JPH03174267A - Self-traveling chemical spraying carriage - Google Patents

Abstract

PURPOSE:To smoothly and excellently spray a chemical by electrically detecting a stopping member set on a traveling path by a stop position detecting means when the carriage reaches the stop position on the traveling path to stop the carriage. CONSTITUTION:The traveling speed of the spraying carriage is changed by a speed change means S6 to high, medium speed, etc., by switching. The traveling speed is kept constant by the constant traveling speed keeping means consisting of a microcomputer 51, a driving motor control circuit 59, etc. Furthermore, the stopping member set on the traveling path is electrically detected by stop position detecting means 65F and 65R fixed in the traveling direction of the carriage when the cart reaches the stop position, and the carriage is stopped. Consequently, a chemical is smoothly and excellently sprayed.

Description

DETAILED DESCRIPTION OF THE INVENTION [Industrial Application Field] The present invention relates to the improvement of a self-propelled chemical spraying vehicle suitable for controlling pests and diseases in greenhouses and the like for cultivating crops such as vegetables and fruits.

[Prior Art] In recent years, greenhouse cultivation has become larger and more concentrated, and crops such as vegetables are grown regardless of the season.

However, in greenhouse cultivation, in a closed, densely planted cultivation environment, the resistance of the crops themselves is weaker than in open field cultivation, making pest control extremely important and requiring frequent cutting. . There is a strong desire for unmanned pest control work in the sealed house so that the workers themselves can avoid the adverse effects of chemicals. For this reason,
Recently, a vehicle has been developed that sprays chemicals while driving an unmanned vehicle along the ridges inside a greenhouse. As this chemical spraying vehicle, for example, one disclosed in Japanese Utility Model Publication No. 1-11333 has been developed. The structure can be roughly divided into a metal running path installed in a direction perpendicular to the longitudinal direction of multiple ridges in the house, a trolley that moves back and forth on this running path, and a soft passageway that descends from the trolley. and a chemical spraying vehicle which, when it advances to a predetermined position, starts moving backward and rides on the truck, and the truck has a chemical spraying vehicle that moves to the next softness when the chemical spraying vehicle rides on the truck. On the chemical spraying vehicle side, there is a spreading vehicle driving mechanism that switches between forward and backward movement on a soft path, and a dispersing mechanism that sprays the chemical while the spreading vehicle is moving. When spraying chemicals, the trolley is
When it moves back and forth on the running path from one end to the other and reaches the front of the soft passageway, the chemical spraying vehicle gets off the cart, moves forward along the passageway, and attaches the chemical spraying vehicle to a stake planted at the end of the passageway. When the switch is pressed, the drive mechanism of the spraying vehicle is switched to the reverse side, and the spraying vehicle starts moving backwards.The chemical is sprayed while the chemical spraying vehicle is moving forward and backward, and after the spraying vehicle is finished, it moves back to the trolley again. The structure is such that it rides on the soft surface and moves to the next soft mass.

Furthermore, Japanese Utility Model Application Publication No. 1-73032 also shows the configuration of a self-propelled chemical spraying vehicle that sprays chemicals, and this spraying vehicle also has bumper-type switch members attached to the front and rear of the vehicle chassis. When the vehicle reaches the end of the ridge, a switch member installed on the front side of the chassis hits a pre-set resistor and is pushed in. The switch is switched and the electric motor reverses, automatically starting the spreading vehicle. to move backwards. When a switch on the rear side of the chassis hits a stake installed at the starting point, the chassis will automatically stop, and the spray nozzle will spray the chemical while the chassis completes the journey. ing.

[Problem to be solved by the invention]

The chemical spraying vehicle with the above structure can spray chemicals on crops by driving unmanned without requiring human hands, improving work efficiency, and also freeing up personnel for other tasks as human hands are no longer required. Although it is very convenient to use, it has the following problems.

(1) It is difficult for each of the above-mentioned chemical spray vehicles to change the amount of chemical sprayed depending on the type of crop or planting, and to change the amount of counter-spraying, for example, it is necessary to use a spray nozzle with a different diameter. There was a problem that the spray amount could not be easily changed due to the need to replace the battery or change the spray pressure. (2) When using a battery as the drive source for a chemical spray vehicle, When the working voltage changes due to load fluctuations, etc., the running speed of the chemical spraying vehicle changes automatically, which poses a problem in that the chemical cannot be uniformly sprayed. Furthermore, since the amount of the chemical used is not constant, there is a problem that the chemical may run out during spraying, making it difficult to spray the chemical smoothly.

(3) When the chemical spraying vehicle is traveling, a structure in which pits, etc. are planted at the starting point and end of the travel path, and the chemical spraying vehicle is pressed against the piles to switch from forward to reverse or to stop backward movement. Therefore, when moving the chemical spraying vehicle to the next level, the piles become a hindrance, and it takes considerable effort to change the chemical spraying vehicle's level and direction. could not be handled. In particular, Jikko 1-113
In the case of the method described in Publication No. 33, when changing the ridges of the chemical spraying vehicle, it is necessary to separately install a special running path made of metal in the direction orthogonal to the soft material in advance, which increases the installation cost and increases the cost. This may result in poor footing for work such as shipping crops, which may reduce work efficiency. Furthermore, the structure is such that the chemical spraying vehicle can be pressed against a pile to switch from forward to reverse or stop backward movement, but due to inertia, it is difficult to stop the chemical spraying vehicle suddenly, and if the spraying vehicle is pressed against a pile, it will cause considerable damage. It was necessary to increase the mechanical strength because it would be subject to the impact force of

(4) If someone is inadvertently in the path of the spraying vehicle during the chemical spraying operation or while the chemical spraying vehicle is running, no measures shall be taken to automatically stop the spraying vehicle and the spraying of the chemical. Because the vehicle was not properly protected, there was a risk of a collision or drug exposure. Furthermore, if an unexpected problem occurs during unmanned driving or spraying chemicals, it is necessary to go to the chemical spraying vehicle and manually operate the switch on the spraying vehicle.

(5) In addition, if the sprayer vehicle runs over an enemy or the like while spraying the chemical, there is no means to immediately stop the vehicle from running and spraying the chemical, so there is no risk of the vehicle falling over. Completely unmanned spraying was recommended, as there was a risk of damaging the crops and greenhouse facilities, or damaging the spraying vehicle itself.

(6) If the spray nozzle or spray tube gets caught on crops, etc. and breaks while spraying chemicals, the chemicals may spray out abnormally, causing major damage to the crops or facilities, or the chemicals may be sprayed out in vain. There was also the problem.

(7) In addition, if the chemical spraying vehicle stops running due to battery exhaustion or an obstacle, etc., while spraying the chemical,
There is a problem that the spraying of chemicals is still carried out, which not only wastes the chemicals but also causes excessive spraying of the chemicals, which is uneconomical and may have a negative impact on crops.

In view of the various problems mentioned above, it is an object of the present invention to make it possible to switch the running speed of a chemical spraying vehicle in multiple stages, and to change the battery voltage when the battery voltage is within a range in which the spraying vehicle can travel. This enables the chemical spraying vehicle to run at a constant speed without being affected by changes in the chemical spraying process, thereby ensuring uniformity of the amount of chemical sprayed.In addition, in the event that any trouble occurs during chemical spraying, the chemical spraying vehicle will be able to run at a constant speed and the chemical will be immediately stopped. To provide a self-propelled chemical spraying vehicle capable of smoothly and efficiently performing chemical spraying work on greenhouse-grown crops by stopping the spraying of chemicals, thereby eliminating the harmful effects associated with unmanned chemical spraying.

