JP5874365B2 - Drug spraying work vehicle - Google Patents

Description

  The present invention relates to a medicine spraying work vehicle for spraying medicines stored in a chemical 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 of the aircraft so that it can roll freely. 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 vehicle-to-vehicle boom height detected by the rotation detecting means provided in the lifting link device, which allows autonomous traveling and autonomous scattering work by a GPS device, an internal sensor, etc., and the GPS device From the predetermined position coordinates of the vehicle detected by the above and the set crop boom height, control is performed to keep the crop boom height constant.

  However, in such a conventional medicine spraying work vehicle, when the work vehicle turns on the shore while spraying the chemical solution from the side booms that are widened to the left and right, the side boom outside the turn is on the shore. Raising operation to avoid contact. 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 swivel so that it does not come into contact with the heel. It could be damaged by contact, which was a burden for the operator.

  Therefore, an object of the present invention is to provide a medicine spraying work vehicle that can perform the lifting and lowering operation of the side boom outside the turn at the start of the turn or at the end of the turn without imposing a burden on the operator, thereby improving workability.

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 in the chemical solution tank (18) to a field, and sides disposed on the left and right sides of the center boom. Boom (44), left and right wheels (12 and / or 13), upper and lower cylinders (29) for moving the left and right side booms (44) up and down, and left and right wheels (12 and / or 13) A steering angle detecting means (7) for detecting the steering angle of the liquid, a control pump (65) for discharging a chemical liquid provided in a chemical flow path between the chemical liquid tank (18) and the chemical spraying boom (43, 44), On / off switch (8) for driving the control pump (65), and a chemical flow rate adjusting valve (73) for adjusting the discharge pressure of the chemical liquid provided in the chemical flow path on the downstream side from the installation location of the control pump (65) ) In a car, a flow rate control motor (10) for opening and closing the chemical flow rate control valve (73) and a plurality of different spraying conditions including a chemical spraying amount, and spraying condition setting changing means (128, 131 to 134) capable of setting and changing. And manually adjusting the opening of the chemical flow rate control valve (73) by the flow rate control motor (10) so as to match the spraying condition set and changed by the spraying condition setting changing means (128, 131 to 134). During the work by the medicine spraying function and the manual medicine spraying function, the control pump (65) is driven by the on / off switch (8), and the steering angle (θ) by the steering angle detection means (7) at the start of turning And a side boom raising function for automatically raising the side boom (44) outside the turning by the upper and lower cylinders (29) when the angle is equal to or greater than a predetermined angle, and a steering angle detecting means (7 ) When the steering angle (θ) is equal to or greater than a predetermined angle, the upper and lower cylinders (29) automatically lower the side boom (44) on the outer side of the turning, and the side boom raising function to After the start of raising the side boom (44), a control device having a first side boom lowering effective function that enables the side boom lowering function even when the pump (65) is turned off by the on / off switch (8) ( 100).

  The invention according to claim 2 is provided with vehicle speed detecting means (6) for detecting the vehicle speed of the left and right wheels (12 and / or 13), and the control device (100) is obtained by the vehicle speed detecting means (6). The discharge pressure of the control pump (65) is calculated from the relationship between the vehicle speed to be set and the medicine spraying amount (A) per unit area set in advance, and the flow control motor (10) so as to coincide with the calculated discharge pressure. The chemical agent which adjusts the opening degree of the chemical flow rate control valve (73) by the above and automatically turns off the control pump (65) when the vehicle speed obtained by the vehicle speed detection means (6) is below a certain speed When the control pump (65) is driven during the work by the spray function and the automatic medicine spray function, and the steering angle (θ) by the steering angle detection means (7) at the start of turning is equal to or larger than a predetermined angle. Automatically up and down (29) The side boom raising function that raises the side boom (44) outside the turn and the steering angle (θ) by the steering angle detection means (7) at the end of the turn automatically move up and down automatically. After the side boom lowering function for lowering the side boom (44) outside the turning by the cylinder (29) and the start of the raising of the side boom (44) outside the turning by the side boom raising function, the vehicle speed detecting means (6) is temporarily used. The vehicle speed obtained by the vehicle speed detection means (6) again exceeds the constant speed even when the control pump (65) is turned off by the automatic medicine spraying function because the vehicle speed obtained by The medicine spraying work vehicle according to claim 1, further comprising a second side boom lowering effective function that enables the side boom lowering function.

  According to a third aspect of the present invention, the rising time of the side boom (44) outside the turning by the side boom raising function and the lowering time of the side boom (44) outside the turning by the side boom lowering function can be set separately. It is a chemical | medical agent dispersion | distribution working vehicle of Claim 1 or 2 which provided the means (139,140).

  According to a fourth aspect of the present invention, the center boom (43) is provided with an open / close cylinder (30) in which the left and right side booms (44) can be opened and closed in the left-right direction toward the forward direction of the medicine spraying work vehicle. An open / close switch (150) capable of operating the open / close cylinder (30) and an open / close switch detecting means (151) for detecting an operation state of the open / close switch (150) are provided, and the control device (100) includes the open / close switch detecting means. When the closing operation of the open / close switch (150) is detected by (151), an open / close switch check function is provided that does not perform automatic lifting control by the side boom raising function and the side boom lowering function. It is a chemical | medical agent dispersion | distribution working vehicle of any one of these.

According to the fifth aspect of the present invention, even when the opening / closing switch (150) is detected to be closed by the opening / closing switch detection means (151), the opening / closing switch (150) is subsequently opened by the opening / closing switch detection means (151). 5. The medicine spraying work vehicle according to claim 4, further comprising an opening / closing switch restraining release function for performing automatic lifting control by the side boom raising function and the side boom lowering function.
In the present specification, the “medicine” means a liquid material that may contain a solid material that needs to be applied to a crop such as a nutrient or an agricultural chemical.

According to the first aspect of the present invention, the side boom (44) outside the turning can be automatically raised or lowered at the start of turning of the work vehicle or at the end of turning. This can be done without burdening the operator.
Further, even when the driving of the pump (65) of the chemical tank (18) is stopped during the traveling after the side boom (44) is raised after the start of turning, the side boom (44) can be automatically lowered. it can. That is, since the side boom (44) once lifted is desired to be lowered, the side boom (44) can be returned to the original position before the lift after the turn is completed, and it is not necessary to manually return the side boom (44). Improves.

  According to the invention described in claim 2, in addition to the effect of the invention described in claim 1, the vehicle speed is reduced by stopping the vehicle while the side boom (44) is raised after the start of turning, and the vehicle speed is reduced. Even if the driving of (65) is stopped, the side boom (44) can be automatically lowered if traveling is started again. Even when it is temporarily stopped for viewing, the side boom 44 can be returned to the original position before ascending.

  According to the invention described in claim 3, in addition to the effect of the invention described in claim 1 or 2, the ascending time of the side boom (44) outside the turning by the side boom raising function and the side boom lowering By being able to set the descent time of the side boom (44) outside the turn by function separately, even if there is variation in the lifting mechanism of the side boom (44) and the ability of the actuator used to raise and lower the side boom (44), etc. The operator can change the ascending / descending time of the side boom (44) by changing the ascending time and the descending time of the side boom (44) to different times.

  According to the invention described in claim 4, in addition to the effect of the invention described in any one of claims 1 to 3, automatic lifting control is not performed when the side boom (44) is closed. Thus, the side boom (44) does not move up and down when the spraying operation is not performed, such as when moving between fields. Therefore, it is possible to prevent the side boom (44) from moving up and down when the worker does not intend to improve safety, and the worker can concentrate on the traveling operation, so that work efficiency is improved.

  According to the fifth aspect of the invention, in addition to the effect of the fourth aspect of the invention, when the side boom (44) is opened, the automatic lifting control is performed, whereby the side boom (44 ) Can be opened and the chemical spraying operation can be resumed smoothly. Therefore, the operator does not need to manually perform the lifting operation, can concentrate on the traveling operation, and the work efficiency is also improved.

