JP5949982B2 - Passenger management machine - Google Patents

Description

  The present invention relates to a riding management machine that sprays a chemical on a field.

  Patent Document 1 describes turning control of a riding management machine. According to Patent Document 1, when the steering handle is turned off at a set angle or more on a headland from a field sprayed with chemicals, the boom on the outside of the turn rises while the attitude of the boom on the inside of the turn maintains the spraying posture at the start of the turn A technique is disclosed in which the traveling vehicle is turned while the steering handle is kept turned off by a set angle or more, and the boom is lowered at the end of the turn.

Japanese Patent No. 3637620

  An object of the present invention is to perform turning suitable for a passenger management machine.

  The present invention takes the following technical means in order to solve such technical problems.

The invention described in claim 1
In a passenger management machine equipped with a boom for spraying chemicals in a posture extending in the left-right direction of the traveling vehicle and a vehicle speed sensor for detecting the vehicle speed,
A steering wheel operation detection sensor for detecting the turning angle of the steering wheel, or a running wheel turning angle sensor for detecting the turning angle of the running wheel,
While traveling with the boom extending in the left-right direction, when the vehicle speed sensor detects a vehicle speed less than the set value, when detecting the turning angle of the steering wheel greater than the set angle or the turning angle of the traveling wheel greater than the set angle, Steering handle that exceeds the set angle when the vehicle speed sensor detects a vehicle speed that is higher than the set value by controlling the boom outside the turn while raising the set boom from a substantially horizontal spreading position while maintaining the boom that is extended in the left-right direction. A control unit that regulates the control of raising the set angle from the posture in which the boom on the outside of the turn extends in the left-right direction even when detecting the turning angle of the traveling wheel or detecting the turning angle of the traveling wheel greater than the set angle ,
When the boom is traveling in a posture that extends in the left-right direction, when the turning angle of the steering wheel that is greater than the set angle is detected or the turning angle of the traveling wheel that is greater than the set angle is detected, the boom that is inside the turn is extended in the left-right direction In order to raise the set angle from the posture in which the boom on the outside of the turn extends in the left-right direction while maintaining the same, the automatic boom lift control switch and the pump switch for spraying the chemical solution must both be ON. A passenger management machine characterized by

The invention according to claim 2
In a passenger management machine equipped with a boom for spraying chemicals in a posture extending in the left and right direction of the traveling vehicle and a traveling lever for switching the working speed or traveling speed,
A steering wheel operation detection sensor for detecting the turning angle of the steering wheel, or a running wheel turning angle sensor for detecting the turning angle of the running wheel,
While traveling with the boom extended in the left-right direction, when the travel lever is on the working speed side, turning when detecting the turning angle of the steering wheel greater than the set angle or the turning angle of the traveling wheel greater than the set angle While maintaining the inner boom in the left-right extended position, control is performed to raise the turning outer boom from a substantially horizontal spreading position by a set angle, and when the travel lever is on the travel speed side, the steering handle must be turned beyond the set angle. A control unit that regulates control of raising the set angle from the posture in which the boom on the outside of the turn extends in the left-right direction even when detecting the angle or the turning angle of the traveling wheel greater than the set angle ,
When the boom is traveling in a posture that extends in the left-right direction, when the turning angle of the steering wheel that is greater than the set angle is detected or the turning angle of the traveling wheel that is greater than the set angle is detected, the boom that is inside the turn is extended in the left-right direction In order to raise the set angle from the posture in which the boom on the outside of the turn extends in the left-right direction while maintaining the same, the automatic boom lift control switch and the pump switch for spraying the chemical solution must both be ON. A passenger management machine characterized by

The invention described in claim 3
The control for raising the boom outside the turn from the posture extending in the left-right direction is raised for a set time after starting the rise, or the boom raising angle sensor for detecting the boom raising angle is set to the boom setting angle. The riding management machine according to claim 1 , wherein the riding management machine is performed until an increase is detected .

  According to the present invention, it is possible to prevent the boom from being damaged due to the boom coming into contact with the shore during turning during spraying work. In addition, it is possible to prevent the boom from unintentionally being unintentionally raised by the operator when turning during traveling such as non-spraying.

