JP6229614B2 - Spraying method for spraying vehicle - Google Patents

Description

The present invention relates to the method of application of the scatterplot work vehicle you spraying of pesticides and fertilizers in the field.

The spraying vehicle is a machine that sprays agricultural chemicals and fertilizers on the field. Patent Document 1 discloses a spraying work machine (corresponding to a spraying work vehicle) in which a boom having a large number of nozzles for spraying spray liquid is extended to the left and right of the fuselage. ) Is described.

Further, in Patent Document 2, the position of the aircraft is detected by radio waves from GPS satellites, and the moving position of the aircraft is displayed on the display based on the position information and the distribution width. Agricultural work vehicle (corresponding to a spray work vehicle) that makes it easy to determine the start position is described.

JP 2008-29305 A JP 2013-201927 A

The technique of the spreading work vehicle described in the above-mentioned patent document 2 is that, based on the position information obtained from the GPS receiving unit, the entry position when the spreading work vehicle enters the area for spraying the spray liquid in the field, The amount of sprayed liquid sprayed from 4 is controlled, and the internal combustion engine is controlled. "This is a technique, but the approach position when entering the sprayed area of sprayed liquid on the field is determined by the GPS receiver. It is calculated from the installed body position and boom spreading width.

For this reason, if the pre-spreading traveling direction is curved or the left / right width of the boom is changed, the sprinkling start position will not be calculated accurately, resulting in partial double spraying or unsprayed parts. There are things to do.

In the present invention, when a spray work is performed by reciprocating turning in a spray work vehicle in which a spray boom is extended to the left and right of the machine body, the spray work can be efficiently performed without being redundantly sprayed or left unspread. The challenge is to make it.

The problems of the present invention are solved by the following technical means.
The invention according to claim 1 is a spraying work vehicle that travels on a farm field and performs control work while spraying a medicine from a large number of nozzles 4 provided on a spraying boom 5 that extends from the vehicle body 1B to the left and right. A left spraying boom 5L disposed on the left side of the vehicle body, a right spraying boom 5R disposed on the right side of the vehicle body, and a front spraying boom 5C disposed between the left spraying boom 5L and the right spraying boom 5R.
The left spraying boom 5L includes a left swirl spraying boom 5BL that is turnably attached to the vehicle body, and a left extension spraying boom 5SL that is extendably supported by the left swirl spraying boom 5BL. 5R is composed of a right turning spraying boom 5BR attached to the vehicle body so as to be turnable, and a right extension spraying boom 5SR supported by the right turning spraying boom 5BR in a telescopic manner.
A receiving antenna 50 for receiving a signal from a GPS satellite is provided on the left outermost side of the left extension spreading boom 5SL and the right outermost side of the right extension spreading boom 5SR, and the movement locus of the receiving antenna 50 is included in the control device 9. Stored in the EEPROM 41C of the storage unit 41,
A display operation panel 11 for displaying input from an operator and a spraying state of the scattering work vehicle is provided, and the display operation panel 11 is disposed on the left outermost side of the sprayed region, the scattering work vehicle, and the left extension spraying boom 5SL. Display the position of the receiving antenna 50 provided and the position of the receiving antenna 50 provided on the right outermost side of the right extension spreading boom 5SR,
When spraying work is performed using two spraying work vehicles in the same field, both the spraying work vehicles A1 and B1 share the sprayed area with the communication function, and the other sprayed work area and the spraying work vehicle with each other. Display the position of
When the preceding spray work vehicle B1 makes a U-turn to the left side, the sprayed area is BE2, and the subsequent spray work vehicle A1 makes a U-turn to the right and sprays the right side of the preceding spray work vehicle B1. The position of the receiving antenna 50 provided on the right outermost side of the right extended spreading boom 5SR of the subsequent spreading work vehicle A1 is aligned with the end of the scattered area AE1 spread by the spreading work vehicle A1 before the U-turn,
The position of the receiving antenna 50 provided at the left outermost side of the left extension spraying boom 5SL of the succeeding spraying work vehicle A1 is aligned with the end of the sprayed region BE2 sprayed after the U-turn by the preceding spraying work vehicle B1 . Is a method of spraying a spreading work vehicle by extending and retracting the left extension spraying boom 5SL.

According to a second aspect of the present invention, when the display changeover switch 85 is provided in the two scatter work vehicles A1 and B1, and the display changeover switch 85 is operated, the display on the display operation panel 11 is displayed on both the scatter work vehicles A1 and B1. Scattered area, positions of both spreading work vehicles A1, B1, position of the receiving antenna 50 provided on the left outermost side of the left extended spreading boom 5SL, and reception provided on the right outermost side of the right extended spreading boom 5SR The spraying method for the spraying work vehicle according to claim 1, wherein the display is switched to the display of the position of the antenna 50.

Delete

Delete

In the first aspect of the invention, in order to know the outermost side of the spraying range from the position of the receiving antenna 50 and set the outermost side of the spraying liquid spraying range as the next spraying start position, Without spraying, spray liquid and fertilizer can be effectively sprayed onto the field without waste. Moreover, the efficiency in the case of performing a spraying operation using two spraying work vehicles in the same field is improved. Also, the end of the spraying completed area BE2 the spray work vehicle B1 was sprayed after the U-turn of the preceding align the receiving antenna 50 provided at the left outermost extension spraying boom 5SL left spraying work vehicle A1 of the trailing Since the left extension spraying boom 5SL is extended and contracted, it is not necessary to move the machine body and spraying can be started quickly.

