vehicle speed calculation means 5 obtained from the GPS receiver 81 and the second vehicle speed (Vs) obtained from the vehicle speed sensor 6 provided in the machine are calculated by the controller 100 on the machine side, and CAN It is set as the structure which sends speed data to the control machine controller 101 by communication, and utilizes it for chemical | medical solution dispersion | distribution control.
Usually, the vehicle speed is often the second vehicle speed (Vs) based on the vehicle speed sensor 6 immediately after the start of the vehicle and immediately before the vehicle is stopped, and the first vehicle speed (VG) by GPS is often the vehicle speed during stable running.

Here, the basic procedure of the chemical solution spraying of the present embodiment will be described.
First, when the operator determines the spraying amount A (liter / 10 ares) per 10 ares and then starts the chemical spraying operation, the first vehicle speed (VG) based on GPS and the vehicle speed sensor 6 provided in the machine are obtained. The second vehicle speed (Vs) detects the vehicle speed V (m / s). Then, the control devices 100 and 101 change the vehicle speed to one or both of the first vehicle speed (VG) and the second vehicle speed (Vs) (hereinafter simply referred to as vehicle speed (VG) or vehicle speed (Vs)). The chemical spraying pressure corresponding to the set chemical spraying amount A per 10 ares is calculated, and the flow rate control valve 73 is controlled so that the calculated pressure value and the actual pressure P of the water discharge hose 66 coincide with each other. If the amount of chemical spraying from the nozzles 45a and 45b of 44 is changed and the chemical spraying amount A per 10 ares is set, the chemical flow rate is controlled and set even if the vehicle speed (VG, Vs) varies. The chemical solution can be sprayed uniformly on the field according to the spraying amount.

  Even if there is no vehicle speed measuring means in the control machine controller 101, it is only possible to measure the vehicle speed (Vs) even with the control machine B using the vehicle speed measuring means on the main unit side to which the control machine (chemical solution spraying device) B is connected. Instead, a controller provided in a chemical spraying device (not shown) such as a variable fertilizer for spraying granular fertilizer different from the control machine B of the present embodiment with the configuration shown in FIG. Even when installed separately, the chemical spraying device such as a variable fertilizer application device can use the vehicle speed as it is.

  As the vehicle speed obtained at this time, as shown in the flowchart of FIG. 6, the vehicle speed (VG) based on the vehicle speed calculation means 5 obtained by the GPS and the vehicle speed (Vs) obtained from the vehicle speed sensor 6 of this machine are averaged. The averaged vehicle speed can be used as the vehicle speed of the control machine B.

  The reason for averaging the vehicle speed (VG) based on the vehicle speed calculation means 5 obtained by GPS and the vehicle speed (Vs) obtained from the vehicle speed sensor 6 of this machine is that the reception of radio waves is unstable (thick rain clouds, snow clouds) The speed of GPS is likely to be unstable due to the effects of topography (valley, foot of mountain, etc.) and the accuracy of GPS radio waves. Since the vehicle speed sensor 6 is highly reliable, the vehicle speed obtained by averaging the vehicle speed obtained from the GPS and the vehicle speed obtained by the vehicle speed sensor 6 (reading the vehicle speed pulse and calculating the vehicle speed) is 10 fields. The flow rate control valve 73 is controlled so that the calculated pressure value corresponding to the per-set chemical solution spray amount A matches the actual pressure P of the water discharge hose 66, and the chemical solution spray amount from the nozzles 45a, 45b of the booms 43, 44. The changed In Rukoto, it is possible to stably spray the chemical application rate A per field 10 ares even with variation in the vehicle speed.

  Further, when the vehicle speed (Vs) obtained from the vehicle speed sensor 6 is equal to or less than a certain value (for example, 0.3 to 0.4 m / s), the vehicle speed (VG) obtained from the GPS is the amount of chemical solution sprayed by the control machine B. It is not used for the control for calculating. For example, when the change in the vehicle speed at the start of running is unstable, as shown in the flowchart of FIG. 7, the chemical solution spraying corresponding to the set chemical solution spraying amount A per 10 ares of the vehicle speed (Vs) obtained from the vehicle speed sensor 6 is performed. It is possible to suppress fluctuations in the amount of sprayed chemical solution by not using the GPS vehicle speed (VG) by using the pressure value.