[Means to solve the problem]

The present invention includes an electric motor for driving the cart to move the cart forward and backward, a drum for winding a drug supply hose connected to a power sprayer outside the house, and a drum mounted vertically on the front side of the cart. A self-propelled chemical spray vehicle is equipped with a spray pipe connected to a chemical supply hose via an electric valve, and a plurality of spray nozzles attached at predetermined intervals in the height direction of the spray pipe. Alternatively, the chemical spraying vehicle further includes a means for driving and controlling the chemical spraying vehicle, that is, a control means for switching the traveling speed of the chemical spraying vehicle in multiple stages or causing it to travel at a constant speed;
At the same time as the chemical spraying vehicle is driven, the electric valve is opened to spray the chemical, and when the chemical spraying vehicle stops, means for immediately stopping the spraying operation, and a means for detecting the presence of a person in the direction of the chemical spraying vehicle. If the chemical spraying vehicle is tilted at a certain angle while driving, or if the spray pipe collides with a cultivated plant etc. and breaks during spraying, or if the chemical spraying vehicle means for immediately stopping the running of the chemical spraying vehicle and discontinuing the chemical spraying operation if the running speed of the spraying vehicle suddenly decreases from the set speed due to battery exhaustion or obstacles, etc. while driving; When the chemical spraying vehicle is moved to the next ridge, etc., casters provided on the trolley are extended to automatically lift one side of the chemical dispersing vehicle, and a means is provided for rotating the moving direction of the chemical dispersing vehicle. ,
Each of these means is driven and controlled by a control device equipped with a 1-chip microcomputer.

[Function] When spraying a chemical, the present invention sets the operating conditions of the chemical spraying vehicle in advance using a control device.For example, the driving speed of the chemical spraying vehicle and the chemical spraying mode are set, and then When automatic operation is performed, the chemical spraying vehicle opens the electric valve and starts spraying as soon as the chemical spraying vehicle is running, and at the point where the chemical spraying vehicle has advanced a certain distance, a stop position detection means is installed in advance on the driving path. By detecting a running stop member such as a magnet, the spraying vehicle immediately stops and stops spraying the chemical, and at the moment the spraying is interrupted, conditions are set such that, for example, no chemical spraying will be performed on the return trip. If the chemical spraying vehicle is set to immediately move backward, return at high speed to a predetermined position on the return trip where the traveling stop member is installed, and stop, and if it is also set to spray on the return trip, , While spraying the chemical and also winding the chemical supply hose around the drum (when the spraying vehicle moves backwards, all hoses are automatically wound around the drum), the chemical spraying vehicle automatically returns to the stop position on the return trip. move backwards. When the chemical spraying vehicle is moved from the ridge where it has been sprayed to the next soft spot, the casters are automatically fed out from the bottom of the vehicle toward the ground surface based on a command from the control device, and the front wheels of the vehicle are used as fulcrums to move the vehicle back. With the wheel side lifted (after the chemical spraying vehicle was changed direction using the casters and moved to the next soft spot using the three-wheeled Fi), the chemical was sprayed again, and an accident occurred during this chemical spraying. For example, when there are people on the route of the chemical spraying vehicle, or when the spraying vehicle runs over a ridge or the like and tilts beyond the set angle,
If the spray pipe breaks or the battery runs out, a sensor installed in the chemical spraying vehicle will immediately detect this situation and will issue a command from the control device to stop the spraying vehicle and stop spraying the chemical. is set to .

As described above, in the present invention, by selecting the running speed of the chemical spraying vehicle, the amount of chemical spraying can be substantially changed, and if an unexpected situation occurs during the chemical spraying operation, The chemical spraying vehicle can be stopped and the spraying operation can be stopped immediately, making the chemical spraying process smoother.

It has features that allow it to be carried out successfully and safely.

〔Example〕

Embodiments of the present invention will be described below with reference to FIGS. 1 to 9.

First, the outline of the chemical spraying device will be explained with reference to FIGS. 1 to 7.

In FIG. 2, numeral 2 denotes a self-propelled chemical spraying vehicle of the present invention, and 2 is its truck, to which an electric motor M for driving the spraying vehicle 1 is attached. As shown in FIG. 4, the electric motor M connects a rotor shaft m and a drive shaft 3 which is horizontally mounted on a central member in the longitudinal direction of the truck 2 and is perpendicular to the longitudinal direction thereof, using a chain, a timing belt, etc. The drive shaft 3 and the axles 4 and 5 suspended at the front and rear portions of the truck 2 are further connected to each other by a drive connection member at+am similar to the above. By doing so, the truck 2 is moved forward and backward using the front wheels 6 and rear wheels 7 attached to the axles 4 and 5. The driving electric motor M is supplied with driving power by a battery 58 mounted on the front side of the truck 2 and is driven. Reference numeral 8 denotes a support frame which is constructed in a substantially rectangular shape on the trolley 2, and as shown in FIG. A drum support frame 11 rotatably supports a take-up drum (hereinafter simply referred to as a drum) 10, and a drum support frame 11 that rotatably supports a take-up drum (hereinafter simply referred to as drum) 10 is further provided on the rear (right side in FIG. 2) side of the truck 2. The rear handles I2 are integrally formed into a frame. The drum 10 is shown in FIGS. 2 and 6.
As shown in the figure, attach the hose winding shaft 13 to the drum side plate 14.14.
The support tube 15 and the support shaft 15a extended outside a,
The hose winding mechanism X of the drum 10, which is rotatably attached to the drum support frame 11 by being inserted and supported by the bearing member 16 on the drum support frame 11, and the hose winding mechanism A schematic structure of the hose alignment winding mechanism Y for aligning and winding the drug supply hose 17 will be explained with reference to FIGS. 6 and 7.

First, the hose winding mechanism X of the drum 10 is, for example,
As shown in FIG. 6, a hub 19 is fixed via a key 18 to a support shaft 15a extending to one side of the drum side plate 14a, and a drive clamped by friction plates 20 and 20 is attached to the hub 19. The plate 21 is fitted, and this driving plate 21 is connected to the pressing plate 2.
2. By pressing the drive plate 21 toward the drum side 114a with the tightening nut 24 screwed onto the end of the hub 19 via the disk spring 23, the drive plate 21 is moved to II! The torque limiter 41 rotates together with the hub 19 while being held under pressure by the friction material 20.20.
Configure. On the other hand, a hose joint member 25 is disposed inside the hose winding shaft 13 with a watertight structure, and one end of the hose joint member 25 is provided to protrude above the hose winding shaft 13. A tip of a drug supply hose 17 whose base end is connected to a power sprayer (not shown) is fitted into a portion of the member 25 that protrudes from the hose winding shaft 13 . Further, the other end of the hose joint member 25 located inside the hose winding shaft 13 is
The medicine supply pipe 34a is inserted into the support cylinder 15 of the drum 10 in a watertight manner through the bearing 13a, and is screwed into the bearing 13a in communication with the medicine supply pipe 34a. It extends without cooperating with the drum lO, and is connected to an electric valve Vw mounted on the drum support frame 11, as shown in FIG. The drum 1° is rotated by drive coupling between the drive plate 21 attached to the hub 19 and the drive shaft 3 by a drive connection member a4. When the chemical spraying vehicle l moves forward, the drum 10 rotates without requiring any driving force from the electric motor M due to the action of the dowel catcher 41 disposed on the end side of the drive shaft 3. The supply hose 17 is pulled out from the drum, and when moving backward, it is rotated by the drive of the electric motor M, and the chemical spray vehicle l
The drug supply hose 17 is wound up with a length proportional to the traveling distance.

Next, the hose alignment and winding mechanism Y for aligning and winding the drug supply hose 17 around the drum 10 is installed on the trolley 2 at the rear (right side in FIG. 2) of the drum 10, and its schematic structure is shown in FIG. 3. And as shown in FIG. 7, support plates 26 and 26 are formed at the ends of the cart 2 in the width direction so as to face each other,
Between these support plates 26 and 26, a guide bar 27 is rotatably mounted horizontally, for example, a round bar or the like, with spiral grooves 27a formed alternately in the right and left directions and in an endless shape, like the spiral of a NAVIA. A hose alignment tool 28, which has a through hole 28a in the lower part of which the drug supply hose 17 is loosely fitted, is screwed onto the guide rod 27. By engaging the locking rod 29 installed between the supports 126 and 26 in the notched groove, the hose alignment tool 28 can be horizontally moved along the guide rod 27 without co-rotating with the guide rod 27. installed on. A drive plate 27 is fixed to a protruding end of the guide rod 27 protruding from one support plate 26.
b and a drive plate 19a fixed to the end of the hub 19 of the drum 1o shown in FIG. 28 reciprocates on the guide rod 27 along the spiral groove 27a, so that the drug supply hose 17 can be wound around the drum 10 in alignment and unwound without getting entangled.