Side view of the passenger management machine Top view of the passenger management machine Diagram showing chemical spraying of passenger management machine seen from the front Chemical spraying mechanism diagram of passenger management machine flowchart The figure which shows turning operation of the riding management machine The figure which shows the operation of the boom at the time of turning of a passenger management machine The perspective view which shows the operation panel 11 of a passenger management machine The figure which shows the horizontal control operation of the boom of the riding management machine seen from the front The figure which shows the chemical | medical solution tank 2 and the boom receptacle seen from the plane The figure which shows the chemical | medical solution tank 2 and the boom receiver seen from the back The figure which shows reducing the boom seen from the front The figure which shows expanding the boom seen from the front Block diagram showing the controller

  A passenger management machine according to an embodiment of the present invention will be described below. In this embodiment, the traveling direction of the traveling vehicle 1 is referred to as the front side, and is referred to as the left and right when viewed from the front.

  The riding management machine according to the present embodiment is equipped with a chemical liquid tank 2 that stores chemical liquid in a traveling vehicle 1 and a boom 3 that sprays chemical liquid.

  The traveling vehicle 1 has a traveling wheel 4 including a front wheel 4 a and a rear wheel 4 b attached to a body frame 5, an engine 6 mounted on the front portion, and covered with a bonnet 7. A step 8 and a steering handle 9 are provided behind the bonnet 7, and a driver seat 10 is provided behind the steering handle 9. A chemical tank 2 is mounted behind the driver seat 10, an operation panel 11 is provided on one side of the driver seat 10, and a meter panel 12 is provided on the front side of the driver seat 10. A control unit 13 for performing various controls is built in the operation panel 11.

  A left boom 3a and a right boom 3b are provided on the left and right sides of the traveling vehicle 1, respectively, and a central boom 3c is provided on the front side of the traveling vehicle 1. The left boom 3a and the right boom 3b are respectively spread at both the left and right sides of the traveling vehicle 1 as shown in FIG. 3 and a chemical solution spraying posture for spraying the chemical solution, and a boom provided at the rear of the chemical solution tank 2 as shown in FIGS. The configuration is such that it can be changed to a road running posture that is stored in the receptacle 14 in an upwardly inclined posture. The operation of the boom 3 includes a first cylinder 15 for changing the vertical posture of the left boom 3a and the right boom 3b, and a second cylinder 16 for changing the horizontal posture of the boom 3 in a spraying posture. This is performed by a second cylinder 17 for maintaining the boom 3 in a horizontal posture and a telescopic motor (not shown) that adjusts the horizontal length of the boom in the spraying posture.

  The chemical solution spraying mechanism and the power mechanism will be described with reference to FIG.

  A hose 18 for supplying the chemical solution in the chemical solution tank 2 to the boom 3 is provided, and a control pump 19 for feeding the chemical solution, a flow rate adjusting valve 20 for adjusting the flow rate, the left boom 3a, the right boom 3b, and the central boom in the middle of the hose 18. A manual spray cock 21 for selecting whether or not to supply a chemical solution to each of the 3c (a left boom spray cock 21a, a right boom spray cock 21b, and a central boom spray cock 21c are provided. The power of the engine 6 is input. It is output from the shaft 22 to the traveling system output shaft 24 and the control pump output shaft 25 through the transmission mechanism 23.

  The operation panel 11 will be described with reference to FIG.

  The operation panel 11 is provided with operation tools for spraying the chemical liquid and operating the boom 3. A boom operation lever 26 (a left boom operation lever 26a and a right boom operation lever 26b) for operating the left and right direction operations and the vertical direction operation of the boom 3 is provided. Further, a left boom posture changing lever 27a for switching the storage posture and the spraying posture of the left boom, a right boom posture changing lever 27b, and a boom posture changing lever 27c for switching the postures of both the left boom and the right boom are provided.

  Further, a spray cock 21 (left boom spray cock 21a, central boom spray cock 21c, and right boom spray cock 21b) for operating whether the chemical solution is sprayed from the boom 3 or stopped is provided. In addition, a display meter 28 for displaying the spray amount and a spray amount setting switch 29 for setting increase / decrease of the spray amount are provided. Further, a pump switch 30 for turning on / off the control pump 19 and, as will be described in detail later, when the traveling vehicle 1 during the spraying operation performs a turning operation, the boom 3 outside the turning automatically (the left boom in the present embodiment). An automatic elevation control switch 31 that performs control to move up and down 3a) and an automatic horizontal control switch 32 that performs control to maintain the boom 3 in a horizontal posture even when the traveling vehicle 1 tilts to the left and right are provided.

