JPH04330242A - Chemical-spraying robot - Google Patents

Abstract

PURPOSE:To obtain the title robot capable of automatically and simply carrying out operation of drenching plant foot of a crop and applying drug without wasting thereof, having a specific constitution. CONSTITUTION:A self-propelled base 2 provided with a chemical tank 3, a chemical-spraying nozzle 4 and a crop perceiving sensor 5 is equipped with a single pulse generating circuit and a relay circuit with a timer. When the crop perceiving sensor 5 detects a crop, single pulse is generated from the single pulse generating circuit, the relay circuit with a timer is started by the single pulse, self traveling is stopped according to a set time, a chemical is applied from the chemical spraying nozzle 4, self-traveling is repeated and the chemical is intermittently applied.

Description

[Detailed description of the invention]

0001

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a chemical spraying robot, and more particularly to a chemical spraying robot for irrigating crops with chemicals.

0002

[Prior Art] Conventionally, sclerotinia disease,
Plant irrigation with chemicals to control diseases such as damping-off has been done either by using a power sprayer with the spray plate removed and pouring it in at a lower pressure, or by using a cup-like container and pouring it out while pumping. .

0003

[Problem to be solved by the invention] However, all of these methods require manual irrigation, and the user is forced to continue irrigating from a low position in an unnatural posture by bending over, which makes it difficult to reach the base of the plant. Spraying chemicals is a difficult task, and it has been desired to automate the spraying process without manual intervention.

[0004] In addition, in order to use a mechanical spraying technique based on continuous running for stock irrigation, the amount of pest control agent to be sprayed at the stock base must be 10
Since the amount is relatively large at 0 cc/plant or more, if you continuously drive while spraying the chemical, a large amount of the chemical will be wasted.

SUMMARY OF THE INVENTION An object of the present invention is to provide a chemical spraying robot that can easily perform chemical spraying without wasting the chemical.

[0006]

[Means for Solving the Problems] The means for solving the problems of the present invention are as follows.

That is, in the present invention, a one-shot pulse generation circuit and a relay circuit with a timer are provided on a self-propelled base equipped with a chemical tank, a chemical spray nozzle, and a crop detection sensor, and when the crop detection sensor detects a crop, A single pulse is generated from the single pulse generation circuit, which activates a relay circuit with a timer, which stops self-propelling according to the set time, and after spraying the chemical from the chemical spray nozzle, self-propelling starts. This is a chemical spraying robot that can be set to repeat and spray chemicals intermittently.

[0008]

[Operation] When the crop detection sensor detects a crop such as tobacco, a signal from the crop detection sensor is transmitted to the one-shot pulse generation circuit, and the one-shot pulse generation circuit generates a one-shot pulse.

The single pulse is transmitted to a relay circuit with a timer, and the self-propulsion of the chemical spraying robot is stopped for a preset time in the relay circuit with a timer, and at the same time, the chemical spraying nozzle sprays a set amount of the chemical. The water is then irrigated to the base of the crop.

[0010] After the set time has elapsed, the chemical spraying stops and the chemical spraying robot continues to run on its own until the crop detection sensor detects the crop again.

[0011] By repeating the above-described operations, the chemical spraying is performed intermittently.

0012

DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the chemical spraying robot of the present invention will be described below with reference to the drawings.

FIG. 1 is a perspective view of one embodiment of the drug dispersion robot of the present invention, FIG. 2 is a perspective view of a portion of FIG. 1, and FIG. 3 is a circuit diagram inside the control box.

[0014] The chemical spraying robot has a driving motor M2.
A self-propelled base 2 having wheels 1 is equipped with a chemical tank 3, a chemical spray nozzle 4, and a crop detection sensor 5 that detects crops using infrared rays.

In the self-propelled base 2, a control box 6 includes:
A board box 7 is provided in which boards of a one-shot pulse generating circuit P and a relay circuit T with a timer are housed.

In the figure, reference numeral 10 denotes a support post for mounting the chemical spray nozzle 4 and the crop sensor 5, on which the chemical spray nozzle 4 and the crop sensor 5 are mounted so as to be adjustable in height and direction.

11 is a drug injection port, and M1 is a drug tank 3.
a spraying motor that supplies the medicine inside to the medicine spraying nozzle 4;
12 is a hose connecting the spraying motor M1 and the spraying nozzle 4, 13 is a driving battery, 14 is a circuit battery, 15 is a control switch, and 16 is a driving switch.

Next, the operation and function of the robot will be explained.

First, a chemical liquid spraying robot is set in the furrow.

After setting, the positions of the crop detection sensor 5 and the chemical spray nozzle 4 combined with the mounting post 10 are adjusted according to the height and direction of the crop, and the control switch 15 and drive switch 16 are turned on. A chemical spraying robot moves along the furrows.

When the crop detection sensor 5 detects light reflected by a crop such as tobacco, the relay R1 is activated.

[0022] Due to the operation of relay R1, the potential at point A becomes 0.
When the voltage rises from V to 6V, a single pulse with a fixed time width is generated by the IC's NAND circuit, resistor, and capacitor.

The generated single pulse is transmitted to the relay circuit T with a timer, and relay R2 is activated for a preset time.
is activated.

The operation of relay R2 cuts off the drive current of the robot's drive motor M2, causing the drive motor M2 to come to a halt, stopping the robot and allowing the current to flow through the drug spraying motor M1. The spraying motor M1 is put into operation, a set amount of the chemical is supplied from the chemical tank 3, and the chemical is sprayed from the chemical spraying nozzle 4 to the base of the crop plant.

After the set time has elapsed, the relay R2 is shut off, the spraying motor M1 is stopped, and the spraying of the chemical from the chemical spraying nozzle 4 is completed, and the driving motor M2 is started and the robot moves forward again.

[0026] Then, by repeating the above-mentioned movements,
Intermittent unattended irrigation is performed.

Although not shown in the drawings, a control switch and a drive switch may be provided so as to be operable by remote control.

[0028]

[Effects of the Invention] According to the chemical spraying robot of the present invention, it is possible to automatically and easily perform the work of irrigating crops at the base of the plants, thereby dramatically reducing the labor burden and making it possible to spray chemicals easily. can.

[0029] Furthermore, since an appropriate amount of the chemical is sprayed intermittently, there is no waste of the chemical.

[Brief explanation of drawings]

FIG. 1 is a perspective view of an embodiment of a drug dispersion robot of the present invention.

FIG. 2 is a perspective view of a portion of FIG. 1;

FIG. 3 is a circuit diagram inside the control box.

[Explanation of symbols]

1 Wheel 2 Self-propelled base 3. Chemical tank 4. Chemical spray nozzle 5 Crop detection sensor 6 Control box 7 Board box M1 Spraying motor M2 Drive motor P Single pulse generation circuit T Relay circuit with timer

Claims (1)

[Claims] Claim 1: A self-propelled base equipped with a chemical tank, a chemical spray nozzle, and a crop detection sensor is provided with a one-shot pulse generation circuit and a relay circuit with a timer, and when the crop detection sensor detects a crop, one-shot pulse is generated. A single pulse is generated from the circuit, and the relay circuit with a timer is activated by the single pulse.
It is set to stop self-propelling according to the set time, spray the chemical from the chemical spray nozzle, and then repeat self-propelling.
A chemical spraying robot that sprays chemicals intermittently.