JPH0546283U - Spray direction switching control device for electromagnetic induction type chemical sprayer - Google Patents

Abstract

(57) [Summary] [Purpose] Focusing on the fact that the spraying of chemicals from the spray nozzle 5A onto trees etc. is performed in a fixed pattern, the sprayer 1
The spray nozzle 5A is automatically switched according to the planting state of the trees during work traveling in the orchard. [Structure] Self-propelled medicine spraying machine 1 equipped with a direction switching mechanism 7 for switching the spraying direction of a medicine sprayed from a spray nozzle 5A.
In the electromagnetic induction type chemical spraying machine in which magnetic sensors 27a and 27b for detecting a magnetic field generated from the induction cable 28 provided in the guide path are provided, and steering control is performed by each of the magnetic sensors, the spray direction in the guide path. The direction switching sub-cable 33 is provided at the switching position, and the spreader 1 is provided with a direction switching magnetic sensor 34 that detects the magnetic field strength of the direction switching sub-cable 33 and outputs an operation command to the direction switching mechanism 7. The spray direction can be automatically switched at the spray direction switching position.

Description

[Detailed description of the device]

[0001]

[Industrial applications]

 The present invention relates to a spray direction switching control device for an electromagnetic induction type chemical sprayer used in orchards.

[0002]

[Prior Art]

 Conventionally, this kind of electromagnetic induction type chemical sprayer has been equipped with a large number of spray nozzles and a direction switching mechanism for switching the spraying direction of the chemical sprayed from these spray nozzles. A pair of magnetic sensors that detect the magnitude of the magnetic field strength generated from the induction cable arranged along the line and control the spreader based on the output value are installed, and the command signal sent from the wireless remote controller is sent. A receiver for receiving is provided to control the start and stop of the sprayer by a command signal transmitted from the wireless remote controller, and also to control the switching of the direction switching mechanism to control the medicine from each spray nozzle. The spray direction is switched.

When performing the chemical spraying operation on the trees in the orchard using the above electromagnetic induction type chemical spraying machine, each magnetic sensor detects the magnitude of the magnetic field strength generated from the induction cable. The spreader is automatically steered along a predetermined guide path based on the output value. When the sprayer reaches the drug spraying direction switching position in the guide route, a command signal is output from the wireless remote controller to the receiver by an operator's operation, and this command signal causes the direction switching mechanism to operate. Switching control is performed to switch the chemical spray direction by each of the spray nozzles. For example, trees are planted only on one side in the traveling direction of the sprayer, and the trees to be sprayed with chemicals are on the other side. When the chemical spray direction switching position where no tree is planted is reached, only the spray nozzle on the side facing the tree is controlled by the switching control of the direction switching mechanism based on the command signal from the wireless remote controller. The spray nozzle is opened to spray the chemicals from the spray nozzle onto the tree, and the spray nozzle on the side not facing the tree is closed to prevent excessive spray of chemicals.

[0004]

[Problems to be solved by the device]

 When spraying chemicals on trees in an orchard with the above electromagnetic induction type chemical spraying machine, the operator must set the working travel position of the sprayer in the orchard and plant trees at the working travel position. While confirming the state, etc., when the planting state of this tree changes, that is, when the spray direction switching position for switching the chemical spray direction by each spray nozzle is reached, the operator operates the wireless remote controller. It is necessary to operate the to send a command signal to the receiver side and switch the drug spraying direction from each spray nozzle via the direction switching mechanism. Not only does this necessitate management, but the spraying work is troublesome, and in some cases the operator forgets to operate the wireless remote controller. Despite reaching the agent spraying direction switching position, the work traveling is continued without switching the agent spraying direction by each of the spraying nozzles, and the spraying of the agent on the trees may be left untouched, and the spraying to unnecessary places Sometimes the drug was sprayed, resulting in drug loss.