  The basic traveling and spraying operations of the riding management machine of the present embodiment will be described based on FIGS.

  The operator sits on the driver's seat 10 and starts the engine 6 to start traveling. When the boom posture changing lever 27c is operated after entering the farm field, the left and right booms of the traveling posture spread on both the left and right sides of the traveling vehicle 1 and become the spraying posture. When the automatic elevating control switch 31 is turned on, the automatic horizontal control switch 32 is turned off, the spray cock 21 of the boom 3 is operated to open, the pump switch 30 is turned on, and straight traveling is started, as shown in FIG. As described above, the chemical solution is sprayed from the nozzles 33 provided on the left boom 3a, the central boom 3c, and the right boom 3b.

  When approaching the shore and turning the steering handle 9 beyond the set angle so that the operator can turn in the so-called headland M region, the boom 3 (3b in the present embodiment) inside the turn turns while maintaining the spraying posture. The outer boom 3 (3a) starts to rise (first turning section S1). When the operator turns about 90 degrees and the operator returns the steering handle 9 to the straight traveling state, the traveling vehicle 1 travels in the straight traveling direction with the boom 3 (3a) on the outer side of the swinging in the ascending posture (straight headland straight traveling). Section S2). Then, when the operator turns the steering handle 9 again in the same direction at the timing of entering the next adjacent spraying area from the straight traveling, the boom 3 (3a) on the outside of the turning which has been raised is lowered and the spraying posture is changed. (Second turning section S3). And the traveling vehicle 1 becomes the attitude | position which drive | works in a straight ahead direction, and starts the driving | running | working which spreads toward the following spreading | diffusion area | region. During traveling in the second turning section S3 from the first turning section S1 through the straight headland straight section S2, the automatic horizontal control of the boom 3 (3b) inside the turning is performed even if the automatic horizontal control switch 32 is turned off.

  In the present embodiment, the spraying and stopping by the boom 3 is configured such that the operator performs the spray cock 21 manually. However, when the turning operation is recognized, the spraying of the boom (3a) outside the turning is automatically stopped. It is good also as a structure.

  When the control unit 13 reads the turning operation information not less than the set angle of the steering handle 9 at the start of turning, the control unit 13 raises the boom 3 (3a) outside the turning and stores the turning operation information of the steering handle 9 in advance. When the turning operation information of the steering handle 9 equal to or more than the set angle in the same direction is read, the lowering of the boom 3 (3a) outside the turn is started. Until the second turning operation information of the steering wheel 9 is obtained, the boom 3 (3a) on the outer side of the turn can be read even if temporary reverse operation information for alignment or steering turning operation information equal to or less than the set angle is read. Maintain a raised posture.

  The determination of the turning operation may be based on the detection result of the steering handle operation detection sensor 41 that detects the turning angle of the steering handle 9 as described above, or the traveling wheel turning angle detection sensor 42 that detects the turning angle of the traveling wheel. It may be based on the detection result.

  Several methods can be considered as to how far the rise of the boom 3 (3a) outside the turn is raised during the turn. First, it may be configured to increase for a set time (for example, 10 seconds) after starting the increase, or based on a detection result of a boom lift angle detection sensor (not shown) that detects that the set angle has been detected. good.

  The automatic lifting control of the boom at the time of turning is configured such that the control operation is performed when the automatic lifting control switch 31 is ON and the pump switch 30 is also ON.

  Further, at the time of turning, the operator usually operates the spray cock 21 (21a) of the boom 3 (3a) on the outer side of the turn while closing the pump switch 30 to close the pillow from the first turning section S1. The boom 3 (3b) and the central boom 3c on the inner side of the turn continue to spray the chemical liquid until the second turn section S3 is reached through the straight section S2. Then, when spraying is started in an adjacent unsprayed farm field, the operator performs an operation of opening the spray cock 21 (21a) of the boom 3 (3a) on the outer side of the turn, whereby the spraying of the chemical solution from all the booms 3 is resumed. .

  A feature of the turning operation of the riding management machine of the present embodiment will be described.