This is because the vehicle speed (VG) measured by the GPS is worse than the vehicle speed (Vs) measured by the vehicle speed sensor 6 when traveling at a low speed below a predetermined vehicle speed, so that the amount of the chemical solution is excessive or insufficient. A situation occurs. Therefore, the vehicle speed (Vs) by the vehicle speed sensor 6 is used without using the vehicle speed (VG) by GPS.
When the vehicle speed (Vs) obtained by the vehicle speed sensor 6 after the start of traveling exceeds a certain value (for example, (0.3 to 0.4 m / s)), the amount of chemical solution sprayed is determined based on the GPS vehicle speed (VG). Run the spray.

  The chemical spraying work vehicle of the present embodiment calculates a set pressure from a set spraying amount by using the speed information obtained from the GPS receiver 81 and the vehicle speed sensor 6 as a vehicle speed, and links the center boom 43 and the side boom 44 in conjunction with the vehicle speed. To adjust the opening degree of the on-off valve 73 driven by a flow control motor.

  The above-described chemical spraying work vehicle that sprays chemical liquid has a control structure that automatically raises and lowers the side boom 44 on the outer side of the turn by the upper and lower cylinders 29 when it detects that the turning operation is started by the steering angle sensor 7. A device 100 is provided. However, when the vehicle speed measured by the vehicle speed sensor 6 is equal to or higher than the predetermined vehicle speed, the side boom 44 outside the turn is controlled so as not to be automatically raised during the turn.

  The predetermined vehicle speed is, for example, configured with two sub-speeds and four main speeds. The speed is 0.9 km / h for the first sub-speed and the first main speed, and 13.2 km / h for the second sub-speed and the fourth main speed. Depending on the conditions of the field, high-speed work travel is performed on a large work plane and low-speed work travel is performed in mountainous areas, so it is difficult to specify numerical values.

FIG. 8 shows a flowchart of the raising / lowering control of the side boom 44 in this case.
With such a control configuration, it is possible to prevent problems such as breakage of the side boom 44 due to the automatic boom raising / lowering control configuration during high-speed traveling such as traveling on the road.

The chemical solution spraying vehicle of the present embodiment detects that the turn has ended, and automatically lowers the side boom 44 outside the turn that has been raised during the turn, and does not automatically drop when the vehicle speed is equal to or higher than the predetermined vehicle speed. The configuration.
FIG. 9 shows a flowchart of the raising / lowering control of the side boom 44 in this case.
In this way, it is possible to prevent problems such as breakage of the boom due to the automatic boom raising / lowering control configuration during high-speed traveling such as traveling on the road.

Furthermore, in this embodiment, the time required for the operator to raise the side boom 44 on the outside of the turn by manual operation is stored in the control device 100 in advance, and the work vehicle having the above-described automatic boom raising / lowering control configuration is stored. A configuration may be adopted in which when the turning boom is detected and the side boom 44 outside the turning is automatically raised, the side boom 44 outside the turning is raised only during the stored rise time by manual operation.
The flowchart of the raising / lowering control of the side boom 44 in this case is shown in FIG.
In this way, the state operated by the operator when the side boom 44 on the outside of the turn is automatically raised can be reproduced, and work according to the field conditions and the like can be performed.

Similarly, the time required for the operator to lower the side boom 44 on the outside of the turn by manual operation is stored in the control device 100 in advance, and the work vehicle equipped with the automatic boom raising / lowering control configuration is finished turning. detects the outside of the side boom 44 during turning when lowering automatically, just fall time by the memory to which the manual operation, a structure for lowering the turning outer side boom 44.
The flowchart of the raising / lowering control of the side boom 44 in this case is shown in FIG.
In this case as well, the state operated by the operator when the side boom 44 on the outside of the turn is automatically lowered can be reproduced, and work according to the field conditions and the like can be performed.

In addition, when the side boom 44 outside the turn is automatically raised at the start of turning of the work vehicle of the present embodiment, or when the side boom 44 outside the turn is automatically lowered at the end of the turn, the operator raises and lowers by manual operation in advance. And the side boom 44 on the outside of the turn is automatically raised or lowered only during the time when the rising time and the falling time are stored.
In this way, it is possible to easily measure and set the time of automatic ascent and descent according to the work form of the operator before the chemical solution spraying work, and the workability is improved as compared with the prior art.