According to the present invention, the orchard is provided with a guide path having a guide cable for automatically steering the electromagnetic induction type chemical spraying machine according to the state of planting of trees and the like. Pay attention to the fact that the spraying machine is automatically operated while the spraying of chemicals from each spray nozzle onto the trees is performed in a certain pattern, that is, the spraying direction of the chemicals in the guide route is changed in a certain pattern. The purpose of this is to specify a position for changing the spray direction of the chemical in the guide route and automatically switch the spray nozzles at the specified position when the sprayer is operating in the orchard. Therefore, it is possible to reduce the operator's work and to easily carry out the chemical spraying work. Moreover, if the switching operation of each spray nozzle is forgotten, the spraying residue of the chemical on the tree can be left. To provide a spray direction switching control device of an electromagnetic induction type chemical sprayer capable of accurately performing a spraying operation of a drug on a tree without inducing damage or spraying the drug to an unnecessary portion. It is in.

[0006]

[Means for Solving the Problems]

 In order to achieve the above object, the present invention is directed to a self-propelled chemical spraying machine 1 equipped with a large number of spray nozzles 5A and a direction switching mechanism 7 for switching the spray direction of the chemical sprayed from these spray nozzles 5A. Magnetic sensors 27a, 27b for detecting the magnitude of the magnetic field strength generated from the induction cable 28 arranged along the route are provided, and the steering control is performed based on the output values from the magnetic sensors 27a, 27b. In the spray direction switching control device in the induction type drug sprayer, a direction switching sub-cable 33 is provided at the spray direction switching position in the guide path, and the magnetic field of the direction switching sub-cable 33 is provided in the sprayer 1. A direction switching magnetic sensor 34 for detecting strength and outputting an operation command to the direction switching mechanism 7 is provided.

[0007]

[Action]

 When performing the chemical spraying work on trees such as orchards with the above electromagnetic induction type chemical sprayer, the magnetic field strength generated from the induction cable 28 is detected by the magnetic sensors 27a and 27b. Based on the output value, the sprayer is automatically steered along a predetermined guide route. When the spraying machine reaches the drug spraying direction switching position of the guide route, the magnetic field emitted from the direction switching sub-cable 33 provided at the drug spraying direction switching position is provided in the spraying device. Detected by the direction switching magnetic sensor 34, the direction switching mechanism 7 is switch-controlled based on the detection result, and the spray direction of the medicine from the spray nozzle 5A is automatically switched according to the planting condition of trees. Be done.

Therefore, the operator confirms the work traveling position of the spraying machine, the drug spraying direction switching position of each of the spray nozzles 5A, and the like, and switches the spraying nozzles 5A at the drug spraying direction switching position. Since it is not necessary to operate the operator, the operator's work is reduced and the medicine spraying work can be performed easily. Moreover, when the sprayer reaches the medicine spraying direction switching position of the guide route, the direction switching sub The magnetic field emitted from the cable 33 is detected by the direction switching magnetic sensor 34, and the switching control of the spray nozzles 5A is automatically performed based on the detection result. It is not possible to forget to switch the trees and leave the spray of the drug on the trees, or spray the drug to unnecessary places. In addition, the spraying of the drug on the tree is performed accurately.

[0009]

【Example】

 The electromagnetic induction type chemical sprayer shown in FIGS. 3 and 4 is provided with a driving control section 3 provided with a handle 2 on the front side of the self-propelled sprayer 1, and the chemical tank 4 is provided in the sprayer 1. It is mounted and a spraying section 5 is provided on the rear side.

The spraying section 5 includes a large number of spray nozzles 5 A that are provided radially outward at appropriate intervals around the outer periphery of the spraying machine 1 except the lower surface thereof, and a blower 5 that sends air outward in the radial direction. B, the spray nozzle 5A is arranged so that the spray direction can be controlled in each of the three sections of the left and right and the upper surface of the spraying machine 1 or in each of the two sections on the left and right. A power pump 5C for spraying the drug in the drug tank 4 from each of the spray nozzles 5A is provided.

Further, reference numerals 8 and 8 are left and right front wheels, and 9 and 9 are left and right rear wheels. The drive system of each of the wheels 8 and 9 is such that the rotational power of the engine 10 mounted on the spreader 1 is used for the traveling transmission mechanism. It is a so-called four-wheel drive type in which each wheel 8 and 9 is transmitted from 11 to be driven.