According to the second aspect of the present invention, in addition to the effect of the first aspect, when the display changeover switch 85 is operated, the display of the display operation panel 11 is switched.

Delete

It is a side view of a spreading work vehicle. It is a top view of a spreading work vehicle. It is a front view which shows the 1st attitude | position at the time of a dispersion | spreading work vehicle spraying. It is a front view which shows the 2nd attitude | position at the time of a dispersion | spreading work vehicle spraying. It is a block diagram which shows an example of a spraying liquid supply system. It is a control block diagram of a control apparatus. It is a control block diagram of a GPS receiving part. It is a front view of an operation panel. It is the figure which looked at the right spreading boom from the driver's seat side. It is a sectional side view of a right spreading boom. It is a front view of the operation panel at the time of spraying work.

DESCRIPTION OF EMBODIMENTS Embodiments (embodiments) for carrying out the present invention will be described in detail with reference to the drawings.
In the following description, the left and right directions in the forward direction of the spreading work vehicle are referred to as left and right, respectively, the forward direction is referred to as front, and the reverse direction is referred to as rear.

The spray liquid refers to a liquid such as a liquid obtained by dissolving fertilizers, agricultural chemicals and the like in a solvent (for example, water) and a liquid (for example, water) containing solids such as fertilizers and agricultural chemicals.
FIG. 1 is a side view of a scattering work vehicle according to the present embodiment. FIG. 2 is a plan view of the scattering work vehicle according to the present embodiment. The spreading work vehicle 1 is a working vehicle that travels with power generated by a power generation source and spreads spray liquid on a field. The spreading work vehicle 1 is a spreading work in which a vehicle body 1B, an internal combustion engine (for example, a diesel engine or a gasoline engine) 2 mounted on the vehicle body 1B, and power generated by the power generation source are transmitted to the ground G. It includes front wheels 3FL, 3FR and rear wheels 3RL, 3RR for driving the vehicle 1. The output of the internal combustion engine 2 is input to the hydraulic pump 2P. The hydraulic pump 2P is driven by the internal combustion engine 2 and discharges hydraulic oil for driving the hydraulic equipment.

The front wheels 3FL, 3FR and the rear wheels 3RL, 3RR are attached to and support the vehicle body 1B. A hydraulic motor 3M is attached to each of the front wheels 3FL, 3FR and the rear wheels 3RL, 3RR. Further, as will be described later, the front wheels 3FL and 3FR are steering wheels of the scattering work vehicle 1. Thus, the vehicle body 1B has a steering wheel and a drive wheel. The hydraulic motor 3M is rotated by the hydraulic oil discharged from the hydraulic pump 2P, and rotates the front wheels 3FL, 3FR and the rear wheels 3RL, 3RR. With such a structure, the power of the internal combustion engine 2 is transmitted to the ground G, and the scattering work vehicle 1 is caused to travel. 1 shows a state in which the hydraulic motor 3M is attached to the front wheel 3FL and the rear wheel 3RL, but the hydraulic motor 3M is similarly attached to the front wheel 3FR and the rear wheel 3RR.

In this embodiment, the spreading work vehicle 1 transmits the power of the internal combustion engine 2 to the front wheels 3FL, 3FR and the rear wheels 3RL, 3RR via the hydraulic pump 2P and the hydraulic motor 3M. May be transmitted to the front wheels 3FL, 3FR and the rear wheels 3RL, 3RR. In this case, a hydraulic continuously variable transmission (HST) is provided between the internal combustion engine 2 and the transmission, and the power from the internal combustion engine 2 is input to the variable hydraulic pump of the hydraulic continuously variable transmission (HST). Then, the power output from the fixed hydraulic motor of the hydraulic continuously variable transmission (HST) is input to the transmission, and the power is transmitted to the front wheels 3FL, 3FR and the rear wheels 3RL, 3RR via the auxiliary transmission in the transmission. May be.

The spraying work vehicle 1 includes a plurality of nozzles 4 for spraying spray liquid, and a left spraying boom 5L, a right spraying boom 5R, and a front spraying boom as a pair of spraying booms to which the plurality of nozzles 4 are attached and support them. 5C. The left spreading boom 5L is arranged on the left side in the front-rear direction of the spreading work vehicle 1, and the right spreading boom 5R is arranged on the right side in the front-rear direction of the spreading work vehicle 1. Thus, the left spraying boom 5L and the right spraying boom 5R are a pair of spraying booms provided on both sides with respect to the front-rear direction of the vehicle body 1B of the spraying work vehicle 1.

The front spraying boom 5C is disposed on the traveling direction side of the spraying work vehicle 1 and between the left spraying boom 5L and the right spraying boom 5R. The left spraying boom 5L, the right spraying boom 5R, and the front spraying boom 5C each have a plurality of nozzles 4. In the present embodiment, the plurality of nozzles 4 have spray ports for spraying the spray liquid facing the ground G. However, the direction of the spray ports is not limited to this, and the spray nozzle is a spray target of the spray liquid. It can be adjusted accordingly.