Next, the mounting structure of the spray pipe 30 located on the front handle 9 side of the support frame 8 will be explained with reference to FIG. It is fixed vertically by a mounting support 32 attached to the object to be covered 31, and the motor-operated valve Vw is used in cases where, for example, the spray tube 3o breaks and the amount or pressure of the medicine to be discharged becomes larger than the set value. If they are different, they are connected by a hose member 34 via a detection sensor 33 that detects this, such as a flow rate sensor or a pressure sensor. And the spray pipe 30
A plurality of drug spray nozzles 30a are installed in multiple stages in the height direction with the spray nozzles 30a positioned in opposite directions.

Reference numeral 35 is an electric caster caster attached to the rear wheel 7 side of the truck 2, and one end is pivoted to the electric cylinder VK attached to the truck 2 side and the piston 36 of this electric cylinder 8 (see Fig. 4). The other end of the caster 3 is attached to the end of a link plate 38 which is pivotally supported on a support shaft 37 that protrudes to the rear side of the truck 2.
5 is attached rotatably, and the piston 36 is an electric cylinder■
, the caster 35 is raised above the ground surface P as shown by the solid line in FIG.
When the wheel 6 is protruded, the link plate 38 is configured to lower the rear wheel 7 as shown by the two-dot chain line. In addition, the caster 35 is an electric cylinder ■,
Although the embodiment has been described in which the foot-operated jack is attached to the trolley 2, and the jack is equipped with casters, the caster may be moved up and down by the force of the jack.

In FIG. 2, reference numeral 39 denotes a braking member provided on the truck 2 in close proximity to the peripheral edge of the side plate of the drum 10, and is operated by a solenoid S. Further, 50 is a control device for the chemical spraying vehicle 1 attached to the rear side of the upper surface of the covered body 31, and 40 is an operating section thereof (see Fig. 8@).

Next, the configuration of the control device 50 will be explained with reference to FIG. 9. The control device 50 of the present invention can be roughly divided into an L-chip microcomputer (hereinafter referred to as a microcomputer) 51, and a switch circuit 52 connected to the input end side of the microcomputer 51 for operating the chemical spray vehicle 1. , various sensor circuits 53, and an initialization circuit 54 of the microcomputer 51.
, a relay circuit 55 connected to the output end side of the microcomputer 51 , a display circuit 56 that displays the operating status of the switch circuit 52 , and an electric motor 1 for driving the chemical spray vehicle 1 .
1M, a solenoid S7 that applies braking force to the drum 10 via the braking member 39, an electric valve V1 that opens and closes the drug supply path 34a, an electric cylinder v that moves the casters 35 laterally.
A battery 58 for supplying driving power to each of K.
a power supply circuit 57 comprising: a drive motor control circuit 59 for controlling the drive motor M to a preset rotational speed; and a battery voltage detection circuit 60 for detecting the battery voltage of the 1ts circuit 57. , a reference voltage setting circuit 61 for generating a reference voltage for controlling the drive motor M.
It consists of a microcomputer 51 and each of the circuits 51 to 57.
59 to 61 are connected to the constant voltage power supply device AV from the power supply circuit 57.
Constant voltage voltage stepped down and stabilized by H @ V c
c are supplied respectively.

Next, detailed configurations of each of the circuits will be explained.

First, the switch circuit 52 is equipped with various momentary switches for operating the chemical spraying vehicle 1, including a power switch S1, a drive switch S2 for the chemical spraying vehicle 1, and a stop/stop switch. a switch S, and a forward and reverse switch S-, which causes the spreading vehicle l to move forward and backward.
Ss and the running speed of the spreading vehicle l, for example, "high speed",
A speed changeover switch S that switches between three modes, "medium speed" and "low speed", and a chemical spraying mode, such as when the chemical spraying vehicle l moves forward and backward, and when it sprays only when moving forward or backward. A spraying mode setting switch S that can be set in four stages: spraying and not spraying at all; and a sensor activation switch S for operating a human body detection sensor to be described later.
, and a caster switch S that operates the casters 35.
, and each of the switches Sl-39[ has one end connected to the constant voltage voltage 1111 Vcc of the power supply circuit 57, and the other end connected to the input $1.
~I individually connected.

The sensor circuit 53 is attached to the front and rear of the drug spraying vehicle 1, and when there is a person on the road, it detects infrared rays emitted from the human body and sends the detection signal to the input terminal 11°+I11 of the microcomputer 51. , for example, human body detection sensors 62F and 62R consisting of pyroelectric infrared sensors, and the scattering vehicle 1.
If the vehicle is tilted at a predetermined angle (approximately 25 degrees) due to running over a vehicle 80 or the like while running, this will be detected and the detection signal will be sent to the input terminal of the microcomputer 51! , fall avoidance sensor 6
3A (for example, a ball functioning as a movable contact that is removably accommodated in a container may separate from the fixed contact due to the tilt of the chemical spray vehicle l and close the energizing circuit of the sensor 63A, or the mercury switch may be turned on) The sensor is configured to transmit a detection signal by closing the sensor circuit in reverse.

), and a traveling stop member 64 (for example, a magnet, as shown in FIG. ) and sends the detection signal to the input terminal 1 of the microcomputer 51.
1! Stop position detection sensor 65 sending out to l + 13
F, 65R, and the drive shaft 3 or axle 4 of the truck 2
, 5, etc., detects the rotation speed of the drive shaft 3, etc., and inputs the detection signal to the microcomputer 51.
It is configured by a rotation detection sensor 66 (in this example, it is attached to the axle 4 as shown in FIG. 4), which sends out to I + s, and is composed of, for example, a rotary encoder or an optical sensor equipped with a light emitting element and a light receiving element. and each of these sensors 62F, 62R, 65F, and 65R.

Type 66 is connected to the constant voltage power supply Vcc of the i source circuit 57.

The initialization circuit 54 is a circuit for initializing the microcomputer 51 by supplying a constant voltage power supply Vcc, and its output terminal is connected to the input terminal I0 of the microcomputer 51.

In addition, the detection sensor 33 whose output end is connected to the input end 1□ of the microcomputer 51 has the spray pipe 3o folded, for example,
It outputs a signal that detects a change in the amount or pressure of medicine to be ejected.

Next, a relay circuit 55 connected to the output end side of the microcomputer 51
and the display circuit 56 will be explained.

The relay circuit 55 includes an electric motor M connected to the power supply circuit 57.
, solenoid SL, electric valve v,,': 4-motion cylinder ■,
Each letter! A relay that opens and closes the @ path is connected to the output end side of the microcomputer 51, and as shown in FIG. It is a forward relay that switches the energizing circuit of the motor M, and Xt is its contact, and the microcomputer 51
The relay X connected to the output terminal 0 is a backward relay that switches the energizing circuit of the electric motor M to the direction in which the spreading vehicle 1 moves backward, and X is its contact, and the outputs 50 and 03 of the microcomputer 51
The relay X1 connected to is a brake relay provided to release the brake from being applied to the motor M when the power to the motor M is cut off, and between the contact X of the motor M and the relay , the normally open contact X1 of the brake relay X5 is inserted and connected.

The relay X connected to the output terminal 04 is a starting relay that starts the solenoid S that stops the inertial rotation of the drum 10 when the spreading wheel 1 stops, and the contact point of the starting relay inserted into the energizing circuit of the solenoid St. The relay X vo connected to the output terminal ○ is a relay that switches the energizing circuit of the electric valve ■ in the direction in which the electric valve V yu is opened, and the relay X 1 . is an electric valve ■. The energizing circuit is an electric valve■
. This is a closing relay that switches the motor-operated valve V in the direction of closing. Xo, which is inserted and connected to the energizing circuit of , indicates the contact of the intervening relay
An electric cylinder V drives the caster 35.

relay X connected to the output end OI,
is a return relay that switches the energizing circuit of the electric cylinder 5 in the direction of returning the cylinder vk to its original position, Xl inserted and connected to the energizing circuit of the electric cylinder V is a contact point of the steering relay is the contact point of return relay Xke. Each of the relay groups is connected to a constant voltage power supply Vcc of a power supply circuit 57.