Further, the rotational power of the engine 10 is transmitted from another power transmission mechanism 12 to the blower 5B of the spray unit 5 and the power pump 5C via the power distribution unit 13, and the power distribution unit 13 Between the power pump 5C and the power pump 5C, a dynamic injection clutch 6 for driving and controlling the power pump 5C to control the on / off of the medicine flow to each of the spray nozzles 5A is interposed. The chemicals in the tank 4 are jetted or stopped from the spray nozzles 5A by controlling the above, and the sprays are provided between the power pump 5C and the spray nozzles 5A. A direction switching mechanism 7 including a switching valve or the like for switching the direction of spraying the medicine from the nozzle 5A is provided, and the switching mechanism 7 is switched to control the medicine from each spray nozzle 5A. The spraying direction can be switched according to the planting condition of trees in orchards.

The direction switching mechanism 7 is mainly composed of an electromagnetic valve, and the spray nozzle 5A for each section opening toward the left and right and the upper surface is defined as one block, and the power is supplied to each block through the electromagnetic valve. Since it is connected to the discharge side of the pump 5C, and the atomizing direction is controlled only to the left or right direction or to the left or right direction and the upper direction by the on / off control of the solenoid valve provided for each block. is there.

As shown in FIG. 5, a power steering mechanism 15 is adopted as the steering device 14 for the wheels 8 and 9, and the power steering mechanism 15 is incorporated in a hydraulic circuit 16 described later. A bell crank 18 having a W shape in plan view, which is operated to change the direction of the rear wheel 9 side by the first hydraulic cylinder 17, is linked to the bell crank 18 via a connecting rod 19 and is connected to the front wheel 8 side. When the hydraulic cylinder 17 is actuated in the extension direction, the rear wheel 9 is changed to the right and the front wheel 8 is changed to the left. When the hydraulic cylinder 17 is operated in the contracting direction, the rear wheel 9 is changed to the left and the front wheel 8 is changed to the right, which is a so-called four-wheel steering type. ing. The wheels 8 and 9 may be steered separately by using different hydraulic cylinder type power steering mechanisms.

As shown in FIG. 6, the hydraulic circuit 16 includes a hydraulic motor 21 capable of adjusting the amount of oil fed to the first hydraulic cylinder 17 side in proportion to the rotation angle of the handle 2. A hydraulic pump 22 for supplying hydraulic oil to the hydraulic motor 21 side, and a first switching control valve 23 for manual steering interposed between the hydraulic motor 21 and the hydraulic pump 22 are provided. During manual steering of Nos. 8 and 9, the hydraulic oil from the hydraulic pump 22 is supplied to the hydraulic motor 21 in accordance with the switching operation of the first switching control valve 23, and the steering wheel 2 is rotated from the hydraulic motor 21. By supplying hydraulic oil to the hydraulic cylinder 17 side in proportion to the angle, the respective wheels 8 and 9 are manually steered.

Further, the hydraulic circuit 16 is provided with an electromagnetic solenoid type second switching control valve 24 for supplying working oil to the first hydraulic cylinder 17 side during automatic steering, and the sprayer 1 travels. The second hydraulic cylinder 25 is controlled by the second hydraulic cylinder 25, which serves as an operating portion of a brake for stopping the operation of the vehicle and also performs an intermittent operation of the traveling clutch interlocked with the traveling speed change mechanism 11. An electromagnetic solenoid type third switching control valve 26 is provided. These second and third switching control valves 24 and 26 are connected in series in the hydraulic pump 22 upstream of the first switching control valve 23. And the third switching control valve 26 is connected upstream of the second switching control valve 24. When the traveling clutch or brake is operated, the second hydraulic cylinder 25 is operated with priority over the first hydraulic cylinder 17 in accordance with the switching operation of the third switching control valve 26. 17 is adapted to be actuated secondarily.

Further, in the self-propelled spraying machine 1 as described above, as shown in FIG. 3 to FIG. A pair of left and right magnetic sensors 27a and 27b for detecting the strength of the magnetic field generated around the induction cable are provided. As each of the sensors 27a and 27b, for example, a pickup coil in which a conductor is wound in a coil shape, a Hall element, a Hall IC, a magnetoresistive element, a magnetic transistor, or the like is used.