It is a side view of the medicine spraying work vehicle by one Embodiment of this invention. It is a top view of the chemical | medical agent dispersion | distribution working vehicle of FIG. It is a top view of the controller panel of the chemical | medical agent dispersion | distribution working vehicle of FIG. FIG. 2 is a control block diagram of the medicine spraying work vehicle of FIG. 1. It is a block diagram of this machine controller and control machine controller of the chemical | medical agent dispersion | distribution work vehicle of FIG. It is a block diagram of the chemical | medical agent distribution piping system of the chemical | medical agent dispersion | distribution work vehicle of FIG. It is a flowchart of chemical | medical agent dispersion | distribution control of the chemical | medical agent dispersion | distribution work vehicle of FIG. It is a front view at the time of the operation | work of the chemical | medical agent dispersion | distribution working vehicle of FIG. It is a top view at the time of turning of the chemical | medical agent dispersion | distribution working vehicle of FIG. It is a flowchart of the raising / lowering control of the side boom of the chemical | medical agent spraying work vehicle of FIG. It is a flowchart of the other example of the raising / lowering control of the side boom of the chemical | medical agent dispersion | distribution working vehicle of FIG. It is a flowchart of the other example of the raising / lowering control of the side boom of the chemical | medical agent dispersion | distribution working vehicle of FIG. It is a flowchart of the other example of the raising / lowering control of the side boom of the chemical | medical agent dispersion | distribution working vehicle of FIG. It is a flowchart of the other example of the raising / lowering control of the side boom of the chemical | medical agent dispersion | distribution working vehicle of FIG. It is a flowchart of the other example of the raising / lowering control of the side boom of the chemical | medical agent dispersion | distribution working vehicle of FIG. It is a flowchart of the other example of the raising / lowering control of the side boom of the chemical | medical agent dispersion | distribution working vehicle of FIG. It is a flowchart of the other example of the raising / lowering control of the side boom of the chemical | medical agent dispersion | distribution working vehicle of FIG. It is a flowchart of the other example of the raising / lowering control of the side boom of the chemical | medical agent dispersion | distribution working vehicle of FIG. It is a flowchart of the other example of the raising / lowering control of the side boom of the chemical | medical agent dispersion | distribution working vehicle of FIG. It is a flowchart of the other example of the raising / lowering control of the side boom of the chemical | medical agent dispersion | distribution working vehicle of FIG. It is a flowchart of the other example of the raising / lowering control of the side boom of the chemical | medical agent dispersion | distribution working vehicle of FIG. It is a flowchart of the other example of the raising / lowering control of the side boom of the chemical | medical agent dispersion | distribution working vehicle of FIG. It is a flowchart of the other example of the raising / lowering control of the side boom of the chemical | medical agent dispersion | distribution working vehicle of FIG. It is a flowchart of the other example of the raising / lowering control of the side boom of the chemical | medical agent dispersion | distribution working 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 medicine spraying work vehicle with a medicine spraying device attached to the front, and FIG. 2 shows a plan view of the medicine spraying work vehicle of FIG. In the present specification, the left and right directions in the forward direction of the medicine spraying vehicle are referred to as left and right, respectively.

  A vehicle body (vehicle body frame) 1 of a medicine spraying work vehicle supports an axle housing that pivotally mounts a front wheel 12 and a rear wheel 13 in a freely rolling manner. 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 mounted with a chemical tank 18 formed so as to surround both the left and right sides from the rear portion of the cockpit 17 so as to be detachable from the vehicle body 1, and the chemical solution in the chemical tank 18 is supplied to a spraying boom 19 provided on the front side. A control pump 65 for pumping 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 the self-propelled medicine spraying work vehicle in which the chemical tank 18 is mounted on the floor 54 of the machine, the chemical tank 18 protrudes 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 extending the chemical liquid tank 18 forward, it is possible to suppress the movement of the center of gravity of the aircraft due to the displacement of the amount of water in the chemical liquid tank 18, stabilize the balance of the aircraft during the chemical spraying operation, and improve the running performance. Can avoid the situation of sinking backward.
In FIG. 2, the upper surface of the chemical liquid tank 18 has 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 side step 50. be able to.

  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 by 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 lifting cylinders 27 and 27, so that the spraying height of the spraying boom 19 can be adjusted.

  A support frame 21 extending in the left-right direction of the body is attached to the lower end portion of the hitch bracket 4. A center boom 43 of the spreading boom 19 is attached to the front surface of the support frame 21, and a cylinder mounting column 26 protruding upward is provided at the left and right ends of the support boom 21. An upper end of an upper and lower cylinder 29, which is a rolling cylinder that expands and contracts, is attached via a solenoid valve 28 with a hydraulic tank that is electrically controlled, and a side boom 44 is rotatably attached to the lower end thereof. Therefore, 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 open / close cylinder 30 is expanded and contracted by an electrically operated geared motor 31. The opening / closing angle of the side boom 44 is detected by a boom angle right sensor 138 a and a boom angle left sensor 138 b (FIG. 4) provided at the base of the opening / closing cylinder 30.
The side boom 44 is a combination of a basic boom 44a (FIG. 8) and a telescopic boom 44b, and can be extended and contracted in the longitudinal direction by an electric motor 46 provided on the base side of the basic boom 44a.

FIG. 3 is a plan view of the control controller panel 120 provided in the medicine spraying work vehicle of FIG. FIG. 3A shows a controller panel 120 having a small display unit.
As shown in FIG. 3A, the controller panel 120 provided at the top of the bonnet 15 has a spray setting 123, pressure 124, flow rate 125, and total flow rate 126 from the upper left side of the display (display unit) 122 at the upper center. Etc., and a plurality of different spraying conditions are displayed. The content of data displayed on the display 122 is instructed by an indicator (triangular mark) 122a lit at the left end of the display 122. On the right side of the display 122, a display switching button 128 for switching the display is provided.

  Below these, an automatic switch 129 for setting an automatic medicine spraying mode (hereinafter sometimes abbreviated as “automatic spraying”) for automatically spraying medicine based on the spraying conditions is provided. When automatic spraying control is performed by pressing the automatic switch 129 (when the automatic switch 129 is on), the pilot lamp 130 is lit. When the automatic switch 129 is turned on, the control pump 65 is automatically driven when a value of a vehicle speed sensor 6 described later becomes a predetermined value or more.

  In this state, when the automatic switch 129 is pressed again, the pilot lamp 130 is turned off, and the mode is switched to a manual medicine spraying mode in which medicine is manually sprayed (hereinafter sometimes referred to as manual spraying). In manual spraying, the control pump 65 is turned on and off by turning on and off the pump switch 8 (FIG. 4). In addition, in manual spraying, spraying can be performed even when the vehicle is stopped. Further, a spray setting switch 131, increase / decrease button switches 132 and 133, a cumulative reset switch 134, and the like are arranged.

  In manual spraying, any of the various spraying conditions including the spraying conditions stored in the memory 102 and other spraying conditions are manually and sequentially displayed, the switch button 128, the spray setting switch 131, the increase / decrease button switches 132 and 133, and the total reset. The medicine can be sprayed by selecting and changing with the switch 134 or the like.

  While stopping or turning, by operating an opening / closing lever (not shown, but for each boom 43, 44) of the spray cock 69 (FIG. 6) connected to each boom 43, 44, any boom 43, 44 is operated. Spraying can be stopped. In addition, even in automatic spraying, spraying of the arbitrary booms 43 and 44 can be stopped by operating the opening / closing lever of the spray cock 69.

  As the controller panel 120, as shown in FIG. 3B, a controller panel having a larger display unit may be adopted. 3 (a) shows one display type at a time, but FIG. 3 (b) shows a type that is displayed collectively on the display 122. Unlike the display 122 shown in FIG. 3 (a), the field number and field Since the area, type of spraying agent, set spraying amount, spraying pressure, and cumulative value are displayed on one screen, it is easy to see and understand. Further, when the spray amount switch 136 is pressed, the spray amount of the medicine can be changed, and when the pressure switch 137 is pressed, the spray pressure can be changed. Either the controller panel 120 shown in FIG. 3A or FIG. 3B may be used.