The left spraying boom 5L includes a swirl spraying boom 5BL attached to the spraying work vehicle 1 so as to be able to swivel, and an extended spraying boom 5SL supported by the swirl spraying boom 5BL so as to extend and contract.
Similarly to the left spraying boom 5L, the right spraying boom 5R includes a swirl spraying boom 5BR that is turnably attached to the spraying work vehicle 1, and an extended spraying boom 5SR that is supported by the swirl spraying boom 5BR so as to be extendable and contractible. As shown in FIG. 2, the left spraying boom 5 </ b> L and the right spraying boom 5 </ b> R are folded on both sides with respect to the longitudinal direction of the vehicle body 1 </ b> B of the spraying work vehicle 1 when spraying liquid is not sprayed in the field. A reception antenna 50 is provided at the upper ends of the extended spreading boom 5SL and the extended spreading boom 5SR to receive radio waves transmitted from a plurality of GPS satellites SG1 and SG2. The GPS receiving unit 10 including the receiving antenna 50 will be described later.

At the time of spraying the spray liquid, the left spray boom 5L and the right spray boom 5R both turn toward the front of the spray work vehicle 1 to a position substantially parallel to the front spray boom 5C (indicated by an arrow R in FIG. 2). Direction). In FIG. 2, the left spraying boom 5L and the right spraying boom 5R turn in the direction indicated by the arrow R in FIG. At this position, the left spreading boom 5L and the right spreading boom 5R are fixed to the spreading work vehicle 1. Then, since the left spraying boom 5L, the right spraying boom 5R, and the front spraying boom 5C are arranged on a substantially straight line, the plurality of nozzles 4 attached thereto are also arranged on a substantially straight line.

In addition, the spray work vehicle 1 has independent angles between the left spray boom 5L or the right spray boom 5R and a reference plane (for example, a plane or a horizontal plane including the axles of the front wheels 3FL, 3FR and the rear wheels 3RL, 3RR). Can be adjusted. Since the spreading work vehicle 1 can adjust the distance between the left spreading boom 5L or the right spreading boom 5R and the right spreading boom 5R by adjusting the angle between the left spreading boom 5L or the right spreading boom 5R and the reference plane, The distance between the left crop and the left spraying boom 5L or the right spraying boom 5R can also be adjusted.

9 and 10 show the telescopic structure of the right spraying boom 5R. Since the left spreading boom 5L has a symmetrical structure with the right spreading boom 5R, description thereof is omitted.
A right support guide 17R, to which a right extension spraying boom 5SR is attached, is slidably mounted by a plurality of upper rollers 19A and lower rollers 19B on a right turn spraying boom 5BR whose base is pivotally supported by the vehicle body 1B. A sprocket 33S is fixed to an output shaft of a right slide motor 34R attached to a motor bracket 35R provided on the base of the right turning spraying boom 5BR, and a connecting chain 22C is wound around the sprocket 33S, and an upper part of the right support guide 17R is attached. A connecting wire 22W connected to the connecting chain 22C is wound around a pulley pulley 18P pivotally attached to a pulley bracket 18R2 provided on the front end side. In other words, the driven pulley 33P and the sprocket 33S are connected in a loop shape with the connecting chain 22C and the connecting wire 22W.

Therefore, when the right slide motor 34R is driven, the right extension spraying boom 5SR slides and expands and contracts with respect to the right support guide 17R via the connection bracket 18R1 to which the connection wire 22W is attached.

A right hose guide 36R is stretched on the upper side of the connecting chain 22C on the right guide struts 20R1 and 20R2 erected at the base and tip of the right support guide 17R, and the right flexible hose 23ER wound in a coil shape is suspended and supported. Yes.

If an assist motor for driving the driven pulley 33P is provided in the pulley bracket 18R2, the slide of the right extension spraying boom 5SR becomes smoother.
The spreading work vehicle 1 includes a left vertical actuator 12L as a left spraying boom height adjusting device and a right vertical actuator 12R as a right spraying boom height adjusting device on both the traveling direction side and the front-rear direction of the vehicle body 1B. And equipped. Further, the spreading work vehicle 1 is equipped with a left opening / closing actuator 13L as a left spreading boom opening / closing device and a right opening / closing actuator 13R as a right spreading boom opening / closing device on both the traveling direction side and the front-rear direction of the vehicle body 1B. doing. The left up / down actuator 12L, the right up / down actuator 12R, the left opening / closing actuator 13L, and the right opening / closing actuator 13R are, for example, a hydraulic cylinder or an air cylinder.

The scattering work vehicle 1 has a horizontal valve 14 mounted on the front side of the vehicle body 1B. The horizontal valve 14 adjusts an angle formed by the left spraying boom 5L, the right spraying boom 5R, the front spraying boom 5C, and a predetermined plane of the vehicle body 1B (for example, a plane including the axles of the front wheels 3FL, 3FR and the rear wheels 3RL, 3RR). It is a device to do. For example, when the scatter work vehicle 1 is spraying on the field, the scatter work vehicle 1 is tilted with respect to the farming surface of the field (the surface of the part where the crop is planted in the field). The spreading boom 5L, the right spreading boom 5R, and the front spreading boom 5C may be inclined with respect to the field. In this case, the horizontal valve 14 adjusts the angle between the left spraying boom 5L, the right spraying boom 5R, the front spraying boom 5C, and the predetermined plane of the vehicle body 1B, and the left spraying boom 5L, the right spraying boom 5R, and the front spraying boom. 5C and the planting surface should be parallel. By doing in this way, even if the spreading work vehicle 1 inclines with respect to the planting surface, the distance between the crop and the nozzle 4 can be kept substantially constant.

The spreading work vehicle 1 is equipped with a boom stroke sensor 95, a link angular velocity sensor 96, and a link inclination sensor 97 on the front side of the vehicle body 1B. Further, the scattering work vehicle 1 is equipped with a boom angle right sensor 98R and a boom angle left sensor 98L on the left and right sides in front of the vehicle body 1B, and further, a boom open / close right sensor 99R and a boom open / close left sensor 99L. .