The display circuit 56 receives the output #io of the microcomputer 51. ~O8,
The light emitting diodes 1 to 1 to L+x are connected individually to each other, and the light emitting diodes L, to L, indicate the running speed of the chemical spray vehicle l (L4 lights on "high speed", L1 lights on "high speed").
"Medium speed", L8 lights up "Low speed"), and the remaining capacity of the battery 58 is checked (if L to L4 lights up, it indicates that it can be used, and as the battery 58 is consumed, the light emitting diode L1
~L, go out one by one, and in this example, when the two light emitting diodes L, L, and L no longer light up, the battery 5
8) is set to display the charging time. Also, light emitting diode L? indicates the on display of the power switch SL, L indicates the operation switch S*, L? is sensor (human body) activation switch Ss + Liar L++
, Spraying mode setting switch S, L, electric cylinder V
, respectively.Furthermore, in the figure, an on (lighting up) display is performed while the chemical spray vehicle l is moving forward, and in B, when the battery 58 reaches the charging time, or when the human body detection sensor 62F, 62R and fall avoidance sensor 63A
This is a buzzer that issues an alarm when the spray pipe 30 is activated, when the spray pipe 30 is broken, or when the chemical spray vehicle 1 suddenly stops while traveling due to abnormal consumption of the battery 58 or an obstacle, etc. Output terminal of microcomputer 51 0°+01
2 are individually connected to each other.

Next, the drive motor control circuit 59 includes two common emitter transistors Q1. Q! and one differential amplifier 67
The base of the transistor Q is the microcomputer 51.
The collector is connected to the constant voltage power supply VCC via the resistor R3, and the transistor Q
The base of transistor Q!2 is connected to the connection point between the collector of transistor Q and resistor R1, and the base of transistor Q! The collector of is connected to the drive motor M, and is also connected to the battery 58 of the power supply circuit 57 via the diode D.

Furthermore, the differential amplifier 67 connects the inverting input terminal to the transistor Q.
is connected to the collector of , via a resistor R, and connected to the output terminal of the differential amplifier 67 via a resistor R3,
The non-inverting input terminal is connected to the battery 58 via a grounding resistor R4 and a resistor R, and the differential amplifier 6
The output terminal 7 is connected, for example, to the input terminal A of the 4-bit A/D converter 6, and the terminal voltage of the driving motor M is input thereto.

The drive motor control circuit 59 includes a differential amplifier 67
The drive motor M is sent from the A/D converter 68 through the A/D converter 68
The transistors Q, ,Q,
The driving motor M is driven by controlling the conduction period of the motor.

The battery voltage detection circuit 60 is constructed by inserting resistors Rh and R in series between the terminals of the battery 58 of the power supply circuit 57, and connects the connection end of the resistors R4 and R1 to the A/D converter 6.
The voltage of the battery 58 is divided and output by connecting to the input terminal A8 of the battery 58.

Further, the reference voltage setting circuit 61 is connected between the constant voltage power supply V- and the ground, and outputs a reference voltage set to correspond to the traveling speed of the chemical spraying vehicle 1 as "high", "medium", or "low". The output terminal thereof is connected to the input terminal A of the A/D converter 68, and the reference voltage is inputted to the input fiA.

The output terminal DI-D4 of the A/D converter 68 has the input terminals A, ~A, connected to the drive motor control circuit 59, the battery voltage detection circuit 60, and the reference voltage setting circuit 61.
is the microcomputer 510 input terminal I! 4 to 11 are connected,
The input voltages (analog signals) input from each of the circuits 59 to 61 are converted into 4-bit digital signals and output to the microcomputer 51. The microcomputer 5 compares the terminal voltage of the drive motor M with the reference voltage of the reference voltage setting circuit 6I and outputs a pulse width modulation signal from the output @O1.

The microcomputer 51 is programmed with, for example, the following control sequence for driving and controlling the chemical spraying vehicle 1.

■ Setting driving commands for the chemical spraying vehicle 1 Commands for forward, backward, and stop (control) for the chemical spraying vehicle 1, automatic and manual operation commands for the chemical spraying vehicle 1, slow start command, and non-spraying of chemical when reversing. Command for high-speed return (return to the starting point) in the case ■ Setting the speed command for chemical spraying vehicle 1 Set the traveling speed of chemical spraying vehicle 1 to "high speed" or "medium speed (approximately 80% of high speed)" , 3-step command of "low speed (approximately 60% of the speed of high speed)" Setting of chemical spraying mode Command to spray the chemical only when the chemical spraying vehicle is moving forward or backward, forward or backward, and when not driving Medication failure command ■ Battery remaining capacity check function Every time the voltage of the battery 58 drops by, for example, 2V,
Function to output pressure reduction commands sequentially over 6 stages ■ Function to avoid overturning of chemical spraying vehicle l When the chemical spraying vehicle l tilts at a predetermined angle while traveling, the overturning avoidance sensor 63A detects this and prevents the spraying vehicle l from traveling. Commands to stop and stop spraying chemicals, and a command to issue an alarm buzzer B ■ Human body detection function If there is a person on the travel path 90 while the chemical spraying vehicle 10 is running, the human body detection sensors 62F and 62R will detect this and the spraying will start. Commands to stop the vehicle running and stop spraying chemicals, as well as warning buzzers
Command to issue B ■ Spray tube 30 breakage detection function If the spray tube 30 breaks while the chemical spray vehicle l is running, the detection sensor 33 that detects changes in the amount or pressure of the chemical discharged will detect this. , a command to emit an alarm buzzer B, a command to stop the running of the chemical sprayer 111, and a command to stop the chemical spraying ■ Stop function due to voltage drop of the battery 58, etc. While the chemical spraying vehicle 1 is running, the voltage of the battery 58 may become too high. or when the running speed of the spraying vehicle 1 is restrained by an obstacle and the running speed rapidly decreases compared to the set speed, the rotation sensor 66 detects this and the running of the chemical spraying vehicle 1 is stopped. Commands to stop and spray chemicals, and a command to issue an alarm buzzer B, and when the vehicle itself stops running due to the above situation, a command to stop spraying chemicals and issue an alarm. The slow start at the start of operation in step 1 is programmed in the microcomputer 51 so that even if the travel speed is set in advance, the drive always starts in the order of "low speed" → "delivery" → "high speed". is set.

In addition, the program is set in advance in the microcomputer 51 so that high-speed running when returning (reversing) can be performed in the order of "low → medium → high" at the start and in between. be.

Furthermore, when operating the chemical spraying vehicle 1, when predetermined switches attached to the operating section 4° are turned on, the light-emitting diodes L, ~L, and light-emitting diode L corresponding to the turned-on switches can be displayed by lighting up. Preliminary microcomputer 5
The program is set to 1.

Further, the microcomputer 51 is programmed with timer functions associated with various operating conditions of the chemical spray vehicle 1, such as slow start and braking time.

Next, the operation will be explained.

Prior to spraying chemicals in the greenhouse, the chemical spraying vehicle 1 is positioned on the running path between the ridges 80 and the ridges 80, as shown in FIG. After installing the stop member (magnet) 64 and confirming that the drug supply hose 17 wound around the drum 10 is in contact with the power sprayer (not shown) outside the house, the drug spraying vehicle 1 is connected. For example, depending on the crops to be sprayed with chemicals, the running speed of the spraying vehicle 1 may be set to "high speed" by turning on or off the switches on the operation unit 40 according to the operating conditions of the spraying vehicle 1.
In addition, when setting the chemical spraying mode so that the spraying vehicle 1 spreads both forward and backward, turn on the power switch S of the operation unit 40 (t , v lights up), then turn on the spreading mode setting switch S until the "reciprocating" display (Ll, Let lights up), and at the same time turn the speed selector switch S to "high speed".
Perform the charging operation until the display (Ll lights up),
Set the chemical spray vehicle l to run at "high speed". or,
If there is a person on the travel path 90, the human body detection sensor 62F,
The sensor activation switch SI1 is turned on (L, lit) so that the sensor 62R can detect this and forcibly stop the spreading vehicle 1.