  When the automatic switch 129 is pushed by the operator and automatic control is selected (the automatic switch 129 is turned on), the spraying (control pump 65) is turned on and off by a signal from the vehicle speed sensor 6 and the like which will be described later.

  In addition, this medicine spraying work vehicle includes a control device 100 having an automatic horizontal control function for automatically operating the side booms 44, 44 horizontally (horizontal level). Here, the automatic horizontal control operation means that the opening and closing cylinders 30 and 30 open the side booms 44 and 44 in the horizontal direction on the extension line of the center boom 43 (the left and right direction toward the traveling direction of the machine body), and further the upper and lower cylinders 29 and 29. When the rolling cylinder is extended to the maximum, the side booms 44 and 44 are controlled so as to be in a horizontal state. The upper and lower cylinders 29, 29 for raising and lowering the boom are provided with stroke sensors (sensors for detecting the raising and lowering of the side boom 44) 9 (FIG. 4), and the entire boom can be rotated with respect to the body side (left and right rolling). It is configured. That is, it is control which maintains the side booms 44 and 44 horizontally even if a body tilts in the left-right direction.

  The lift link 3 is provided with a link inclination sensor 82 (FIG. 4) for detecting the inclination of the side boom 44 and a link inclination angular velocity sensor 83 for detecting a change speed of the inclination of the side boom 44. The link inclination sensor 82 and the link inclination angular velocity sensor 83 may be capable of detecting both values with a single sensor.

  By turning on an automatic horizontal control switch (not shown), the entire boom is controlled to be always horizontal. When the link inclination sensor 82 and the link inclination angular velocity sensor 83 detect the inclination of the airframe, this signal is transmitted to the control device 100, and the boom horizontal solenoid for operating the open / close cylinders 30 and 30 so that the entire boom is horizontal. (Valves) 34 and 34 (FIG. 4) are controlled.

  Further, although the horizontal control is possible only with the link inclination sensor 82, the accuracy of the horizontal control is improved by using the link inclination angular velocity sensor 83. It can be reflected in the horizontal control by seeing whether the aircraft is tilting slowly or accelerating.

Next, the control unit of the medicine spraying work vehicle having the above configuration will be described. FIG. 4 is a control block diagram of the medicine spraying work vehicle of FIG.
As shown in this control block diagram, the control device (CPU) 100 includes a vehicle speed sensor (vehicle speed detection means) 6 for detecting the vehicle speed of the medicine spraying work vehicle, and left and right front wheels 12, 12 that are interlocked with the rotation operation of the steering handle 14. Steering angle sensor (steering angle detecting means) 7 for detecting the steering angle θ of the medicine, pump switch (pump switch sensor) 8 for turning on and off the medicine spray, stroke sensors 9 for the upper and lower cylinders 29 and 29 for raising and lowering the boom, chemical liquid The pressure sensor 11 for detecting the spraying pressure of the liquid, the valve opening sensor 16 of the flow rate control valve 73 for controlling the flow rate of the chemical solution, the input circuit for receiving the signal from the GPS antenna (receiver) 81, etc. are connected to the steering device ( Solenoid (comprising a hydraulic cylinder for steering wheel 14 and wheel steering and a solenoid for operating the cylinder, etc.) Equipped with S and RWS, all four wheels are driven by hydraulic cylinders.), Lifting solenoid 32 (for cylinder 29), horizontal solenoid 34 (for opening and closing cylinder 30), buzzer 36, output circuit to display 122 Etc. are connected. The steering angle sensor 7 also detects the turning direction and is used to determine which of the left and right side booms 44 is raised during turning.

In FIG. 5, the block diagram of this machine controller and control machine controller of the chemical | medical agent spreading work vehicle of FIG. 1 is shown.
As shown in FIG. 5, a control machine comprising a controller 100, a chemical tank 18, chemical spray booms 43, 44, chemical hoses 61, 66, etc., a flow control valve 73, etc. A controller 101 of this embodiment is configured from the controller 101 of FIG. 6B (FIG. 6), 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, A speed, that is, a vehicle speed, is calculated by the vehicle speed calculation means 5 in the main unit controller 100 every predetermined time by the clock circuit. The controller 100 also receives an input from a vehicle speed sensor 6 that detects the vehicle speed from 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.

In FIG. 6, the block diagram of the chemical distribution piping system of the chemical distribution work vehicle of FIG. 1 is shown.
In addition, this medicine spraying work vehicle is provided with a water supply cock 62 in a water supply path (hose) 61 from the chemical liquid tank 18, and at an outlet portion of a suction filter 64 provided in a water supply path (hose) 61 downstream from the water supply cock 62. A control pump 65 is provided. A water discharge hose 66 is connected to the outlet of the control pump 65, and the tip of the water discharge hose 66 is connected to an installation part of the spray cock 69 via a chemical solution 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 chemical solution 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. Further, a stirring hose 79 branched from the water discharge hose 66 on the upstream side from the installed portion of the spill water hose 75 and connected to the chemical solution tank 18 is also provided. 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.

  The chemical solution in the chemical solution tank 18 is supplied to the center boom 43 and the side boom 44 via the spray cock 69. The supply amount (A) per unit area (for example, 10 ares) of the 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 Speed data is sent to the control machine controller 101 by communication, and a configuration (medicine spraying function) used for drug spraying control is adopted.
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 drug distribution 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 medicine 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). The control devices 100 and 101 are based on 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 spray pressure corresponding to the set drug 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, and the booms 43 and 44 are controlled. By changing the amount of sprayed medicine from the nozzles 45a and 45b and setting the amount of sprayed medicine A per 10 ares, the flow rate of the chemical solution is controlled even if the vehicle speed (VG, Vs) varies. The chemical solution can be sprayed uniformly on the field according to the quantity.

  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 measurement means on the main unit side to which the control machine (chemical spraying device) B is connected. Instead, the controller shown in FIG. 5 includes 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 this embodiment. Even when it is mounted separately, a drug spraying device such as a variable fertilizer can use the vehicle speed as it is.

FIG. 7 shows a flowchart of the medicine spraying control of the medicine spraying work vehicle of FIG.
As the vehicle speed obtained at this time, as shown in FIG. 7, 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 converted vehicle speed can be set 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 influence of topography (valley, foot of mountain, etc.) and the accuracy of GPS radio waves may change, so the vehicle speed obtained by GPS may become unstable, Except for this, the reliability of the vehicle speed sensor 6 is high. Therefore, based on 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), the field 10 The flow rate control valve 73 is controlled so that the calculated pressure value corresponding to the set chemical spraying amount A per round and the actual pressure P of the water discharge hose 66 coincide with each other, and the chemical spraying from the nozzles 45a and 45b of the booms 43 and 44 is performed. Change quantity By causing, it is possible to stably spray the drug 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 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, the vehicle speed (Vs) obtained from the vehicle speed sensor 6 is used to calculate the medicine spraying pressure value corresponding to the set medicine spraying amount A per 10 ares of the field. By not using the vehicle speed (VG) based on GPS, fluctuations in the amount of sprayed medicine can be suppressed.

This is because when the vehicle is traveling at a low speed below a predetermined vehicle speed, the GPS vehicle speed (VG) is less accurate than the vehicle speed (Vs) of the vehicle speed sensor 6, so that the amount of sprayed drug 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 medicine sprayed is determined based on the vehicle speed (VG) by GPS. Run the spray.

  Thus, the medicine spraying work vehicle of the present embodiment calculates the set pressure from the set spray amount using the vehicle speed obtained from the vehicle speed sensor 6 or the speed information obtained from the GPS receiver 81 and the vehicle speed sensor 6 as the vehicle speed, A configuration is provided that adjusts the opening degree of the on-off valve 73 that is driven by the flow control motor 10 for the amount of the chemical solution that is sprayed from the center boom 43 and the side boom 44 to the field in conjunction with the vehicle speed.