The boom stroke sensor 95 detects the lengths of the left spraying boom 5L and the right spraying boom 5R. The link angular velocity sensor 96 detects the angular velocity of the link that attaches the left spraying boom 5L, the right spraying boom 5R, and the front spraying boom 5C to the vehicle body 1B.

The link inclination sensor 97 detects the inclination with respect to the horizontal plane of the link that attaches the left spraying boom 5L, the right spraying boom 5R, and the front spraying boom 5C to the vehicle body 1B. The boom angle right sensor 98R detects the inclination angle of the right spreading boom 5R with respect to the reference plane, and the boom angle left sensor 98L detects the inclination angle of the left spreading boom 5L with respect to the reference plane.

The boom opening / closing right sensor 99R detects whether the right spraying boom 5R is closed or open, and the boom opening / closing left sensor 99L detects whether the left spraying boom 5L is closed or open. The boom stroke sensor 95, the link angular velocity sensor 96, the link tilt sensor 97, the boom angle right sensor 98R, the boom angle left sensor 98L, the boom open / close right sensor 99R, and the boom open / close left sensor 99L are electrically connected to a control device 9 described later. Has been. The control device 9 acquires values detected by these sensors and uses them to control the scattering work vehicle 1.

The spreading work vehicle 1 includes a control device 9, a display / operation panel 11, a vehicle speed sensor 90 as speed detecting means for detecting a speed (vehicle speed or vehicle speed) at which the spreading work vehicle 1 travels, and a steering angle of a steered wheel. And a steering angle sensor 91 as a steering angle detection means for detecting.

The control device 9 controls the spraying work vehicle 1, for example, obtains an entry position when the spraying work vehicle 1 enters the region where the spraying liquid on the field is sprayed based on information obtained from the GPS receiver 10, or the nozzle 4. The supply amount of sprayed liquid sprayed from is controlled or the internal combustion engine 2 is controlled.

The display / operation panel 11 receives input from an operator, displays the operating conditions of the scatter work vehicle 1, and displays the state of the scatter work vehicle 1. The control device 9 and the display / operation panel 11 will be described later.

The vehicle speed sensor 90 detects the speed (vehicle speed) of the scattering work vehicle 1 from, for example, the rotational speed of the front wheels 3FL, 3FR, the rear wheels 3RL, 3RR or the rotation of gears in the transmission. The steering angle sensor 91 detects the steering angle of the front wheels 3FL and 3FR from the rotation angle of the handle 7. That is, in the scatter work vehicle 1, the front wheels 3FL and 3FR are the steering wheels.

FIG. 3 and FIG. 4 are front views showing the postures of the spraying vehicle when spraying the spray liquid. FIG. 3 shows a state where the extension spraying booms 5SL and 5SR are not extended from the turning spraying booms 5BL and 5BR shown in FIG. FIG. 4 shows a state in which the extension spraying booms 5SL and 5SR are extended from the turning spraying booms 5BL and 5BR. In any state, the spreading work vehicle 1 on the ground G is configured to dispense the spray liquid from the plurality of nozzles 4 in a state where the left spraying boom 5L, the right spraying boom 5R, and the front spraying boom 5C are arranged in a substantially straight line. Scatter. That is, the spraying work vehicle 1 sprays spray liquid from the plurality of nozzles 4 with the left spraying boom 5L and the right spraying boom 5R opened to the left and right. In addition, the spreading work vehicle 1 exists between the state in which the left spreading boom 5L and the right spreading boom 5R provided on both sides in the front-rear direction of the vehicle body 1B are housed in the vehicle body 1B and the state in which they are opened to the left and right. Even in the state, the spray liquid can be sprayed from the plurality of nozzles 4.

As shown in FIG. 4, when the extension spray booms 5SL and 5SR extend from the swing spray booms 5BL and 5BR, respectively, the distance between the tip of the left spray boom 5L and the tip of the right spray boom 5R is the same as that of the extension spray booms 5SL and 5SR. It becomes larger than the case where it does not stretch. The boom stroke sensor 95 determines the distance between the base of the left spraying boom 5L (the connection part with the front spraying boom 5C) and the tip and the distance between the base of the right spraying boom 5R (the connection part with the front spraying boom 5C) and the tip. To detect.

As described above, the distance that the extension spray booms 5SL, 5SR extend from the swirl spray booms 5BL, 5BR can be adjusted steplessly or stepwise, and the swirl spray booms 5BL, 5BR and the extension spray booms 5SL can be adjusted. It is comprised so that supply of the spraying liquid to the nozzle which exists in the turning spraying boom 5BL and 5BR side of the part which 5SR overlaps can be interrupted | blocked. As such a configuration, for example, each nozzle of the swirling spray booms 5BL and 5BR is provided with a switching cock, and a switching member for operating switching of the switching cock is disposed outside the machine, and the extension spraying booms 5SL and 5SR side. An operating piece is provided in As such a configuration, the cock can be switched by contacting the switching cock when the extended spreading booms 5SL and 5SR are moved back and forth. With such a structure, the spreading work vehicle 1 can adjust the width (spreading width) for spraying the spray liquid in accordance with the spray area of the spray liquid in the field.

Further, the spraying work vehicle 1 can spray the spray liquid by selecting a nozzle that sprays the spray liquid from the plurality of nozzles 4. Thus, the spreading work vehicle 1 can cope with various spraying conditions of the spray liquid by adjusting the spray width of the spray liquid and the number and position of the nozzles for spraying the spray liquid.