After setting the operation start state of the chemical spraying vehicle l in this way, the operation switch s2 of the operation section 40 is turned on (
Ll and L are lit), and by turning on the operation switch S□, the chemical spraying vehicle l moves along the running path 9 between the ridge 8° and the ridge 80.
0 along the ridge 8o, and the electric valve V@ is simultaneously opened to start spraying the medicine from the spray nozzle 30a of the spray pipe 30. All of these operations, as mentioned above,
This is automatically performed according to a control sequence of a program set in the microcomputer 51.

That is, when the operation switch St is turned on, the output terminals 01, 03 . Contacts X, .

As a result, the energizing circuit of the electric motor M is switched in the direction of moving the chemical spray vehicle 1 forward, the driving electric motor M is activated, and the chemical spray vehicle 1 starts traveling (forward). When the spreading vehicle 1 is started, a program is set by the microcomputer 51 so that the running speed starts slowly in the order of "low" → "medium" → "high" and gradually speeds up to a predetermined set value. Therefore, the corresponding pulse width modulation signal is the output 13fi of the microcomputer 51.

from the drive motor control amount 859 to the drive motor 11.
Since M is sent out and the drive is controlled, there is no sudden start. The chemical spraying vehicle 1 starts traveling at a predetermined set value (high speed) after a certain period of time has elapsed from the start of traveling. That is,
The microcomputer 51 is programmed in advance so that the chemical spray vehicle 1 runs under various setting conditions (high speed, medium speed, low speed), and the A/D converter 68 is programmed with a drive motor control circuit 59. A reference voltage is inputted from the reference voltage setting circuit 61 so that the terminal voltage of the electric motor M from 1 to 20 satisfies each setting condition of the microcomputer 51, and this is converted into a digital signal and inputted to the microcomputer 51. Now, when the travel setting value of the chemical spray vehicle L is set to "high speed" and the operation switch S is turned on, the "high speed" command set in the program from the microcomputer 51 is sent from the output terminal O1 of the microcomputer 51. The signal is output to the drive motor control circuit 59, and the drive motor M operates at high speed. Further, from the it+lI control circuit 59, the terminal voltage during high-speed running is inputted to the A/D converter 68, which is converted into a digital signal and inputted to the microcomputer 51. The microcomputer 51 inputs the terminal voltage of the electric motor M, The pulse width modulation signal is controlled to be sent from the output terminal O so that the terminal voltage of the drive motor M is always constant by comparing it with the reference voltage of the reference voltage setting circuit 61. For example, when the voltage of the battery 5B decreases, the terminal voltage of the drive motor M decreases, and the digital signal from the A/D converter 68 becomes "high speed".
The signal is inputted to the microcomputer 51 as a lower signal than the set value. This input signal is the setting 11! programmed into the microcomputer 51! (high speed), the terminal voltage is lower, so a pulse width modulation signal is output from the output terminal O9 of the microcomputer 51 to widen the ON time of the transistor Q, and the terminal voltage is controlled to be constant. are doing.

Therefore, the value input to the microcomputer 51 via the drive motor M→A/D converter 68 and the reference voltage setting circuit 6i→A
If the value input to the microcomputer 51 via the /D converter 68 is the same as the value programmed in the microcomputer 5I for high-speed J travel (for example, if the battery 58 is new) When the voltage of the pantry 58 is the highest usable voltage (such as immediately after charging, or conversely, when the voltage of the pantry 58 is close to the lowest voltage in the usable range), the output terminal of the microcomputer 51 ○ outputs a signal to the drive motor control circuit 59 to correct the rotational speed of the electric drive @M so that the chemical spray vehicle l can run at "high speed", and turns on and off the transistor Q2 of the circuit 59. A control method for maintaining the terminal voltage of the so-called drive motor M at a voltage corresponding to "high speed" running of the microcomputer 51, that is, P
The rotational speed of the driving electric motor M is quickly adjusted to the chemical spray vehicle 1 by performing WM control (a method of changing the time width without changing the pulse amplitude according to the amplitude of the input modulated signal wave).
The vehicle is returned to the "high speed" running state or raised to maintain the "high speed" running state. The driving electric motor M
When the drive is controlled by the motor control circuit 59 using the PWM control method, as long as the voltage of the battery 58 is higher than the lowest voltage within the usage range, even if the voltage changes due to load fluctuations, the chemical spray vehicle l will be activated. It is possible to perform constant speed running at a speed set in advance by the microcomputer 51.

At the same time that the chemical spraying vehicle 1 starts running, the contact point X is connected by the relay XVO. into ON@, and the electric valve v
The energizing circuit of w is switched in the direction in which the valve port of electric valve Vw I opens. As a result, the medicine is supplied from the medicine supply hose 17 connected to a power sprayer (not shown) and wound around the drum 10 to the spray pipe 30 via the medicine supply pipe 34a → electric valves vl and l → water hose material 34. is sprayed from the spray nozzle 30a attached to the spray pipe 30 toward the cultivated crops at the same time as the chemical spray vehicle l moves. Further, when the chemical spraying vehicle 1 starts moving (forward), a detection circuit (not shown) of the stop position detection sensor 65F attached to the front part of the spraying vehicle 1 is turned ON in response to a command from the microcomputer 51. car 1
The detection circuit of the stop position detection sensor 65R attached to the rear side of the vehicle is OFF). Further, by starting the driving electric motor M, the chemical spraying vehicle l is driven forward by the drive connecting members a1 to a2 by the rotational force of the electric motor M, and the drum 10 mounted on the trolley 2 is moved forward by the driving connecting member a4. The medicine supply hose 17 is rotated in the direction of unwinding, and the hose 17 is smoothly unwound so as not to interfere with the medicine spraying. When rewinding the drug supply hose 170, the hose winding mechanism X and the hose alignment winding mechanism Y of the drum 10 are connected to the drive connecting member a.
, so that the rotation of the drum 10 causes the hose aligning tool 28 of the hose aligning and winding machine TLY to move left and right along the guide rod 27, thereby opening the through hole 28a of the hose aligning tool 28. As described above, the drug supply hose 17 inserted through the drug supply hose 17 can be rewound while being guided by the hose aligner 28, so that the drug supply hoses 17 may become entangled while the drug dispersion vehicle 1 is moving. It will not interfere with dispersion.

The chemical spraying vehicle 1 moves forward while spraying the chemical along the ridges 80, and the stop position detection sensor 65F attached to the front side of the chemical spraying vehicle 1 is installed at the stop position of the chemical spraying vehicle 1. When detecting the magnetism of the running stop member 64, for example, a magnet, the detection signal is immediately input to the microcomputer 51, and the microcomputer 51 outputs a stop signal from its output @O7, and releases the excitation of the forward relay X. The starting relay X□ is energized by the signal output from the output terminal 04.

As the forward relay X is deactivated, its contact x1 returns to the OFF side, short-circuiting the energizing circuit of the electric drive IaM. As a result, the short circuit ti flows, and the electric drive IM is subjected to dynamic braking and suddenly stops. The time during which the short circuit current flows through the electric motor M is set to approximately 1 second by the microcomputer 51, and when the braking time ends, the microcomputer 5
A signal for de-energizing the brake relay X is output from the output terminal Q3 of the brake relay X, and its normally open contact X is opened. Therefore, the energizing circuit of the drive motor M is opened, as shown in FIG. 9, to release the short circuit. As described above, the chemical spray vehicle 1
The vehicle stops rapidly at the location where the travel stop member 64 is installed without overrunning due to inertia. Also, at this time of stopping, the detection circuit of the stop position detection sensor 65F is turned ON by a command from the microcomputer 51.Instead, the detection circuit of the stop position detection sensor 65R attached to the rear of the spreading vehicle 1 is turned ON. On the other hand, at the same time when the chemical spraying vehicle 1 is forcedly braked to stop, the output terminal O6 of the microcomputer 51
A signal is output to excite the starting relay X, which switches the contact X0 to the ON side and drives the solenoid S.
As a result, the braking member 39 is brought into sliding contact with the outer periphery of the drum side plates 14, 143 of the drum 10, for example, so that the drum 10 rotates by inertia when the chemical spray vehicle l is stopped, thereby preventing the chemical supply hose 17 from being wasted. Prevents it from being rewound from the drum IO.