FIG. 8 shows a front view of the medicine spraying work vehicle during operation, and FIG. 9 shows a plan view of the medicine spraying work vehicle when turning.
The medicine spraying vehicle can spread the medicine over a wide range by spreading the side boom 44 to the left and right during the medicine spraying work. When the turning angle of a predetermined angle or more is detected by the steering angle sensor 7 at the start of turning, that is, when it is detected that the turning operation is started, the medicine spreading work vehicle of the present embodiment moves the side boom 44 outside the turning. A control device 100 having a side boom raising function for automatically raising by the upper and lower cylinders 29 is provided. By this side boom raising function, it is possible to prevent the side boom 44 outside the turning from coming into contact with the shore during turning.

  Further, when the turning angle is detected by the steering angle sensor 7 at the end of the turning, that is, when the steering angle sensor 7 detects that the turning operation is started again, the control device 100 detects the side of the turning outside. A side boom lowering function for automatically lowering the boom 44 by the upper and lower cylinders 29 is provided. By this side boom lowering function, the side boom 44 on the outer side of the turn returns to the work position, and the spraying work can be resumed promptly. These functions are exhibited regardless of manual spraying or automatic spraying by turning on the automatic lift switch 141 (FIG. 4).

  Although it is possible to raise and lower the side boom 44 by the manual raising / lowering switch 142, the automatic spread control by the side boom raising function and the side boom lowering function does not require the manual raising / lowering switch 142 to be operated. Since the side boom 44 outside the turning can be automatically raised or lowered at the start of turning or at the end of turning, the raising / lowering operation of the side boom 44 can be performed without placing a burden on the operator.

  Further, during the spraying operation of the medicine, the pump switch 8 for turning on / off the driving of the control pump 65 is turned on (turned on) in manual spraying. In automatic spraying, the automatic switch 129 is turned on, and the control pump 65 is driven by a signal from the vehicle speed sensor 6 or the like. Therefore, when the control pump 65 is driven, the side boom raising function and the side boom lowering function are exhibited. In the case of the ascending operation by the side boom raising function and the descending function by the side boom lowering function, the pump switch 8 is turned on in manual spraying (the control pump 65 is driven), but spraying is stopped by the cock opening / closing lever. In automatic spraying, the automatic switch 129 is on, but the flow rate control motor 73 controls the opening degree of the flow control valve 73, so that no chemical solution is sprayed. The driving of the control pump 65 is determined by turning on / off the pump switch 8 in manual spraying, and is determined by turning on / off the automatic switch 129 and a signal from the vehicle speed sensor 6 in automatic spraying.

  Even if the pump switch 8 is turned off during traveling after the side boom 44 is raised in such a medicine spraying work vehicle (for example, when traveling is stopped by checking the condition around the control pump 65, etc.) When the side boom 44 can be automatically lowered at the end, the side boom 44 can be returned to the original position before being raised.

The flowchart of the raising / lowering control of the side boom 44 in this case is shown in FIG. This flow is for manual spraying.
When the engine is started and the traveling of the medicine spraying vehicle is started, the control device 100 determines whether or not the medicine is being sprayed. In manual spraying, determination is made by turning on or off the pump switch 8.

  When the pump switch 8 is on (during spraying of the chemical solution), the steering angle sensor 7 detects the steering angle θ, and when this angle is equal to or greater than a predetermined angle (for example, 95 °), the turning direction is It is determined by the steering angle sensor 7 that it is either the left side or the right side, the side boom 44 on the outside of the turn is lifted, and the lift flag is set (turned on). Accordingly, the side boom 44 on the outer side of the turning is raised. The determination by the steering angle sensor 7 is, for example, a determination that the voltage value is between 0V and 5V and the straight travel is 2.5V.

  When the pump switch 8 is turned off after the rising flag is set, the control pump 65 stops driving. However, even in this case, next, the steering angle θ is detected again by the steering angle sensor 7, and if this angle is equal to or larger than the predetermined angle (θ1), the turning direction is again either the left side or the right side. If the direction is the same as that at the start of the previous turn, the lowering of the side boom 44 on the outside of the turn is performed, and the lift flag is cleared (off). If a direction different from the first turning direction is detected when the second turning direction is determined, the descent process is not performed and the flow is returned. The determination angle at the start of the turn and the determination angle at the end of the turn are collectively referred to as a turn determination angle. These may be the same angle or different angles.

  Conventionally, it has been considered that the vehicle does not stop during turning during work, and when it stops, it is considered that the work is finished or the trouble is avoided. If it is necessary to lower the boom 44, it has been lowered by the manual lift switch 142. However, with this configuration, when the turn is completed, the side boom 44 can be returned to the original position before ascending, and it is not necessary to manually return it, so that workability is improved.

Then, in the case of manual spraying in this way, the control pump 65 is driven by the pump switch 8. In the case of automatic spraying, the automatic switch 129 is turned on. When the vehicle speed sensor 6 detects a predetermined speed, the control pump 65 is driven, and the chemical solution is sprayed while adjusting the flow rate with the flow rate control valve 73 according to the vehicle speed. When the airframe stops, the driving of the control pump 65 is stopped. Note that the control may be based not only on the vehicle speed sensor 6 but also on the vehicle speed of both the first vehicle speed (VG) based on the GPS described above and the second vehicle speed (Vs) obtained from the vehicle speed sensor 6 provided in the apparatus.
Further, in the automatic medicine spraying mode, since the chemical solution is sprayed in conjunction with the vehicle speed, spraying is automatically stopped by the flow control valve 73 when the turning is started during traveling spraying (the control pump 65 is driven), The side boom 44 on the outside of the turn is raised. When the turn is completed, the side boom 44 is lowered and the spraying of the chemical solution is resumed.

  When the medicine spreading work vehicle stops after the side boom 44 outside the turn by the side boom raising function is raised, the driving of the control pump 65 is stopped. Even in such a case, the side boom 44 is moved at the end of the subsequent turn. If it can be lowered automatically, the side boom 44 is returned to the original position before the lift even when the worker temporarily stops looking at the state of the aircraft, the crops in the field, the distance from the straw, etc. It becomes possible.

The flowchart of the raising / lowering control of the side boom 44 in this case is shown in FIG.
This flow is a case of automatic spraying (the automatic switch 129 is turned on). However, the flow is the same as the flow shown in FIG. 10 until the side boom 44 on the outside of the turn is lifted and the lift flag is set (turned on). is there.

  Then, after the rising flag is set, an input signal from the vehicle speed sensor 6 is read to calculate the vehicle speed. When the vehicle speed is equal to or lower than a certain speed (speed smaller than the turning speed and close to zero) (basically, the traveling is stopped), the driving of the control pump 65 is stopped (pump output off). Thereafter, when the vehicle speed from the vehicle speed sensor 6 exceeds a certain speed, the control pump 65 is automatically driven (pump output on). Next, the steering angle θ is detected again by the steering angle sensor 7, and when this angle is equal to or greater than the predetermined angle (θ1), it is determined again that the turning direction is the left side or the right side, and the previous turning When the direction is the same as the start time, the lowering process of the side boom 44 on the outside of the turn is performed, and the ascending flag is cleared (turned off). Although not shown in FIG. 11, if a direction different from the first turning direction is detected when determining the second turning direction as in FIG. 10, the descending process is not performed and the flow is returned. To do.

  With this configuration, even when the vehicle stops and the control pump 65 stops driving after the medicine spraying vehicle starts to turn, the side boom 44 can be automatically lowered when the turning is completed if the vehicle starts to run.

  In addition, since the ascending speed of the side boom 44 by the side boom raising function and the descending speed of the side boom 44 by the side boom lowering function are the same, in order to descend to the original position after the side boom 44 is raised, The time during which the boom 44 is lifted from the lowered position (height during work) to the raised position (hereinafter referred to as the raised time) and the time until the side boom 44 returns from the raised position to the lowered position (hereinafter referred to as the lowered time) are as follows. Must be the same.