Next, the spray liquid supply system 8 will be described.
FIG. 5 is a configuration diagram illustrating an example of a spray liquid supply system included in the spray work vehicle according to the present embodiment. The spray work vehicle 1 has a spray liquid supply system 8. The spray liquid supply system 8 is a system that supplies spray liquid to the plurality of nozzles 4. The spray liquid supply system 8 includes a tank 20, a water supply hose 21, a water discharge hose 22, a spray hose 23, a stirring hose 24, a residual water hose 25, a water supply cock 26, a pump 27, a filter 28, A flow control valve 29, a branch device 30, a safety valve 31, a pressure sensor 92, a flow sensor 93, and a valve opening sensor 94 are included. In the following, “water” includes spray liquid.

The tank 20 stores the chemical liquid sprayed by the nozzle 4. The water supply hose 21 is a pipe for guiding the sprayed liquid in the tank 20 from the tank 20 through the filter 28 to the pump 27. The water discharge hose 22 is a pipe for guiding the spray liquid from the pump 27 to the branch device 30. The spray hose 23 is a pipe for guiding spray liquid from the branch device 30 to the left spray boom 5L, the right spray boom 5R, and the front spray boom 5C. The spray hose 23 for guiding the spray liquid to the plurality of nozzles 4 attached to the extension spray boom 5SL of the left spray boom 5L and the extension spray boom 5SR of the right spray boom 5R has flexible hoses 23EL and 23ER, respectively. .

With such a structure, the flexible hoses 23EL and 23ER allow the movement of the extended spreading booms 5SL and 5SR even when the extended spreading booms 5SL and 5SR expand and contract. The stirring hose 24 is a pipe for constantly flowing a spray liquid at a predetermined flow rate into the tank 20 in order to stir the chemical liquid in the tank 20. The stirring hose 24 branches from the water discharge hose 22 and is connected to the tank 20. The surplus water hose 25 is a pipe for returning the spray liquid that has not been used for spraying and stirring to the tank 20.

The water supply cock 26 is provided between the tank 20 and the filter 28 and is used to stop water supply from the tank 20 when the filter 28 is exchanged, cleaned, or the like. The filter 28 removes dust and the like from the spray liquid in the tank 20. The pump 27 sucks the sprayed liquid that has passed through the filter 28, pressurizes it, and discharges it toward the flow rate control valve 29 via the water discharge hose 22. The flow rate control valve 29 is a device that adjusts the flow rate of the spray liquid flowing to the branching device 30 and is controlled by the control device 9 shown in FIGS. 1 and 2. The branching device 30 branches the sprayed liquid sent from the flow control valve 29 to the three spraying hoses 23, and a plurality of nozzles 4 respectively included in the left spraying boom 5L, the right spraying boom 5R, and the front spraying boom 5C. Supply spray liquid to.

A right spray cock 32L, a left spray cock 32R, and a third spray cock 32C are provided on the outlet side of the branching device 30. The right spray cock 32L is disposed between the branch device 30 and the nozzle 4 of the left spray boom 5L, and switches between supply and non-supply of spray liquid from the branch device 30 to the nozzle 4 of the left spray boom 5L. The left spray cock 32R is disposed between the branch device 30 and the nozzle 4 of the right spray boom 5R, and switches between supply and non-supply of spray liquid from the branch device 30 to the nozzle 4 of the right spray boom 5R. The third spray cock 32C is disposed between the branch device 30 and the nozzle 4 of the front spray boom 5C, and switches between supply and non-supply of spray liquid from the branch device 30 to the nozzle 4 of the front spray boom 5C.

The right spreading cock 32L, the left spreading cock 32R, and the third spreading cock 32C may be a system in which an operator directly opens and closes them, or an actuator opens and closes them. The right spray cock 32L, the left spray cock 32R, and the third spray cock 32C are provided with an open / close sensor for detecting these states (closed or open). The output of the sensor is acquired, and the states of the right spray cock 32L, the left spray cock 32R, and the third spray cock 32C are grasped. The safety valve 31 is a device for returning the spray liquid to the tank 20 and suppressing the pressure increase of the spray liquid in the water discharge hose 22 when the pressure of the spray liquid in the water discharge hose 22 increases excessively.

The flow sensor 93 is provided between the flow control valve 29 and the branch device 30. The flow rate sensor 93 detects the flow rate of the sprayed liquid flowing into the branch device 30, that is, the flow rate of the sprayed liquid sprayed from the nozzle 4, and transmits it to the control device 9 shown in FIGS. 1 and 2. The pressure sensor 92 is provided in the branch device 30. The pressure sensor 92 detects the pressure of the spray liquid sent to the spray hose 23 and transmits it to the control device 9 shown in FIGS. The valve opening sensor 94 is provided in the flow control valve 29. The valve opening sensor 94 detects the opening of the flow control valve 29 and transmits it to the control device 9 shown in FIGS. The control device 9 controls the pump 27 and the flow rate control valve 29 based on the information detected by the pressure sensor 92, the flow rate sensor 93, and the valve opening degree sensor 94 to adjust the flow rate of the sprayed liquid.

Next, the control device 9 will be described.
FIG. 6 is a schematic diagram illustrating a configuration example of a control device included in the scattering work vehicle 1 according to the present embodiment.

The control device 9 includes a control processor 40, a storage unit 41, input interfaces 42a to 42q, an input / output interface 43, and output interfaces 44a to 44n. The control processor 40 is an arithmetic device (hardware) that operates software in a computer, and has a function of interpreting and executing instructions of a computer program.