As mentioned above, after the chemical spraying vehicle l that was moving forward completely stops at the stop position, when the stop position detection sensor 65R is turned on (about 1 second after stopping), the microcomputer 5
wJT of starting relay Xo from output io4 of 1! 1 is output, the energizing circuit of the solenoid St is opened, the drive is stopped, and the braking of the drum 10 by the braking member 39 is released. In addition, a signal is output from the output terminal O5○ of the microcomputer 51 to excite reverse l/-X5 and brake relay X, turning the reverse relay X contacts X to the ON side and By closing the normally open contacts x1 of let The microcomputer 51 is programmed to start the scattering vehicle 1 slowly during this backward movement, as in the case of forward movement. Regarding the spraying of the chemical, since the mode is set in advance by the microcomputer 51 so that the chemical is sprayed during the reciprocating operation of the chemical spraying vehicle 1, it goes without saying that the spraying operation is continuously performed.

When spraying a chemical while the chemical spraying vehicle 1 moves backward, the drum lO is rotated simultaneously with the backward movement of the chemical spraying vehicle 1 by the drive connecting member a4, and the spraying continues without winding the chemical supply hose 17 around the hose winding shaft 13. be done. At this time, the hose winding mechanism X and the hose aligning winding mechanism Y of the drum 10 are drive-coupled so that they can rotate together. 27a, and is configured to reciprocate between the drum side plates 14.14a of the drum 10 along the guide rod 27. 13 can be smoothly wound in alignment. Then, the chemical spraying vehicle 1 continues spraying while moving backward by traveling at high speed, and when the stop position detection sensor 65R detects the travel stop member 64 installed at the starting point of the travel path, it immediately stops from the output terminal 02 of the microcomputer 51. A signal is output, and the reverse relay X is de-energized,
The contact X7 is returned to the OFF side to short-circuit the energizing circuit of the drive motor M. As a result, the electric I! In IM,
Similar to when the chemical spray vehicle 1 moves forward, a short-circuit current flows due to the rotation of the rotor, generating dynamic braking is applied, and the backward movement of the chemical spray vehicle 1 is forcibly stopped. Also, at the same time as the spreading vehicle 1 stops, a closing relay XV is activated from the output terminal O4 of the microcomputer 51.
Since a stop signal is output to C and its excitation is released, its contact xc is turned ON, and conversely, between relays X and 0
The contact X0 returns to the OFF side, and the electric valve ■. The energizing circuit is an electric valve ■. Switch the valve port in the direction of closing and stop spraying the drug. Furthermore, at the same time as the spraying of the drug stops, output terminals 05 and 04 of the microcomputer 51 output a signal to de-energize the brake relay X and a signal to energize the starting relay X. The normally open contact X provided in the energizing circuit is used to release the short circuit and prevent the dynamic braking from working when the chemical spraying vehicle 1 is pushed manually.Also, by energizing the starting relay Xt. , its contact point X,
is switched to the ON side to drive the solenoid S9, and the braking member 39 is urged against the drum winding shaft to prevent the drum 10 from rotating due to inertia. The detection circuit of the stop position detection sensor 65R is turned off by a command from the microcomputer 51 when the chemical spray vehicle 1 stops, and the detection circuit of the stop position detection sensor 65F provided on the front side of the chemical spray vehicle 1 is turned off instead. It will automatically turn on.

As described above, the chemical spraying vehicle 1 automatically moves back and forth on the running path 90 and finishes the chemical spraying work on the crops grown in the ridges 80.

Next, a case will be described in which the chemical spraying vehicle 1 is moved to the traveling path 90 where the next ridge 80 exists and the chemical is sprayed again. In this case, it is first necessary to turn the direction of the chemical spraying vehicle l. For turning, when the caster switch S of the operation unit 40 is turned on, a signal to excite the feed relay Xl is output from the output @O1 of the microcomputer 51, and its contact X is turned ON, and the electric cylinder V is turned on. The energizing circuit is switched in the direction in which the piston 36 of the electric cylinder (2) is drawn out (L+z lights up). Then, the piston 36 of the electric cylinder (2) is moved to the right in FIG. 2, as shown by the two-dot chain line, and the caster 35 is lowered to the ground surface P side via the link plate 38.

Then, as shown by the two-dot chain line in FIG. 2, when the caster 35 is completely lowered to the ground surface P, the caster 35 is configured to have a height that projects further downward from the rear wheel 7 of the truck 2. As the casters 35 descend, the rear wheels 7@ of the truck 2 are lifted off the ground surface P using the front wheels 6 as a fulcrum.

Therefore, the chemical spraying vehicle 1 has three wheels with the front wheels 6 and casters 35. In this state, as shown in FIG. 5, the chemical spray vehicle 1 is manually moved backward by holding the rear handle 12, or the reverse switch SS of the operating section 40 is turned on to turn on the energizing circuit of the electric motor M of the spray vehicle 1. , according to a command from the microcomputer 51 (to energize the backward relay
While the reverse switch S is manually turned on, the vehicle is electrically driven in the reverse direction at the speed set by the speed changeover switch S. Next, move the sprayer l to the ridge 80 with the front wheel as the center.
The front side of the spraying vehicle 1 is then turned approximately 90 degrees perpendicularly to the ridge 80, and the front side of the spraying vehicle 1 is moved forward to the position of the next ridge 80. (either manually or electrically driven forward at the speed set by the speed selector switch S), and then again turn the chemical spraying vehicle l around the front wheels 6 so that the spray pipe 30 side is forward. , is placed in parallel with the next ridge 80 on the running path 90, and by turning on the caster switch S again, a signal to energize the return relay X is output from the output terminal O8 of the microcomputer 51, turning the contact X to the ON side. (At this point, the feeding relay X0 is de-energized), and the electric cylinder ■
, the piston 36 of the caster 35 is pulled up from the ground surface P by sinking the piston 36 into the cylinder.

After moving the chemical spraying vehicle 1 between the next rows 80, when the chemical spraying vehicle 1 is to run at "high speed" to perform reciprocating spraying of chemicals to the crops in that row 80 in the same manner as described above, the operation switch S! , the chemical spraying vehicle 1 can perform chemical spraying according to the same settings as described above. In addition, when changing the spraying mode and traveling speed depending on the cultivated crops, for example, when the traveling speed is set to "medium speed" and the spraying mode is set only when the chemical spraying vehicle 1 moves forward, the spraying mode setting switch S of the operation unit 400 can be changed. , to set the chemical dispersion mode by performing the injection operation until the "forward" display (l, , + lights up) is made. Further, the setting of the travel speed is completed by operating the speed changeover switch Sh to display the "medium speed" display (L3 lit). Also, if necessary, turn on the sensor activation switch S.
If there are people on the road, it should be possible to detect them.

After completing the above settings, the operation switch S is turned on to drive the chemical spraying vehicle 1 forward in the same manner as described above.

When starting the spraying vehicle, there are several points to consider when starting the chemical spraying vehicle. All controls after the start of step 1 are controlled by the microcomputer 51.
What is done in response to the commands from and in response to the setting conditions is the same as described above, so a description thereof will be omitted. Chemical spray vehicle 1
When it moves a certain distance and reaches the stop position, the stop position detection sensor 65F on the front side detects the traveling stop member 64, and the electric motor M is suddenly braked by a command from the microcomputer 51, and the chemical spray vehicle 1 is stopped. It stops at the stop position.