  In the turning operation of the tractor or the rice transplanter, usually, the steering handle 9 is continuously turned from the start of turning to the end of turning and turns 180 degrees at a time. On the other hand, in the turning operation of the riding management machine according to the present embodiment, the steering handle 9 is turned off and the turning operation is started. When turning about 90 degrees in the first turning section S1, the steering handle 9 is temporarily turned off. After returning to the straight-ahead position and traveling through the headland straight-ahead section S2, the steering wheel 9 is turned again and after passing through the second turning section S3, which turns about 90 degrees, there is a great difference in the posture toward the adjacent unsprayed area. There is. That is, the turning operation (operation) is performed twice before turning 180 degrees.

  That is, in the passenger management machine, the boom 3 in the spraying posture is much longer than the width of the traveling vehicle 1 to the left and right, and simply turning makes the boom 3 (3b) inside the turn enter the sprayed region and overlap. This is because the chemical solution is sprayed on the crop. By providing the headland straight section S2 at the time of turning as in the present embodiment, as shown in FIG. 6, the boom 3 (3b) on the inside of the turning can be spread without overlapping with the sprayed field. .

  Even when the automatic horizontal control switch 32 is in the OFF state, the horizontal control of the boom 3 (3b) on the inner side of the turning is performed when the automatic elevation control switch 31 is ON and when the turning operation is started during the spraying of the chemical solution. ing.

  FIG. 9 is a diagram illustrating a state of horizontal control, and illustrates a state in which the boom 3 is maintained in a horizontal posture when the traveling vehicle body is tilted with the traveling wheel 4 in contact with the unevenness of the farm scene G. . Usually, the area where the chemical solution is sprayed straightly is often cultivated in a state where the farm scene is flat, and when the automatic horizontal control of the boom 3 is turned on, the spraying posture due to the hunting of the boom 3 is disturbed. There may be a problem such as a failure. On the other hand, in the headland M, the farm scene G has many irregularities, and the left and right posture of the traveling vehicle 1 is likely to be disturbed. In particular, there may be a problem such that the height position of the boom 3 (3b) on the inner side of the turn is lower than the ground level due to vibration and is in contact with the crop. In this embodiment, when the automatic horizontal control of the boom 3 is turned OFF when spraying the chemical solution straightly, the above-described problem occurs by performing the automatic horizontal control of the boom 3 (3b) inside the turning at the time of turning. Can be prevented and smooth spraying and turning can be performed.

  Next, conditions for restricting the automatic lifting control of the boom 3 at the time of turning will be listed below.

  The first case is when the automatic elevation control switch 31 is in the OFF state. At this time, the operator operates the boom operation lever 26 (26a) to raise the boom 3 (3a) on the outer side of the turn when the boom 3 needs to be raised during turning on the headland M.

  The second case is when the pump switch 30 is OFF during traveling. In this case, the control unit 13 determines that the vehicle is simply traveling without spraying the chemical solution, and the boom 3 (3a) outside the turning does not rise even if the operator performs a turning operation. According to this configuration, it is possible to prevent problems due to the boom 3 being raised unexpectedly. In this case, a configuration in which the elevation control is not performed similarly to the case where the flow rate detection sensor 36 detects that the flow rate of the chemical solution is not flowing may be employed.

  Third, when the boom receiver detection sensor 14a detects that the boom 3 is housed in the boom receiver 14, the controller 13 determines that the traveling is not spraying the chemical solution, and the operator performs a turning operation. However, the boom 3 (3a) outside the turn does not rise.

  According to this configuration, it is possible to prevent the boom 3 from colliding with the wall surface of the warehouse or other objects placed in the warehouse due to a sudden rise due to the turning operation at the time of carrying into the warehouse.

  In the second case and the third case described above, the boom 3 is unexpectedly turned off when the automatic lift control switch 31 is forgotten to be turned off, even when the automatic lift control switch 31 is ON. Can be prevented from moving up and down.

  Fourth, when the automatic lift switch is ON and the pump switch 30 is also ON, when the vehicle speed sensor 43 detects a vehicle speed sensor 43 or higher during turning, control is performed so as to restrict the lifting control of the boom 3 (3a) outside the turning. May be. This is because when moving from a sprayed field to another unspread field, the spray cock 21 may be turned off while the automatic lift switch is on and the pump switch 30 is on. . Therefore, when the vehicle speed is equal to or higher than the set vehicle speed, it is determined that the boom 3 is not in the sprayed state and the boom 3 is controlled to be lifted up and down, thereby preventing problems caused by the boom 3 being unexpectedly raised during turning. In this case, when the travel lever 44 is configured to switch between the work speed and the travel speed, the boom 3 may be configured not to perform the automatic lifting control when the travel lever 44 is operated to the travel speed.