The control processor 40 controls the entire spray work vehicle 1 by interpreting and executing instructions of a computer program for controlling the internal combustion engine 2 and the spray liquid supply system 8 of the spray work vehicle 1. In addition, the control processor 40 controls the raising and lowering and opening / closing of the left spraying boom 5L and the right spraying boom 5R, and controls the inclination of the left spraying boom 5L, the right spraying boom 5R, and the front spraying boom 5C. It also functions as a control unit. In this case, the control processor 40 interprets and executes the instructions of the computer program in which the instructions for realizing the control of the operations of the left spraying boom 5L, the right spraying boom 5R, and the front spraying boom 5C are executed, thereby executing the above-described operation. The functions of the control unit are realized.

The storage unit 41 includes a RAM (Random Access Memory) 41A, a ROM (Read Only Memory) 41B, and an EEPROM (Electrically Erasable Programmable Read Only Memory) 41C. The RAM 41A is a volatile memory whose stored contents are lost when the supply of power is cut off, and the ROM 41B and the EEPROM 41C are non-volatile memories that retain the stored contents without supplying power. The EEPROM 41C can electrically erase stored contents and store new information. The storage unit 41 stores a computer program and data for realizing the control of the scattering work vehicle 1 and a computer program and data for realizing a function as a scattering control device.

In the present embodiment, the ROM 41B stores a computer program and the like, and the EEPROM 41C stores data and the like obtained during the operation of the control device 9. The RAM 41A expands the computer program stored in the ROM 41B during the operation of the control device 9.

The input interfaces 42a to 42q are a telescopic switch 88, a steering angle sensor 91, a pump switch 81, a vehicle speed sensor 90, a pressure sensor 92, a flow rate sensor 93, a valve opening sensor 94, a setting switch 82, a boom stroke sensor 95, and a link, respectively. An angular velocity sensor 96, a link tilt sensor 97, a boom angle right sensor 98R, a boom angle left sensor 98L, a boom opening / closing right sensor 99R, and a boom opening / closing left sensor 99L are connected. The input interfaces 42 a to 42 q convert information input to the input interface 42 a to 42 q into a form that can be used by the control processor 40 and inputs the converted information to the control processor 40.

The input / output interface 43 is connected to the transmission / reception circuit 56 of the GPS receiver 10. As will be described later, the GPS receiver 10 generates a GPS vehicle speed Vg. The transmission / reception circuit 56 transmits the GPS vehicle speed Vg to the input / output interface 43, and receives a command from the control processor 40 via the input / output interface 43. The input / output interface 43 is interposed between the GPS receiver 10 and the control processor 40 so that information can be exchanged between them.

The output interfaces 44a, 44c to 44m are respectively a flow control motor 29M, a pump 27, a buzzer 83, a display unit 11D, a horizontal valve 14, a right up / down actuator 12R, a left up / down actuator 12L, a right open / close actuator 13R, a left open / close actuator 13L, Connected to the right telescopic actuator 15R and the left telescopic actuator 15L. The output interface 44n is connected to the entire lifting / lowering actuator 16. The flow control motor 29M is a device for adjusting the valve opening degree of the flow control valve 29 shown in FIG.

The output interface 44b converts the information generated by the control processor 40 for switching the rotation direction of the flow control motor 29M into a motor rotation direction switching output RD and outputs the motor rotation direction switching output RD. The rotation direction of the flow control motor 29M is switched by a motor rotation direction switching output RD.

The output interfaces 44a to 44m provide commands for controlling the flow rate control motor 29M generated by the control processor 40, the pump 27, the right up / down actuator 12R, the left up / down actuator 12L, the entire up / down actuator 16 and the like. Convert to usable form and output.

The spray work vehicle 1 controls the spray amount of the spray liquid in conjunction with the vehicle speed. Such control is referred to as vehicle speed-linked spray control. The control processor 40 implements vehicle speed-linked spraying control using an arithmetic expression using the flow rate of sprayed liquid sprayed from all the nozzles 4 (spraying amount per unit time) as a parameter. That is, the control processor 40 sprays the spray liquid in conjunction with the vehicle speed of the spray work vehicle 1 based on the spray condition of the spray liquid.

From the display / operation panel 11, the operator uses the nozzle constant (spray amount L / min per nozzle at a spray pressure of 10 kgf / cm 2), spray pressure (kgf / cm 2), and target spray amount per 10 ares (L / 10a). The processor 40 for control calculates the setting pressure of the spray liquid sent to the spray hose 23 shown in FIG. 5 using the vehicle speed of the spray work vehicle 1 and the target spray amount. And the processor 40 for control adjusts the quantity of the spraying liquid supplied to the spraying hose 23 so that it may become the calculated setting pressure. The amount of the spray liquid is adjusted by the control processor 40 by driving the flow control motor 29M and adjusting the opening degree of the flow control valve 29. Here, the vehicle speed of the scattering work vehicle 1 is the vehicle speed of the scattering work vehicle 1 generated by the GPS receiver 10 or the vehicle speed of the scattering work vehicle 1 detected by the vehicle speed sensor 90.

Next, the GPS receiving unit 10 will be described.
FIG. 7 is a schematic diagram illustrating a configuration example of a GPS receiver included in the scattering work vehicle according to the present embodiment. The GPS receiver 10 outputs information (position information) on the position of the receiving antenna 50, GPS vehicle speed Vg, and the like based on radio waves received from a plurality of GPS satellites SG1, SG2, and the like. The GPS receiver 10 is provided right next to the driver's seat 6 and includes a reception circuit 51, a signal processing circuit 52, a clock circuit 53, a memory 54, a GPS processor 55, and a transmission / reception circuit 56.