At the same time as the spraying vehicle l stops, since the chemical spraying mode is only on the outward path (forward), the closing relay XVO is operated by the signal output from the output terminal O4 of the microcomputer 51, and the electric valve ■
. Close the valve and stop spraying the chemical. After the chemical spraying vehicle 1 has stopped at the above-mentioned stop position for a certain period of time, the detection circuit of the stop position detection sensor 65R is 0N (the detection circuit of 65F is FF1... when the spraying vehicle 1 stops). The chemical spraying vehicle 1 starts moving backward. Since the setting is such that the chemical is not sprayed when going backwards, the spraying vehicle 1 starts slowly, moves backwards at a "high speed" speed to the starting point, and suddenly stops at the point where the stop position detection sensor 65R detects the traveling stop member 64. Stop. Similar to the above, the medicine supply hose 17 is wound around the drum 10 while the medicine distribution vehicle 1 is moving backward. Next, when moving the chemical spraying vehicle 1 to the next ridge 80, drive the electric cylinder 1 to let out the casters 35, use the casters 35 to turn the chemical spraying vehicle 1 in any direction, and then When spraying a chemical using the same operation as described above, or changing the running speed and spraying mode of the chemical spraying vehicle L, turn on the speed changeover switch S and the spraying mode setting switch S of the operating section 40. Simply set the desired speed and spray mode using

Next, a case where there is a person on the travel path 90 while the chemical spraying vehicle 1 is spraying the chemical will be described. Human body detection sensors 62F and 62R, which are pyroelectric infrared sensors, are installed on the front and rear sides of the chemical spray vehicle 1, so if there is a person on the road, the sensors detect infrared rays emitted from the human body. When 62F or 62R is detected (L9 blinking), the microcomputer 51 has a program set to stop the function of the chemical spraying vehicle 1, so the output terminal 0 of the microcomputer 51 is set.
．． Or, a stop command for the drive electric IaM, a close command for the electric valve V@, and a drive command for the solenoid S are simultaneously output from Oa and Oa + Oh, and the chemical spray vehicle 1 is moved along the traveling path 9.
It stops suddenly in the middle of zero and stops spraying the medicine to prevent people on the travel path 90 from being injured by the medicine spraying vehicle 1 or from being exposed to the medicine. Furthermore, since the drum lO is stopped by the braking member 39 by driving the solenoid SE, the drug supply hose 17 is never compressed by the inert rotation of the drum 10. Furthermore, when a person is detected on the travel path 90, the buzzer B is programmed to sound (for about 5 seconds) in accordance with a command from the microcomputer 51 to issue an alarm, so the person can be alerted if the chemical spray vehicle 1 is approaching. You can easily know that When a person leaves the travel path 90, the chemical spray vehicle 1 automatically returns to its original state and starts traveling.

Further, when the chemical spraying vehicle 1 is traveling, if it accidentally runs over a ridge 80 or the like and the trolley 2 tilts at a predetermined angle (approximately 25 degrees in this embodiment), the fall avoidance sensor 63A detects this, and the detection signal is sent to the microcomputer. 51, the output terminal of the microcomputer 51 outputs a signal to immediately stop the operation of the chemical spray vehicle 1 and the spraying of the chemical, in the same way as when the human body detection sensors 62F and 62R are activated. To prevent a scattering vehicle 1 from falling over. In this case, the buzzer B is the stop switch S.
The sound continues until s is operated, notifying workers outside the greenhouse that the spraying vehicle 1 is about to fall. As mentioned above, the chemical spraying vehicle 1 tilted at a certain angle is moved along the normal running path 9.
To return to 0, move the spreading vehicle 1 backwards to the traveling path 9o while pressing the reverse switch S, or turn on the caster switch S to start the electric cylinder ■, extend the casters 35, and move the spreading vehicle 1 backward. 1 may be manually pulled back to the running path using three wheels (front wheels 6 and casters 35). When restarting the operation, it is sufficient to turn on the operation switch S.

Furthermore, if the spray pipe 30 breaks for some reason while the chemical spray vehicle l is running, the amount of the chemical discharged may suddenly increase,
Since the discharge pressure changes, when the detection sensor 33 detects this, a signal indicating that there is an abnormality in the spray pipe 30 is input to the microcomputer 51. Then, the output terminal of the microcomputer 51 outputs a signal to immediately stop the traveling of the chemical spraying vehicle l and the spraying of the chemical, just as when the fall avoidance sensor is activated, and the chemical is sprayed out unnecessarily at one place. In this case, the buzzer B will continue to sound until the stop switch S is operated, and the operator will be informed that the spray pipe 30 has broken. Let me know.

Next, checking the remaining amount of battery 58 will be explained. To check the remaining capacity of the battery 58, the output detected by the voltage detection circuit 60 is sent to the A/D converter 68.
A 4-bit digital signal corresponding to the current voltage of the battery 58 is input to the microcomputer 51, and the microcomputer 51 receives the value of the input signal from the A/'D converter 68 and the settings in the microcomputer 51. In this embodiment, the program compares which of the six voltage levels matches the value, and displays the value corresponding to the corresponding voltage using the light emitting diodes L1 to L of the display circuit 56. When checking the remaining amount, the program is set so that it can be displayed when the stop switch S3 is turned on.
When all the light emitting diodes L, ~L light up, the battery 58 can be used like new, and the light emitting diodes L, , L□
If only two lights are lit, a warning is given that there is an abnormality in the battery 58. In this case, the program is set to notify that it is time to charge the battery 58 by sounding the buzzer B for a certain period of time or blinking the light emitting diode L that indicates the ON status of the power switch SI. There is. Therefore, by knowing the lighting states of the light emitting diodes L, -L, it is possible to easily know the remaining capacity of the battery 58.

Next, the remaining capacity of the battery 58 is checked as described above, and if the voltage of the battery 58 is maintained within the range in which the chemical spraying vehicle 1 can travel, the chemical spraying vehicle 1 is driven and the chemical is sprayed. During spraying, if the voltage of the pantry 58 suddenly changes and the voltage of the battery 58 reaches the charging time, the chemical spraying vehicle 1 will sound the buzzer B for a certain period of time or blink the light emitting diode L to notify the charging time. .

If the operator is aware of this situation, there will be no problem if he or she immediately stops running the chemical spray vehicle l and spraying the chemical and charges the battery 58 or replaces the battery 58. However, if the operator is outside the house and does not notice any abnormality in the battery 58, the chemical spraying continues. In this case, since the battery 58 has already reached its charging time, as the spreading vehicle 1 continues to travel, the voltage of the battery 58 gradually decreases, and accordingly, the traveling speed also becomes slower than the set speed. However, since the chemical is sprayed at the set speed of the chemical spray vehicle 1, the chemical is sprayed more than necessary.

In such a situation, the present invention detects this by the rotation sensor 66 provided at the rotating part of the cart 2, that is, when the traveling speed of the chemical spraying vehicle 1 reaches a predetermined speed or less than the set speed, Since the microcomputer 51 is set with a program that stops the function of the chemical spraying vehicle 1 based on the output signal from the rotation sensor 66, the output of the microcomputer 51 is @0.
1 or 080 a 04 to stop the drive motor M and the electric valve ■. A closing command and a drive command for the solenoid S are simultaneously output, causing the chemical spraying vehicle 1 to suddenly stop in the middle of the travel path 90 and stopping the spraying of the chemical. At this time, the microcomputer 51 is programmed to keep the buzzer B sounding according to the command, so that the operator outside the greenhouse is informed that the spreading vehicle 1 has stopped running. Note that the buzzer B issues an alarm until the worker operates the stop switch S, as in the case of fall avoidance.

In addition, there are cases in which the chemical spray vehicle 1 is run even though the charging time of the battery 58 has been reached, and as a result, the drive electric motor M cannot withstand the load due to a drop in the voltage of the battery 58 and stops driving. Even when the spray vehicle l itself stops traveling due to obstruction, the rotation detection sensor 66 detects this and closes the motor-operated valve v8 based on a command from the microcomputer 51, so that the drug can be dispensed. It is possible to prevent harmful effects on crops due to wasteful spraying or unnecessary spraying of chemicals.

Furthermore, in this embodiment, the spray tube 30 is configured to be able to be cleaned when replacing the medicine.