  Next, the inspection mode of the boom 3 will be described.

  This inspection mode is a mode for confirming whether the above-described automatic elevation control during turning and horizontal control during turning can be operated, and is characterized in that these controls can be performed without spraying chemicals. To enter the inspection mode, the inspection switch 37 of the operation panel 11 is turned ON. When the automatic elevating control switch 31 is turned on and the vehicle is traveling, the above-described automatic elevating control and horizontal control are performed when the pump switch 30 is turned off and the turning operation is performed from the straight traveling without spraying the chemical solution.

  Thereby, the operation confirmation of the automatic lifting control and automatic horizontal control during turning can be performed without spraying the chemical.

DESCRIPTION OF SYMBOLS 1 Traveling vehicle 3 Boom 3a Left boom 3b Right boom 9 Steering handle 13 Control part 30 Pump switch 31 Automatic raising / lowering control switch 32 Automatic horizontal control switch 41 Steering handle operation detection sensor 42 Traveling wheel break angle detection sensor 43 Vehicle speed sensor M Headland S1 First turning section S2 Headland straight section S3 Second turning section

Claims (3)

In a passenger management machine equipped with a boom for spraying chemicals in a posture extending in the left-right direction of the traveling vehicle and a vehicle speed sensor for detecting the vehicle speed,
A steering wheel operation detection sensor for detecting the turning angle of the steering wheel, or a running wheel turning angle sensor for detecting the turning angle of the running wheel,
While traveling with the boom extending in the left-right direction, when the vehicle speed sensor detects a vehicle speed less than the set value, when detecting the turning angle of the steering wheel greater than the set angle or the turning angle of the traveling wheel greater than the set angle, Steering handle that exceeds the set angle when the vehicle speed sensor detects a vehicle speed that is higher than the set value by controlling the boom outside the turn while raising the set boom from a substantially horizontal spreading position while maintaining the boom that is extended in the left-right direction. A control unit that regulates the control of raising the set angle from the posture in which the boom on the outside of the turn extends in the left-right direction even when detecting the turning angle of the traveling wheel or detecting the turning angle of the traveling wheel greater than the set angle ,
When the boom is traveling in a posture that extends in the left-right direction, when the turning angle of the steering wheel that is greater than the set angle is detected or the turning angle of the traveling wheel that is greater than the set angle is detected, the boom that is inside the turn is extended in the left-right direction In order to raise the set angle from the posture in which the boom on the outside of the turn extends in the left-right direction while maintaining the same, the automatic boom lift control switch and the pump switch for spraying the chemical solution must both be ON. A passenger management machine. In a passenger management machine equipped with a boom for spraying chemicals in a posture extending in the left and right direction of the traveling vehicle and a traveling lever for switching the working speed or traveling speed,
A steering wheel operation detection sensor for detecting the turning angle of the steering wheel, or a running wheel turning angle sensor for detecting the turning angle of the running wheel,
While traveling with the boom extended in the left-right direction, when the travel lever is on the working speed side, turning when detecting the turning angle of the steering wheel greater than the set angle or the turning angle of the traveling wheel greater than the set angle While maintaining the inner boom in the left-right extended position, control is performed to raise the turning outer boom from a substantially horizontal spreading position by a set angle, and when the travel lever is on the travel speed side, the steering handle must be turned beyond the set angle. A control unit that regulates control of raising the set angle from the posture in which the boom on the outside of the turn extends in the left-right direction even when detecting the angle or the turning angle of the traveling wheel greater than the set angle ,
When the boom is traveling in a posture that extends in the left-right direction, when the turning angle of the steering wheel that is greater than the set angle is detected or the turning angle of the traveling wheel that is greater than the set angle is detected, the boom that is inside the turn is extended in the left-right direction In order to raise the set angle from the posture in which the boom on the outside of the turn extends in the left-right direction while maintaining the same, the automatic boom lift control switch and the pump switch for spraying the chemical solution must both be ON. A passenger management machine characterized by The control for raising the boom outside the turn from the posture extending in the left-right direction is raised for a set time after starting the rise, or the boom raising angle sensor for detecting the boom raising angle is set to the boom setting angle. The riding management machine according to claim 1 , wherein the riding management machine is performed until an increase is detected .

Images