However, when there is a variation in the ability of the actuator such as the lifting mechanism of the side boom 44 and the upper and lower cylinders 29 used for raising and lowering the side boom 44, the height of the side boom 44 from the working position to the raised position and the raised position It is also assumed that the descent height from the descent position to the descent position (the ascending height and descent height are collectively referred to as the raising / lowering amount) does not match.
Therefore, it is sufficient that the worker can set the rising time and the falling time separately so that it can cope with such a case.

FIG. 12 shows a flowchart of the raising / lowering control of the side boom 44 in this case.
The control device 100 reads the set time (each set time is stored in the memory 102) by the ascending time setting switch 139R of the right side boom 44 and the descending time setting switch 140R of the right side boom 44 and reads the right side. The rise time and the fall time of the side boom 44 are set.

  It should be noted that after the set time by the rising time setting switch 139R of the right side boom 44 is read and the rising time of the right side boom 44 is set, the setting time by the lowering time setting switch 140R of the right side boom 44 is read and The lowering time of the side boom 44 may be set.

  Next, the respective set times by the ascending time setting switch 139L of the left side boom 44 and the descending time setting switch 140L of the left side boom 44 are read, and the ascending time and the descending time of the left side boom 44 are set. Also in this case, after the set time by the rise time setting switch 139L of the left side boom 44 is read and the rise time of the left side boom 44 is set, the set time by the drop time setting switch 140L of the left side boom 44 is read. The descent time of the left side boom 44 may be set.

  Further, the order of reading the ascending time setting switches 139R and 139L and the descending time setting switches 140R and 140L of the left and right side booms 44 may be preceded by the switch of the left side boom 44. The set may be the descent time set first. The rising time setting switch 139R (139L) and the falling time setting switch 140R (140L) may be one switch. FIG. 4 shows the rising time setting switch 139 and the falling time setting switch 140 one by one for easy viewing.

  Furthermore, the rise time and the fall time may be individually set as numerical values, or the fall time may be set to K times the rise time (K may be less than 1 and may be increased or decreased than the rise time). As such, the control device 100 may be provided with a calculation function.

  With this configuration, even when the lifting mechanism of the side boom 44 and the ability of the actuator used for lifting the side boom 44 vary, the rising time and the falling time can be set separately. By changing the time and the descent time to different times, it is possible to match the lifting amount of the side boom 44.

  On the other hand, when an opening / closing switch 150 (FIG. 4) for operating the opening / closing cylinder 30 of the side boom 44 is provided in the vicinity of the cockpit 17, and the operator performs the closing operation of the side boom 44 for a certain time by the opening / closing switch 150. A configuration (open / close switch check function) that does not perform automatic lifting control by the side boom raising function and the side boom lowering function may be employed. While the open / close switch 150 is being operated, the side boom 44 moves, and when the hand is released from the open / close switch 150, the side boom 44 stops.

Since the closing operation of the side boom 44 is a case where a spraying operation is not performed, such as when moving between farm fields, automatic lifting control is unnecessary.
FIG. 13 shows a flowchart of the lifting control of the side boom 44 in this case.
When the engine is started and the traveling of the medicine spraying work vehicle is started, the controller 100 determines whether or not the opening / closing switch 150 is closed by an opening / closing switch detection means such as the opening / closing switch sensor 151. The open / close switch sensor 151 is a sensor that detects an operation state (open or closed) of the open / close switch 150.

  When the closing operation is detected by the opening / closing switch sensor 151, the closing operation flag is set (turned on). When the control pump 65 is driven during manual spraying or automatic spraying, the steering angle sensor 7 detects the steering angle θ, and when this angle is equal to or greater than a predetermined angle (θ1), the turning direction is It is determined by the steering angle sensor 7 that it is either the left side or the right side, and the side boom 44 is ready for ascending, and further, it is determined here whether or not the closing operation flag is set. Although the closing operation flag is set by the previous closing operation, the presence or absence of the setting of the closing operation flag here is performed for reconfirmation. This is because it may be returned depending on the situation. When the closing operation flag is set, the flow is returned, that is, the automatic raising / lowering control by the side boom raising function and the side boom lowering function is not performed.

  On the other hand, when the closing operation flag is not set, automatic elevation control by the side boom raising function and the side boom lowering function is performed. That is, the raising process of the side boom 44 on the outside of the turn is performed, and the raising flag is set (turned on). Accordingly, the side boom 44 on the outer side of the turning is raised.

  Then, after the rising flag is set, the steering angle θ is detected again by the steering angle sensor 7, and when this angle is equal to or larger than the predetermined angle (θ1), it is determined again that the turning direction is the left side or the right side. Then, if the direction is the same as that at the start of the previous turn, the lowering process of the side boom 44 on the outer side of the turn is performed, and the lift flag is cleared (turned off).

  Even when the control pump 65 stops driving after the rising flag is set, as shown in FIG. 10, the steering angle sensor 7 detects the steering angle θ again, and this angle is equal to or larger than a predetermined angle (θ1). Again determines that the turning direction is either the left side or the right side, and if the turning direction is the same as the previous turning start, performs the lowering process of the side boom 44 outside the turning and clears the ascent flag (OFF) )

  According to this configuration, when there is a closing operation for a certain period of time, the side boom 44 is not stored and the work is not performed. Therefore, the spraying operation is not performed, for example, when the side boom 44 is stored and moved between farm fields. In such a case, automatic elevation control is not performed. Therefore, it is possible to prevent the side boom 44 from moving up and down when the operator does not intend, and safety is improved. For this reason, an operator can concentrate on traveling operation, and work efficiency improves.

  In addition, after the closing operation of the side boom 44, when the operator performs the opening operation of the side boom 44 for a certain period of time using the open / close switch 150, the previous closing operation flag is set (cleared) and the side boom is raised. It is good also as a structure (open / close switch check cancellation | release function) which restarts the automatic raising / lowering control by a function and a side boom lowering function.

FIG. 14 shows a flowchart of the lifting control of the side boom 44 in this case.
When the opening operation is detected by the opening / closing switch sensor 151, the closing operation flag is cleared (turned off). When the control pump 65 is driven during manual spraying or automatic spraying, the steering angle sensor 7 detects the steering angle θ, and when this angle is equal to or greater than a predetermined angle (θ1), the turning direction is It is determined by the steering angle sensor 7 that it is either the left side or the right side, and the side boom 44 is ready for ascending, and further, it is determined here whether or not the closing operation flag is set. Although the closing operation flag is cleared by the previous opening operation, the presence / absence of the setting of the closing operation flag here is performed for reconfirmation. This is because it may be closed depending on the situation. When the closing operation flag is set, the flow is returned, that is, the automatic raising / lowering control by the side boom raising function and the side boom lowering function is not performed.

  On the other hand, when the closing operation flag is not set, automatic elevation control by the side boom raising function and the side boom lowering function is performed. Subsequent determination of whether or not the closing operation flag is set is the same as that shown in FIG.

  With this configuration, when the spraying operation is not performed, such as when moving between fields, automatic lifting control is not performed. However, when the side boom 44 is opened, automatic lifting control is performed. After the boom 44 is opened, the chemical solution spraying operation can be resumed smoothly. Therefore, the operator does not need to manually perform the lifting operation, can concentrate on the traveling operation, and the work efficiency is also improved.

  On the other hand, an expansion / contraction switch 152 (FIG. 4) for operating the electric motor 46 for extending / contracting the side boom 44 is provided in the vicinity of the cockpit 17, and the operator shortens the side boom 44 for a certain period of time using the expansion / contraction switch 152. In such a case, the automatic lifting control by the side boom raising function and the side boom lowering function may not be performed. While operating the telescopic switch 152, the side boom 44 moves, and when the hand is released from the telescopic switch 152, the side boom 44 stops. Since the operation of shortening the side boom 44 is a case where the spraying operation is not performed, such as when moving between farm fields, the automatic lifting control is unnecessary.

FIG. 15 shows a flowchart of the lifting control of the side boom 44 in this case.
When the engine is started and the traveling of the medicine spraying work vehicle is started, the control device 100 determines whether or not the telescopic switch 152 is shortened by the telescopic switch detecting means such as the telescopic switch sensor 153.