The receiving antenna 50 is provided at the distal ends of the left and right extended spreading boom 5SL and the extended spreading boom 5SR of the spreading work vehicle 1, and receives radio waves transmitted from a plurality of GPS satellites SG1, SG2, and the like. The receiving circuit 51 is connected to the receiving antenna 50, and converts radio waves transmitted by the GPS satellites SG1, SG2, etc. received by the receiving antenna 50 into electrical signals. The signal processing circuit 52 converts the electrical signal output from the receiving circuit 51 into a form that can be used by the GPS processor 55 and outputs the converted signal. The clock circuit 53 measures the time and inputs it to the GPS processor 55. The memory 54 stores data necessary for the processing of the GPS processor 55 and develops a computer program necessary for the processing of the GPS processor 55.

The GPS processor 55 calculates information about the position of the receiving antenna 50 and the position of the vehicle body 1 </ b> B based on the radio waves transmitted by the plurality of GPS satellites SG <b> 1 and SG <b> 2 and outputs the information to the transmission / reception circuit 56. Further, the GPS processor 55 calculates the speed of the GPS receiving unit 10 based on the information on the position of the GPS receiving unit 10, and outputs it to the transmission / reception circuit 56. Since the GPS receiving unit 10 is mounted on the scattering work vehicle 1, the information about the position of the GPS receiving unit 10 is information (position information) regarding the position of the scattering working vehicle 1. Moreover, the said speed is the vehicle speed of the spreading work vehicle 1 obtained based on the radio wave of GPS satellite SG1, SG2, and this is the GPS vehicle speed Vg mentioned above.

The transmission / reception circuit 56 is connected to the control processor 40 included in the control device 9 via the input / output interface 43 of the control device 9. The transmission / reception circuit 56 outputs the position information obtained by the GPS processor 55 to the control processor 40 via the input / output interface 43 of the control device 9. The control processor 40 controls the scattering work vehicle 1 or transmits a data change request to the GPS receiver 10 using the position information. Note that the GPS vehicle speed Vg may be obtained based on the position information obtained from the GPS receiver 10 by the control processor 40 of the control device 9.

FIG. 8 is a schematic diagram illustrating an example of an operation panel included in the scattering work vehicle according to the present embodiment. The display / operation panel 11 includes a display unit 11D, a manual switch 80, a pump switch 81, a setting switch 82, a cumulative reset switch 87, a display changeover switch 85, an automatic switch 86, and a telescopic switch 88. . The display unit 11D displays the approach position, which is obtained by the control processor 40 shown in FIG. 6 and enters the area where the spraying vehicle 1 sprays the spray liquid on the field. In addition, the display unit 11 </ b> D displays information related to the field where the spraying work vehicle 1 sprays the sprayed liquid, information related to the sprayed liquid to be sprayed, information related to the operating state of the spraying work vehicle 1, and the like. Examples of the information on the field include the position and area of the field. Information on the latter includes, for example, the type of spray liquid, the spray amount, the set value (set pressure) of the discharge pressure of the pump 27 shown in FIG. 5, the cumulative value of sprayed spray liquid, and the like. Further, the display unit 11D displays an indicator of the current position and the entry position of the spraying work vehicle 1 when the spraying work vehicle 1 is performing a chemical solution spraying operation in the field. By doing in this way, display part 11D guides an operator's operation. As the display unit 11D, for example, a liquid crystal display, an organic EL display, or the like can be used.

The manual switch 80 is an input unit that is operated when the operator changes the spraying condition of the spraying liquid or adjusts the spraying width in the spraying of the spraying liquid. When the manual switch 80 is operated, the control device 9 shown in FIG. 6 sets the setting switch 82 to accept the change of the spraying condition or the adjustment of the spraying width. The pump switch 81 is an input means for starting the pump 27 shown in FIG. When the pump switch 81 is operated, the pump 27 is activated, and the spraying of the spray liquid is started by operating the right spray cock 32L, the left spray cock 32R, and the third spray cock 32C to the open side.

The setting switch 82 is an input means for inputting spraying conditions for the spray liquid. The setting switch 82 has a setting of a spray amount setting switch 82A for setting the spray amount of the spray liquid, a pressure setting switch 82B for setting the discharge pressure of the pump 27, and an increase / decrease switch 82C for increasing / decreasing the set value. And a confirmation switch 82D for confirmation. The total reset switch 87 is an input unit used when resetting the total amount of sprayed sprayed liquid.

The display changeover switch 85 is an input unit used when switching information displayed on the display unit 11D. The automatic switch 86 is an input means that is operated when the spray liquid is automatically sprayed under the set spray conditions in spraying the spray liquid. When the automatic switch 86 is operated so as to be turned on while the airframe is stopped, the pump 27 is driven (pump switch 81 is turned off). When the right spray cock 32L, the left spray cock 32R, and the third spray cock 32C are operated to the open side, preparation for automatic spraying is completed.

Even when the right spray cock 32L, the left spray cock 32R, and the third spray cock 32C are operated to the open side, the spray clutch is not sprayed because the electromagnetic clutch integrated with the pump 27 is OFF. When the traveling state of the airframe is detected from the vehicle speed sensor, the electromagnetic clutch integrated with the pump 27 is turned on, and the spray amount is adjusted to be uniform based on the information from the vehicle speed sensor and automatically sprayed. In the traveling stop state, the spraying is automatically stopped. The manual switch 80 may not be provided. In this case, manual spraying is performed when the automatic switch 80 is turned off.