When the detected value of the steering angle sensor 7 of the working vehicle according to the present embodiment reaches a predetermined angle, the front and rear wheels 12, 13 in the case of 4WS in the automatic boom raising / lowering controller configuration that automatically lifts the side boom 44 on the outer side of the vehicle turning. It is desirable that the side boom 44 on the outside of the turn is automatically raised when both the detected values of the steering angle sensor 7 are equal to or greater than a predetermined angle (for example, about 20 to 30 degrees or more).
This is because during the turning operation of the work vehicle according to the present embodiment, the operator pays close attention not to step over the seedling as much as possible, and can operate the work vehicle requiring a plurality of complicated operations during the turn.
FIG. 12 shows a flowchart of the raising / lowering control of the side boom 44 in this case.
In this way, the interference between the saddle road and the side boom 44 in the turning spraying operation can be prevented, and the operation load on the side boom 44 when the operator turns is reduced by automation.

As shown in the plan view of the chemical spraying vehicle that is turning around the corner of the field in FIG. 13, it touches the corner of the field, and after the first turn (turn of about 90 degrees shown in (1)), the next Until the turn ((2)), the work vehicle needs to travel straight a long distance within the range of (3). This is because by increasing the nearest distance, it is possible to sufficiently spread the chemical solution without spreading omission on the shore. During the straight traveling, the raising of the side boom 44 is temporarily stopped. The control for stopping the raising of the side boom 44 is based on the detection value of the control range set in advance so that the steering angle sensor 7 of the front wheel 12 or the rear wheel 13 automatically raises the side boom 44 during the straight traveling of (3). When it comes off, the side boom 44 can be automatically stopped.
FIG. 14 shows a flowchart of the lifting control of the side boom 44 in this case.
Since it is necessary to lower the height of the side boom 44 in the next turn (turn in a direction away from the basket of the field (2)) once the side boom 44 is temporarily stopped as described above. There is a merit of preventing unevenness of dispersion due to taking too much down time.

After the first turn (turn of about 90 degrees shown in (1)), while going straight in the range of (3) until the second turn (turn of about 90 degrees shown in (2)) While the control for temporarily stopping the raising of the side boom 44 is being executed, the side boom 44 inside the turning is controlled to be automatically horizontal (rolling control of the entire boom).
This is because the chemical solution is continuously sprayed on the side boom 44 on the inner side of the aircraft turning, so that the distance between the crop and the spray nozzles 45a and 45b becomes constant when the boom is horizontally controlled. Stable spraying accuracy can be obtained.

Next, it is desirable to adopt a configuration in which the side boom 44 that has been raised in the previous step outside the turn at the time of the second turn at the corner of the field shown in FIG.
Since the side boom 44 on the inner side of the aircraft turning in the first turn ((1)) and the second turn ((2)) is always kept horizontal, the distance between the side boom 44 and the crop is unchanged, and the spraying accuracy is improved. Improves than before.

Further, even when the automatic horizontal control configuration of the side boom 44 is turned off and the side boom 44 is moved in the manual mode, the boom lift control configuration in which the side boom 44 outside the turning is automatically lifted at the time of turning is executed in this embodiment. To do.
When there is no unevenness in the field, the boom horizontal control configuration may be turned off. At this time, if the lift control configuration of the side boom 44 is enabled, if the outer side boom 44 is automatically raised during the turning operation, an operation error such as interference between the side boom 44 outside the turning and the rod is caused. There is a merit that does not occur.
In this way, the turning process of the work vehicle in the control work is a process that uses the most nerves, so by making it easy to execute this, the mental burden of the operator (vehicle driver) when turning is greatly increased. Can be reduced.

  The present invention is not limited to a working vehicle for spraying medicines provided with a self-propelled spreader, but may be used for a working vehicle for spraying fertilizer and the like.