  When the shortening operation is detected by the expansion / contraction switch sensor 153, the shortening operation flag is set (ON). When the control pump 65 is driven during manual spraying or automatic spraying, the steering angle sensor 7 detects the steering angle θ, and when this angle is equal to or greater than a predetermined angle (θ1), the turning direction is Whether the left side or the right side is determined is determined by the steering angle sensor 7 and the preparation for raising the side boom 44 is started. Further, it is determined here whether or not the shortening operation flag is set. Note that the shortening operation flag is set by the preceding shortening operation, but whether or not the shortening operation flag is set here is performed for reconfirmation. This is because it may move depending on the situation. When the shortening operation flag is set, the flow is returned, that is, the automatic raising / lowering control by the side boom raising function and the side boom lowering function is not performed.

  On the other hand, when the shortening operation flag is not set, automatic raising / lowering control by the side boom raising function and the side boom lowering function is performed. That is, the raising process of the side boom 44 on the outside of the turn is performed, and the raising flag is set (turned on). Accordingly, the side boom 44 on the outer side of the turning is raised.

  Then, after the rising flag is set, the steering angle θ is detected again by the steering angle sensor 7, and when this angle is equal to or larger than the predetermined angle (θ1), it is determined again that the turning direction is the left side or the right side. Then, if the direction is the same as that at the start of the previous turn, the lowering process of the side boom 44 on the outer side of the turn is performed, and the lift flag is cleared (turned off).

  Even when the control pump 65 stops driving after the rising flag is set, as shown in FIG. 10, the steering angle sensor 7 detects the steering angle θ again, and this angle is equal to or larger than a predetermined angle (θ1). Again determines that the turning direction is either the left side or the right side, and if the turning direction is the same as the previous turning start, performs the lowering process of the side boom 44 outside the turning and clears the ascent flag (OFF) )

  By this configuration, when there is a shortening operation for a certain period of time, the side boom 44 is not stored and the work is not performed. Therefore, the spraying operation is not performed, for example, when the side boom 44 is stored and moved between fields. In such a case, since the automatic lifting control is not performed, the side boom 44 can be prevented from moving up and down when the operator does not intend, and safety is improved. For this reason, an operator can concentrate on traveling operation, and work efficiency improves.

  In addition, after the shortening operation of the side boom 44, when the operator performs the extension operation of the side boom 44 for a certain period of time with the telescopic switch 152, the set of the shortening operation flag is canceled (cleared), and the side boom is raised. It is good also as a structure which restarts the automatic raising / lowering control by a function and a side boom lowering function.

FIG. 16 shows a flowchart of the lifting control of the side boom 44 in this case.
When the extension operation is detected by the extension switch sensor 153, the shortening operation flag is cleared (turned off). When the control pump 65 is driven during manual spraying or automatic spraying, the steering angle sensor 7 detects the steering angle θ, and when this angle is equal to or greater than a predetermined angle (θ1), the turning direction is Whether the left side or the right side is determined is determined by the steering angle sensor 7 and the preparation for raising the side boom 44 is started. Further, it is determined here whether or not the shortening operation flag is set. Note that the shortening operation flag is cleared by the previous decompression operation, but whether or not the shortening operation flag is set here is performed for reconfirmation. When the shortening operation flag is set, the flow is returned, that is, the automatic raising / lowering control by the side boom raising function and the side boom lowering function is not performed.

  On the other hand, when the shortening operation flag is not set, automatic elevation control is performed by the side boom raising function and the side boom lowering function. Subsequent determination of whether or not the shortening operation flag is set is the same as that shown in FIG.

  With this configuration, when the spraying work is not performed, such as when moving between fields, automatic lifting control is not performed, but when the side boom 44 is extended, automatic lifting control is performed. After the boom 44 is extended, the chemical spraying operation can be resumed smoothly. Therefore, the operator does not need to manually perform the lifting operation, can concentrate on the traveling operation, and the work efficiency is also improved.

  The flow rate of the chemical solution fed to the side boom 44 is detected by the flow rate sensor 74. When a turning start operation in which the steering angle becomes a predetermined angle or more is performed within a predetermined time after the flow rate detected by the flow rate sensor 74 becomes substantially zero during automatic spraying, the side boom raising function is used. Although the side boom 44 is raised, the side boom 44 may not be raised if the side boom 44 does not turn within a predetermined time after the flow rate detected by the flow rate sensor 74 becomes substantially zero.

  If the vehicle is running, it always turns within a certain time after the flow rate becomes zero. However, when the vehicle does not turn within a certain time after the flow rate becomes zero, the operation is stopped (intra-field movement, inter-field movement, etc.). Thereby, it becomes possible to prevent the side boom 44 from being raised carelessly during traveling other than work.

FIG. 17 shows a flowchart of the lifting control of the side boom 44 in this case.
When the engine is started and the traveling of the medicine spraying vehicle is started, the control device 100 determines whether or not the medicine is being sprayed.

  When the control pump 65 is driven at the time of automatic spraying (during spraying of the chemical liquid), the flow rate of the chemical liquid is detected by the flow rate sensor 74, and when the flow rate is almost zero, the time is measured. When the turning start operation in which the steering angle θ becomes equal to or greater than the predetermined angle (θ1) within a certain time is not performed, the flow is returned, that is, the automatic lifting control by the side boom raising function and the side boom lowering function is not performed.

  On the other hand, when the turning start operation is performed within a predetermined time, the steering angle sensor 7 determines that the turning direction is either the left side or the right side, and performs the process of raising the side boom 44 outside the turning, Set (turn on) the rising flag. Accordingly, the side boom 44 on the outer side of the turning is raised.

  In the conventional medicine spraying work vehicle, when the control pump 65 is driven in the automatic medicine spraying mode, the automatic lifting control is performed even if the chemical flow rate is zero. Automatic lifting control is not performed when spraying work is not performed, such as at times. Therefore, it is possible to prevent the side boom 44 from moving up and down when the operator does not intend to improve safety, and the operator can concentrate on the traveling operation, so that work efficiency is improved.

On the other hand, when the rising flag after the start of turning is set, when the side boom 44 continues to rise even if the flow rate detected by the flow rate sensor 74 becomes almost zero, the side boom lowering function causes the side boom to be lowered. It is good also as a structure which 44 falls.
FIG. 18 shows a flowchart of the lifting control of the side boom 44 in this case.
When the engine is started and the traveling of the medicine spraying vehicle is started, the control device 100 determines whether or not the medicine is being sprayed.

  When the control pump 65 is driven at the time of automatic spraying (during spraying of the chemical), the steering angle sensor 7 detects the steering angle θ, and when this angle is equal to or greater than a predetermined angle (θ1), the turning direction is on the left side. Alternatively, it is determined by the steering angle sensor 7 that the vehicle is on the right side, the side boom 44 on the outside of the turn is lifted, and the lift flag is set (turned on). Accordingly, the side boom 44 on the outer side of the turning is raised.

Next, the flow rate of the chemical solution is detected by the flow rate sensor 74, and when the flow rate is almost zero, the time is measured. If the ascending flag is set (when the side boom 44 continues to rise) even after a lapse of a certain time after the flow rate becomes almost zero, the steering angle sensor 7 detects the steering angle θ again, When this angle is equal to or greater than the predetermined angle (θ1), it is determined again that the turning direction is either the left side or the right side. The descending process is performed and the ascending flag is cleared (turned off). That is, it is determined that the turn is finished, and the side boom 44 is automatically lowered.
The same process is performed when the flow rate is not zero.

  On the other hand, when a fixed time has elapsed after the flow rate becomes substantially zero and the ascending flag is not set, the flow is returned, that is, the descending control by the side boom descending function is not performed.

  With this configuration, even if the flow rate detected by the flow sensor 74 after the start of turning of the medicine spraying work vehicle becomes almost zero, the side boom 44 is lowered by the side boom lowering function at the end of turning, so Can be returned to.