The telescopic switch 88 is a switch for expanding and contracting the left spraying boom 5L and the right spraying boom 5R. The expansion / contraction switch 88 includes a first expansion / contraction switch 88L and a second expansion / contraction switch 88R. The first telescopic switch 88L extends and contracts the left spraying boom 5L, and the second telescopic switch 88R extends and contracts the right spraying boom 5R.

FIG. 11 is a display in which the display unit 11D of the display / operation panel 11 is switched from the state shown in FIG. 8, in the case where the spraying work is performed with two spraying work vehicles A1 and B1 on the same field. B1 shares information on controlled fields with a communication function.

The spreading work vehicle A1 proceeds while making a right U-turn from the left side, and the scattering work vehicle B1 proceeds while making a left U-turn from the right side. When the right spraying work vehicle B1 moves from the spraying area BE1 to the spraying area BE2, and the left spraying work vehicle A1 moves from the spraying area AE1 to the spraying area AE2, the left spraying work vehicle A1 is moved to the upper right corner of the controlled field AE1 ( The position of the right receiving antenna 50 is aligned with the position of the right receiving antenna 50 at the end of spraying), and the left receiving antenna 50 is positioned so that the position of the left receiving antenna 50 is the upper left corner of the controlled field BE2 of the right spraying work vehicle B1. The extended spray boom 5SL is expanded and contracted to determine the spray area AE2. The alignment of the right receiving antenna 50 is determined in consideration of the spray area of the nozzle 4.

When the right spraying work vehicle B1 reaches the end of the field, the left spraying work vehicle A1 is spraying the remaining field, and thus the spraying work is finished.

A1 Subsequent spraying work vehicle B1 Preceding spraying work vehicle AE1 Sprayed region BE1 Sprayed region BE2 Sprayed region SG1, SG2 GPS satellite 1B Car body 4 Nozzle 5 Spraying boom 5C Front spraying boom 5L Left spraying boom 5R Right spraying boom 5BL Left turning spraying boom 5SL Left extension spreading boom 5BR Right turning spraying boom 5SR Right extension spreading boom 9 Control device 11 Display operation panel 41 Storage unit 41C EEPROM
50 Receiving antenna 85 Display selector switch

Claims (2)

In a spraying work vehicle that travels on a farm field and performs control work while spraying medicine from a number of nozzles (4) provided on a spraying boom (5) that extends from the vehicle body (1B) to the left and right, the spraying boom (5) Left spray boom (5L) disposed on the left side of the vehicle body, right spray boom (5R) disposed on the right side of the vehicle body, and front spray boom disposed between the left spray boom (5L) and the right spray boom (5R) (5C)
The left spraying boom (5L) includes a left turning spraying boom (5BL) attached to the vehicle body so as to be turnable, and a left extension spraying boom (5SL) supported by the left turning spraying boom (5BL) in a telescopic manner. The right spraying boom (5R) comprises a right swirl spraying boom (5BR) attached to the vehicle body so as to be capable of swiveling, and a right extended spraying boom supported by the right swirl spraying boom (5BR) in a telescopic manner. (5SR)
A receiving antenna (50) for receiving a signal from a GPS satellite is provided on the left outermost side of the left extension spreading boom (5SL) and on the right outermost side of the right extension spreading boom (5SR), and the receiving antenna (50) The movement trajectory is stored in the EEPROM (41C) of the storage unit (41) included in the control device (9),
A display operation panel (11) for receiving input from an operator and displaying a spraying state of the spray work vehicle is provided, and the display operation panel (11) includes a sprayed area, a spray work vehicle, and a left extension spray boom (5SL). ) Display the position of the receiving antenna (50) provided on the left outermost side and the receiving antenna (50) provided on the right outermost side of the right extension spreading boom (5SR),
When spraying work using two spraying vehicles in the same field, the two spraying vehicles (A1, B1) share the sprayed region with the communication function and spray the other sprayed region with each other. Display the position of the work vehicle,
The sprayed area after the preceding spreading work vehicle (B1) makes a U-turn to the left is set to (BE2), and the succeeding spreading work vehicle (A1) makes a U-turn to the right and the preceding spreading work vehicle (B1). When spraying the right side of the rear spreading work vehicle (A1) to the end of the sprayed area (AE1) sprayed before the U-turn, the right extension spreading boom (5SR) ) The position of the receiving antenna (50) provided on the right outermost side of
At the end of the sprayed area (BE2) sprayed after the U-turn by the preceding spraying work vehicle (B1), it is provided at the left outermost side of the left extended spraying boom (5SL) of the succeeding spraying work vehicle (A1). The position of the receiving antenna (50) is a method of spraying a scattering work vehicle by extending and contracting the left extension spraying boom (5SL). When the display changeover switch (85) is provided on the two spraying work vehicles (A1, B1) and the display changeover switch (85) is operated, the display on the display operation panel (11) is displayed on both the spraying work vehicles (A1, B1). , The positions of the two spreading work vehicles (A1, B1), the position of the receiving antenna (50) provided on the left outermost side of the left extension spreading boom (5SL), and the right extension spreading boom (5SR) the method of spraying spraying work vehicle according to claim 1, characterized in that switching to a display of the position of the receiving antenna (50) provided on the right outermost).

Images