When the stop switch S and the spray mode setting switch S are turned on at the same time according to the program settings of the microcomputer 51, the electric valve ``Y'' is opened, and in this state water, etc. is injected into the spray pipe 30. After cleaning the spray nozzle 30a, the stop switch S is turned on, and the electric valve V is closed.

In addition, the chemical spraying vehicle 1 is operated by the microcomputer 51 while the forward switch S4 and reverse switch S of the operation unit 40 are turned on.
Since it is configured to be electrically driven in accordance with commands from the operator, it is possible to easily move between houses and load and unload work into vehicles and the like.

〔Effect of the invention〕

Since the present invention is configured as described above, it has the following effects.

(1) The present invention is configured so that the running speed of the chemical spraying vehicle can be switched in multiple stages according to the amount of chemical sprayed by a command signal from the control device, so there are areas where there are many pests and where there are few. It becomes possible to arbitrarily change the amount of spraying depending on the location, thereby improving the pest control effect and eliminating wasteful use of chemicals, making it possible to perform economical pest control.

In addition, by varying the running speed of the chemical spraying vehicle, the amount of spraying that corresponds to the type of plant, growth condition, and type of chemical can be quickly and reliably achieved using one type of nozzle, without using spray nozzles with different diameters. can get.

Moreover, chemical spraying vehicles do not require spraying; for example, they can run at high speeds when reversing, and conversely, they can run more stably by slowing down when driving on rough roads or on roads with thick crops. Since the setting is such that chemical spraying efficiency can be improved, there is also the advantage that damage to the chemical spraying vehicle and adverse effects on crops can be avoided.

(2) The running speed of the chemical spraying vehicle is configured so that it can run at a constant speed based on the command signal from the control device, so even if the battery voltage changes due to load fluctuations within the operating range, the running speed By making the speed constant, the amount of medicine sprayed can be made uniform. Moreover, by driving the chemical spraying vehicle at a constant speed, it is possible to use the battery efficiently, and since there is a means to display the remaining battery power, it also has the advantage of being able to manage the battery well. be.

(3) In addition, the chemical spraying vehicle may run out of battery power if there are people on the route, or if the vehicle is tilted at a certain angle, if the spray pipe breaks, or if the chemical is completely used. Even if unforeseen troubles occur during chemical dispensing, such as when the running speed suddenly changes due to This system reliably prevents personal accidents during chemical spraying, damage to chemical spray vehicles, and unnecessary spraying of chemicals, and allows chemical spraying work inside greenhouses to be carried out safely and reliably without the need for manpower. .

(4) The chemical spray vehicle is equipped with a non-contact stop position detection means, and on the other hand, a travel stop member is installed on the travel path so that the travel stop member can be carried to any position for detection. Since the means for stopping the chemical spraying vehicle at a predetermined position can be manufactured with a simple structure and easily placed at a predetermined position so as not to interfere with other agricultural work, etc. . Furthermore, when moving to the next dose at the stopping place, the casters on the trolley can be lowered and the direction of the spraying vehicle can be quickly and easily changed using these casters, making it possible to move the chemical spraying vehicle specially. The chemical spraying operation can be performed smoothly and efficiently by quickly and easily moving to the next soft amount without requiring any effort.

(5) Furthermore, since the chemical spraying vehicle of the present invention is equipped with a means that can be manually operated and electrically driven, it can be moved between houses, loaded onto a truck, etc., unloaded, and even in narrow spaces. Movement can be done quickly, easily, and safely without requiring any effort.

As explained above, the present invention does not require any means for transporting and guiding the chemical spray vehicle or means for pressing it against a pile or the like to switch the traveling course when the chemical spray vehicle is driven, as in the conventional case. By placing it using a simple method,
Since it is possible to run unmanned on the ground surface inside the house,
With a simple structure, it is possible to perform the spraying of chemicals, etc. inside and outside the greenhouse smoothly, efficiently, and economically, and to perform safe, reliable, and labor-saving pest control.
A self-propelled chemical spraying vehicle with excellent operability and workability can be provided.

[Brief explanation of the drawing]

Fig. 1 shows a perspective view of the self-propelled chemical dispersing vehicle of the present invention, in which (A) shows the front side and (B) the rear side, respectively. Fig. 2 is a schematic diagram of the self-propelled chemical dispersing vehicle. 3 is a plan view of FIG. 2, FIG. 4 is a plan view of the structure of the truck, and FIG. 5 is a perspective view of the self-propelled chemical dispersion vehicle of the present invention in use. FIG. 6 is a sectional view taken along the line A-A in FIG. 2, FIG. 7 is a sectional view taken along B-Blil in FIG. 2, and FIG. The plan view shown in FIG. 9 is an electric circuit diagram of a control device used in the self-propelled chemical spraying vehicle of the present invention. 1. Self-propelled chemical spraying vehicle, 10. Hose winding drum, 30
・Spray pipe, 33・Detection sensor for flow rate, etc., 50・Control device, 58・Battery 59・Drive motor @ gutter circuit 62F, 62R・Human body detection means, 63A・Fall avoidance means, 64・Travel stop member, 65F,
65R・Stop position detection means, 66・Rotation detection means, M・Drive motor, S direct・Solenoid,

Claims (9)

[Claims] (1) A speed switching means that allows the running speed of the spraying vehicle to be switched to multiple stages such as high speed and medium speed by operating a switch according to the amount of sprayed chemicals, and a speed switching means that allows the running speed of the spraying vehicle to be maintained at a constant speed. and a speed-travel holding means attached to the traveling direction side of the spreading vehicle, which electrically detects a travel stopping member installed on the traveling path when the spreading vehicle reaches a stop position on the traveling path, and prevents the spreading vehicle from traveling. A self-propelled chemical spraying vehicle characterized by comprising a stop position detection means for stopping the vehicle. (2) In the self-propelled chemical spraying vehicle according to claim (1), a magnetic sensor for detecting magnetism is attached to the spraying vehicle in its traveling direction, and further, a magnetic sensor for detecting magnetism is attached to the spraying vehicle at a position on the traveling path where the spraying vehicle is stopped. . A self-propelled chemical spraying vehicle, characterized in that a magnet is provided that can be detected by the magnetic sensor. (3) The self-propelled chemical spraying vehicle according to claim (1), wherein the spraying vehicle is equipped with human body detection means comprising an infrared sensor on the side in the direction of movement thereof. (4) The self-propelled chemical spraying vehicle according to claim (1), characterized in that the dispersing vehicle is equipped with an overturn avoidance means that detects overturning of the dispersing vehicle when the dispersing vehicle is tilted at a certain angle. A self-propelled chemical spraying vehicle. (5) In the self-propelled chemical spraying vehicle according to claim (1), the chemical supply path of the spraying vehicle is provided with means for detecting changes in the chemical discharge pressure, flow rate, etc. that occur when the spray pipe is broken. A self-propelled chemical spraying vehicle. (6) In the self-propelled chemical spraying vehicle according to claim (1), the spraying vehicle includes means for detecting the remaining amount of a battery that drives the spraying vehicle, and displaying the detected remaining amount of the battery. A self-propelled chemical spraying vehicle characterized by being equipped with means. (7) In the self-propelled chemical spraying vehicle according to claim (1), the dispersing vehicle includes casters serving as turning means for the dispersing vehicle, and the casters protrude below the wheels when the dispersing vehicle turns. A self-propelled chemical spraying vehicle characterized by comprising means for levitating one side of the spraying vehicle. (8) In the self-propelled chemical dispersing vehicle according to claim (1), means for detecting the rotational state of the drive shaft, etc. when the chemical dispersing vehicle is traveling is provided on a rotating part such as a drive shaft or axle of the dispersing vehicle. A self-propelled chemical spraying vehicle characterized by: (9) In the self-propelled chemical spraying vehicle according to claim (1), the spraying vehicle includes a human body detection means, an overturn avoidance means, a means for detecting changes in the discharge pressure of the medicine, etc., and a remaining battery capacity. The present invention is characterized by comprising means for detecting and displaying the same, casters for rotating the spreading wheel and means for extending the casters, and rotation detecting means for detecting the running state of the spreading wheel. Self-propelled chemical spray vehicle.