  Further, when the vehicle does not turn within a certain time after the flow rate detected by the flow rate sensor 74 becomes almost zero, the side boom is not raised by the function of raising the side boom, but when the flow rate detected by the flow rate sensor 74 is increased, the side It is good also as a structure which performs the raise by a boom raising function and the fall by a side boom lowering function.

FIG. 19 shows a flowchart of the lifting control of the side boom 44 in this case.
When the engine is started and the traveling of the medicine spraying vehicle is started, the control device 100 determines whether or not the medicine is being sprayed.

  When the control pump 65 is driven at the time of automatic spraying (during spraying of the chemical liquid), the flow rate of the chemical liquid is detected by the flow rate sensor 74, and when the flow rate is almost zero, the time is measured. If the turning start operation with the steering angle exceeding the predetermined angle is not performed after the flow rate becomes almost zero, the automatic lift control by the side boom raising function and the side boom lowering function outside the turning is interrupted, and the flow sensor is again turned on. The flow rate of the chemical solution is detected by 74. At this time, if the flow rate is almost zero, the flow is returned.

  On the other hand, if the flow rate is not zero when the flow rate is detected by the first flow rate sensor 74, automatic elevation control is performed. If the flow rate is increased when the flow rate sensor 74 detects the flow rate again (when the flow rate is sensed), , Resume automatic lift control.

  With this configuration, when the flow rate detected by the flow sensor 74 increases from zero, the automatic lifting control of the side boom 44 is performed, so that the automatic lifting control can be automatically restarted, so the spraying operation can be resumed quickly. This improves work efficiency.

  In addition, when the turning angle of a predetermined angle or more is detected by the steering angle sensor 7 at the start of turning, that is, when it is detected that the turning operation is started, the medicine spreading work vehicle of the present embodiment moves the side boom 44 outside the turning. Although the control device 100 having the side boom raising function for automatically raising by the upper and lower cylinders 29 is provided, the side boom raising function may be made effective when the turning angle equal to or greater than the predetermined angle continues for a certain time.

FIG. 20 shows a flowchart of the lifting control of the side boom 44 in this case.
When the engine is started and the traveling of the medicine spraying vehicle is started, the control device 100 determines whether or not the medicine is being sprayed.

  When the control pump 65 is driven at the time of automatic spraying (during spraying of the chemical solution), the steering angle sensor 7 detects the steering angle θ. If this angle is equal to or greater than the predetermined angle (θ1), the state continues. Measure the time to do. When the steering angle equal to or greater than θ1 continues for a certain time, the steering angle sensor 7 determines that the turning direction is either the left side or the right side, and the start of turning is determined. The ascending process is performed and the ascending flag is set (turned on). Accordingly, the side boom 44 on the outer side of the turning is raised.

On the other hand, even if the steering angle by the steering angle sensor 7 is equal to or greater than the predetermined angle, if it is less than θ1 within a certain time, the turning start determination is not made, that is, the process of raising the side boom 44 outside the turning is performed. Instead, the steering angle θ is detected again by the steering angle sensor 7.
Even if the steering angle once becomes a predetermined angle or more, if it returns to less than the predetermined angle immediately, it is conceivable that the medicine spraying vehicle is traveling straight ahead.

  Therefore, according to this configuration, it is possible to reliably determine whether the medicine spraying vehicle is turning or traveling straight, and to prevent malfunction such as the side boom 44 being raised while traveling straight. Can do. Instead of the steering angle sensor 7, a detection value of a handle angle sensor (not shown) provided at the base of the rotation shaft of the steering handle 14 may be used.

Similarly, at the end of turning, the side boom lowering function may be enabled when a turning angle equal to or greater than a predetermined angle continues for a certain period of time.
FIG. 21 shows a flowchart of the lifting control of the side boom 44 in this case.
This flow is the same as that shown in FIG. 20 until the side boom 44 on the outside of the turn is lifted and the lift flag is set (turned on).

  When the steering angle θ is detected again by the steering angle sensor 7 and this angle is equal to or larger than the predetermined angle (θ1) and the steering angle equal to or larger than θ1 continues for a certain period of time, the turning direction is again left or right. If the direction is the same as that at the start of the previous turning, the lowering process of the side boom 44 on the outside of the turning is performed, and the rising flag is cleared (turned off).

  Even if the steering angle once becomes a predetermined angle or more, if it returns to less than the predetermined angle immediately, it is conceivable that the medicine spraying vehicle is traveling straight ahead. Therefore, with this configuration, it is possible to reliably determine whether the medicine spraying vehicle is turning or traveling straight, and the side boom 44 is raised or lowered even when traveling straight. Such a malfunction can be prevented.

  Further, if the turning determination angle (θ1) at the time of turning can be changed, it is possible to perform elevating control more suitable for conditions such as farm fields.

The flowchart of the raising / lowering control of the side boom 44 in this case is shown in FIG.
This flow is different from the flow shown in FIG. 21 in that the turning determination angle set before the steering angle θ is detected by the steering angle sensor 7 is read and the turning determination angle θ1 is set. is there. Note that a condition of “a certain time has elapsed?” May be inserted between “θ1 or more?” And “turn direction determination” on the right side of the flow.

  If the steering handle 14 needs to be operated while the medicine spraying vehicle is traveling depending on the state of the field, the side boom 44 automatically moves up and down during traveling if the turning determination angle is too small. On the other hand, if the turning determination angle is too large, the automatic raising / lowering of the side boom 44 during turning is delayed. For example, it is a case where a handle operation is frequently required, such as a field with severe unevenness, a field with many stones, and a soft field.

However, with this configuration, the turning determination angle (θ1) at the time of turning can be changed, so that a more appropriate turning determination angle can be set according to conditions such as the field. As described above, the turning determination angles at the start of turning and at the end of turning may be the same angle or different angles.
Further, it is possible to adopt a configuration in which the automatic raising / lowering control by the side boom raising function and the side boom lowering function is not performed when the medicine spraying vehicle is moving backward.

FIG. 23 shows a flowchart of the raising / lowering control of the side boom 44 in this case.
When the engine is started and the traveling of the medicine spraying vehicle is started, the control device 100 determines whether or not the medicine is being sprayed.

  When the control pump 65 is driven at the time of automatic spraying (during the spraying of the chemical solution), the back switch (sensor for detecting the reverse side of the forward / backward lever not shown) 160 (FIG. 4) is read, and the back switch When 160 is on, the flow is returned and automatic elevation control is not performed.

  On the other hand, when the back switch 160 is off, the steering angle sensor 7 determines whether or not the steering angle θ is equal to or larger than the set turning determination angle, and this angle is equal to or larger than the turning determination angle (θ1). The steering angle sensor 7 determines that the turning direction is either the left side or the right side, performs the raising process of the side boom 44 outside the turning, and sets (turns on) the raising flag. Accordingly, the side boom 44 on the outer side of the turning is raised. Next, the steering angle θ is detected again by the steering angle sensor 7, and when this angle is equal to or larger than the turning determination angle (θ1), it is determined again that the turning direction is either the left side or the right side. If the direction is the same as when the turn is started, the side boom 44 on the outside of the turn is lowered to clear (turn off) the rising flag.

Although not described in this flow, as shown in FIG. 21 and FIG. 22, when the turning determination angle (θ1) or more continues for a certain period of time, the lifting control of the side boom 44 outside the turning is performed. But it ’s okay.
With this configuration, it is possible to prevent a malfunction such as the side boom 44 from moving up and down even when the backward movement operation is performed during the spraying operation of the chemical solution.

  Further, the automatic raising / lowering control of the side boom 44 at the time of turning is not performed at the time of backward movement of the medicine spreading work vehicle. However, when the side boom 44 is raised, the automatic raising / lowering control is continued even when the side boom 44 moves backward. good.

  During the turning work, the medicine spraying vehicle is usually moving forward, but a reverse operation may be entered midway due to the driving operation. For example, the steering handle 14 is turned back. In such a case, by continuing the automatic raising / lowering control of the side boom 44, the side boom 44 is automatically lowered when the turn is completed, so that the operability can be prevented from being deteriorated.