DESCRIPTION OF SYMBOLS 1 Car body 1a Hook 3 Lift link 4 Hitch bracket 5 Vehicle speed calculation means 6 Vehicle speed sensor 7 Steering angle sensor 10 Flow control motor 12 Front wheel 13 Rear wheel 14 Steering handle 15 Bonnet 17 Pilot seat 18 Chemical liquid tank 19 Spreading boom
23 Column 24 Upper link 25 Lower link 27 Lift cylinder 26 Cylinder mounting column 28 Solenoid valve with hydraulic tank 29 Vertical cylinder (rolling cylinder)
30 Opening / Closing Cylinder 40 Side Boom Receiver 43 Center Boom 44 Side Boom 45 (45a, 45b) Spray Nozzle 50 Tank Side Step 51 Inclined Part 52 Index Rod 53 Machine Side Step 54 Floor 55 Ladder Member 56 Machine Dash Panel 59 Handle Post 61 Water supply channel (hose)
62 Water supply cock 64 Suction filter 65 Control pump 66 Water discharge hose 67 Diluted chemical liquid path 69 Spray cock 70 Safety valve 71 Air chamber 73 Flow rate control valve 74 Flow rate sensor 75 Waste water hose 79 Stir hose 81 GPS receiver 100 Machine controller 101 Control machine controller

Claims (5)

A chemical tank (18) for storing the chemical,
A center boom (43) for spraying the chemical solution from the chemical solution tank (18) to the field, and side booms (44) disposed on the left and right of the center boom (43) ,
A GP receiver (81);
A vehicle speed sensor (6) for detecting the rotational speed of the wheels (12 and / or 13);
Upper and lower cylinders (29) for moving the left and right side booms (44) up and down,
A steering angle sensor (7) for detecting the turning angle of the left and right wheels (12 and / or 13);
A control pump (65) for discharging a chemical liquid provided in a chemical liquid flow path between the chemical liquid tank (18) and the chemical liquid spray boom (43, 44);
A chemical liquid flow rate adjustment valve (73) for adjusting the discharge pressure of the chemical liquid provided in the chemical liquid flow path on the downstream side from the installation location of the control pump (65)
In the chemical spraying work vehicle with
A flow rate control motor (10) for opening and closing the chemical flow rate control valve (73);
Vehicle speed calculation means (5) for calculating vehicle speed based on position information obtained by the GPS receiver (81) ;
(A) at least one of the first vehicle speed (VG) obtained by the vehicle speed calculation means (5) and (b) the second vehicle speed (Vs) obtained by the vehicle speed sensor (6); The discharge pressure of the control pump (65) is calculated from the relationship between the averaged vehicle speed of the first vehicle speed (VG) and the second vehicle speed (Vs) and the preset chemical spraying amount (A) per unit area. , Adjusting the opening of the chemical flow rate control valve (73) by the flow rate control motor (10) so as to match the calculated discharge pressure value,
Further, when the turning angle sensor (7) detects a turning angle equal to or greater than a predetermined angle, the side boom (44) outside the turn is automatically raised, and when the vehicle speed exceeds a predetermined value, the side boom (44) outside the turn (44). ) Having a control configuration that does not automatically raise
A chemical spraying work vehicle characterized by comprising: The control device (100) stores in advance the time required when the side boom (44) outside the turning is raised manually by manual operation, and automatically turns by detecting the turning angle of the steering angle sensor (7). 2. The chemical solution spraying work vehicle according to claim 1, wherein when the outer side boom is raised, the chemical solution spraying work vehicle has a control structure of raising the stored manual rise time.   The control device (100) automatically lowers the side boom (44) outside the turn by detecting the turning angle at the end of turning by the steering angle sensor (7), and the side boom outside the turn when the vehicle speed exceeds a predetermined value. (44) The chemical | medical solution spraying work vehicle of Claim 1 which has a control structure which does not perform the automatic descent | fall of (44). The control device (100) stores in advance the time required when the side boom (44) outside the turn is lowered manually by manual operation, and turns automatically upon detection of the turn angle of the steering angle sensor (7). 2. The chemical solution spraying work vehicle according to claim 1, wherein when the outer side boom (44) is lowered, the medicinal solution spraying work vehicle is configured to be lowered by the stored manual descent time. 3. The control device (100) stores in advance the time required when the side boom (44) on the outer side of the turning is raised and lowered by manual operation in advance, and is automatically detected by detecting the turning angle of the steering angle sensor (7). to when to upper rise or lower the turning outer side boom (44), chemical according to claim 1, wherein the control arrangement for only raising or lowering rise and fall times of the manual where the respectively stored Scatter work vehicle.

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