FIG. 24 shows a flowchart of the lifting control of the side boom 44 in this case.
This flow is the same as the flow shown in FIG. 23 until the side boom 44 on the outside of the turn is lifted and the lift flag is set (turned on).

  After the rising flag is set, the on / off state of the back switch 160 is read again. When the back switch 160 is on (during reverse travel), it is determined whether or not the rising flag is set. When the lift flag is set (when the side boom 44 is raised), the steering angle sensor 7 detects the steering angle θ again. If this angle is equal to or greater than the turning determination angle (θ1), the turning direction is again detected. Is the left side or the right side, and when the direction is the same as the previous turning start, the lowering process of the side boom 44 on the outside of the turning is performed, and the rising flag is cleared (turned off).

On the other hand, if the ascending flag is not set, the flow is returned and the side boom 44 descending process is not performed.
With this configuration, when the side boom 44 on the outer side of the turn is raised, the side boom 44 can be automatically lowered at the end of the turn even when the steering handle 14 is turned back and the reverse operation is performed. Accordingly, the side boom 44 can be reliably raised and lowered during the true turning of the medicine spraying work vehicle, and the raising and lowering operation of the side boom 44 can be performed without imposing a burden on the operator.

  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 that sprays fertilizer and the like.

DESCRIPTION OF SYMBOLS 1 Car body 3 Lift link 4 Hitch bracket 5 Vehicle speed calculation means 6 Vehicle speed sensor 7 Steering angle sensor 8 Pump switch 9 Stroke sensor 10 Flow control motor 11 Pressure sensor 12 Front wheel 13 Rear wheel 14 Steering handle 15 Bonnet 16 Valve opening sensor 17 Pilot seat DESCRIPTION OF SYMBOLS 18 Chemical liquid tank 19 Spreading boom 21 Support frame 23 Support | pillar 24 Upper link 25 Lower link 26 Cylinder mounting support | pillar 27 Lifting cylinder 28 Solenoid valve with a hydraulic tank 29 Upper / lower cylinder (rolling cylinder)
Reference Signs List 30 Opening / Closing Cylinder 31 Geared Motor 32 Boom Lifting Solenoid 34 Boom Horizontal Solenoid 36 Buzzer 40 Side Boom Receiver 43 Center Boom 44 Side Boom 45 (45a, 45b) Spray Nozzle 46 Electric Motor 50 Tank Side Step 51 Inclined Part 53 Machine Side Step 54 Floor 55 Ladder member 56 Machine dash panel 59 Handle post 61 Water supply path (hose) 62 Water supply cock 64 Suction filter 65 Control pump 66 Water discharge hose 67 Chemical liquid path 69 Spray cock 70 Safety valve 71 Air chamber 73 Flow control valve 74 Flow sensor 75 Surplus Water hose 79 Stir hose 81 GPS receiver 82 Link tilt sensor 83 Link tilt angular velocity sensor 100 This machine controller 101 Control machine controller 102 Memory 120 Controller Rear panel 122 Display 122a Indicator 123 Spreading setting display 124 Pressure display 125 Flow rate display 126 Flow rate cumulative display 128 Display switch button 129 Automatic switch 130 Pilot lamp 131 Spreading setting switch 132, 133 Increase / decrease button switch 134 Cumulative reset switch 136 Spreading amount switch 137 Pressure switch 138a Boom angle right sensor 138b Boom angle left sensor 139 Climb time setting switch 140 Climb time setting switch 141 Automatic lift switch 142 Manual lift switch 150 Open / close switch 151 Open / close switch sensor 152 Telescopic switch 153 Telescopic switch sensor 160 Back switch

Claims (5)

A chemical tank (18) for storing the chemical,
A center boom (43) for spraying the chemical solution in the chemical solution tank (18) to the field, and side booms (44) arranged on the left and right of the center boom,
Left and right wheels (12 and / or 13);
Upper and lower cylinders (29) for moving the left and right side booms (44) up and down,
Steering angle detection means (7) for detecting the steering 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 spraying boom (43, 44);
An on / off switch (8) for driving the control pump (65);
In the medicine spraying work vehicle provided with the 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),
A flow rate control motor (10) for opening and closing the chemical flow rate control valve (73);
A plurality of different spraying conditions including a chemical spraying amount can be set, and spraying condition setting changing means (128, 131 to 134) that can be changed,
Manual drug spraying that adjusts the opening of the chemical flow rate control valve (73) by the flow rate control motor (10) so as to match the spraying condition set and changed by the spraying condition setting changing means (128, 131 to 134). During the operation by the manual medicine spraying function, the control pump (65) is turned on by the on / off switch (8), and the steering angle (θ) by the steering angle detection means (7) at the start of turning is predetermined. When the angle exceeds the angle, the side boom raising function for automatically raising the side boom (44) outside the turn by the upper and lower cylinders (29) and the steering angle (θ) by the steering angle detection means (7) at the end of the turn are When the angle is greater than a predetermined angle, the upper and lower cylinders (29) automatically turn down the side boom (44) on the outside of the turn, and the side boom ascent function turns. After the start of raising of the outer side boom (44), a control having a first side boom lowering effective function that enables the side boom lowering function even when the pump (65) is turned off by the on / off switch (8). A drug spraying work vehicle comprising the device (100). Vehicle speed detection means (6) for detecting the vehicle speed of the left and right wheels (12 and / or 13) is provided;
The control device (100) calculates the discharge pressure of the control pump (65) from the relationship between the vehicle speed obtained by the vehicle speed detection means (6) and a predetermined amount of medicine sprayed per unit area (A), When the opening rate of the chemical liquid flow rate adjustment valve (73) is adjusted by the flow rate control motor (10) so as to coincide with the calculated discharge pressure value and the vehicle speed obtained by the vehicle speed detection means (6) is below a certain speed An automatic medicine spraying function for automatically turning off the control pump (65), and a steering angle detection at the start of turning when the control pump (65) is turned on during the work by the automatic medicine spraying function. A side boom raising function for automatically raising the side boom (44) outside the turn by the upper and lower cylinders (29) when the steering angle (θ) by the means (7) is equal to or greater than a predetermined angle, and steering at the end of the turn A side boom lowering function for automatically lowering the side boom (44) outside the turn by the upper and lower cylinders (29) when the steering angle (θ) by the detection means (7) is equal to or greater than a predetermined angle, and the side boom raising function Thus, after the side boom (44) on the outside of the turn starts to rise, the vehicle speed obtained by the vehicle speed detecting means (6) once becomes below a certain speed, and the control pump (65) is turned off by the automatic medicine spraying function. 2. A second side boom lowering effective function for enabling the side boom lowering function when the vehicle speed obtained by the vehicle speed detecting means (6) again exceeds a certain speed is provided. The medicine spraying vehicle described.   Setting means (139, 140) is provided that can separately set the time for raising the side boom (44) outside the turn by the side boom raising function and the time for lowering the side boom (44) outside the turn by the side boom lowering function. The medicine spraying work vehicle according to claim 1 or 2, characterized in that. The center boom (43) is provided with an open / close cylinder (30) in which the left and right side booms (44) can be opened and closed in the left-right direction toward the forward direction of the medicine spraying work vehicle,
An open / close switch (150) capable of operating the open / close cylinder (30) and an open / close switch detecting means (151) for detecting an operation state of the open / close switch (150);
When the opening / closing switch (150) detects the closing operation of the opening / closing switch (150) by the opening / closing switch detection means (151), the control device (100) does not perform the automatic lifting control by the side boom raising function and the side boom lowering function. The medicine spraying work vehicle according to any one of claims 1 to 3, wherein a switch check function is provided.   Even when the opening / closing switch (150) is detected by the opening / closing switch detection means (151), if the opening / closing switch (150) is detected by the opening / closing switch detection means (151), the side boom is detected. 5. The medicine spraying work vehicle according to claim 4, further comprising an open / close switch check release function for performing automatic lifting control by a lifting function and a side boom lowering function.

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