As shown in FIG. 1, an induction cable 28 is laid in a loop along the induction route of the sprayer 1 on the ground of an orchard or the like, and the induction cable 28 is provided with a power source 29. By applying an alternating current of a predetermined frequency with the current generator 30, the electromagnetic wave transmitted from the induction cable 28, that is, the strength of the alternating magnetic field generated around the induction cable 28 is measured by the pair of left and right coil type magnetic sensors. 27a, 27b, and based on the detection result, the lateral shift direction (right or left) of the spreader 1 with respect to the guide cable 28 and the lateral shift deviation amount are measured, and the second switching is performed based on the measured value. The left and right electromagnetic solenoids 24L and 24R of the control valve 24 are excited to operate the first hydraulic cylinder 17, and the hydraulic cylinder 17 changes the direction of the wheels 8 and 9. By doing so, the spraying machine 1 is automatically steered along the guide cable 28, and the spraying nozzle 5A of the spraying unit 5 sprays the chemicals onto the trees in the orchard.

Further, as shown in FIG. 3, the sprayer 1 is provided with a receiver 32 that receives a command signal transmitted from a wireless remote controller 31 operated by an operator. The spray nozzle 5A is controlled by controlling the start and stop of the power pump 5C by turning on and off the dynamic injection clutch 6 with a command signal transmitted from the device 31 and received by the receiver 32. The chemical spraying work is performed or stopped, and the electromagnetic solenoids 26L and 26R of the second switching control valve 26 are excited and controlled by a command signal received by the receiver 32. Thus, the second hydraulic cylinder 25 is operated so that the spreader 1 can be run or stopped.

With the above-mentioned structure, the sprayer 1 should change the spray direction of the spray from the spray nozzles 5A when the sprayer 1 is automatically operated along the guide path. In order to automatically perform the drug spraying direction switching control of the spraying nozzles 5A by the direction switching mechanism 7 when the direction switching position is reached, the following drug spraying direction switching control device is provided. .

That is, as clarified in FIG. 1, in the guide path of the orchard in which the guide cable 28 is laid, the direction is switched to the spray direction switching position in which the spray direction of each of the spray nozzles 5A should be switched. A sub-cable 33 is provided, the magnetic field strength of the direction switching sub-cable 33 is detected in the sprayer 1, and an operation command is output to the direction switching mechanism 7 to spray the medicine from each of the spray nozzles 5A. The direction switching magnetic sensor 34 is provided so that the direction can be switched.

In the embodiment of FIG. 1, the direction switching sub-cables 33, 33 are respectively provided at the outer position of the left central portion of the guide cable 28 and the inner position of the right upper corner of the guide cable 28. And each of these sub-cables 33 is connected to the induction cable 28, and the alternating current applied to the induction cable 28 by the alternating current generator 30 is used to connect the sub-cables 33 to the sub-cables 33. The direction changing magnetic sensors 34, 34 are arranged at the rear side of the spraying machine 1 and at the left and right sides, respectively. The magnetic field generated by applying an alternating current to each sub-cable 33 is detected, and an operation command is output to the direction switching mechanism 7 based on the detection result, and The spraying direction of the medicine from each spray nozzle 5A is controlled to be switched.

Further, in the embodiment shown in the figure, when the spreader 1 passes through the sub-cables 33, the magnetic sensors 27a, 27b arranged on the lower front side of the spreader 1 are A magnetic field generated on the side of each sub-cable 33 is erroneously detected and, based on the erroneous detection, steering control of the spreader 1 does not become inaccurate. In order to accurately control the steering along the line, it is configured as follows.

That is, by passing the front wheel 8 of the spreader 1 to the front side in the traveling direction of the spreader 1 in each sub-cable 33, the alternating current from the induction cable 28 is turned on, and the rear wheel 9 is Each of the foot pressure switches 33c is turned off when the sub-cable 33 passes, and the front part and the rear part of the sub-cable 33 in the traveling direction of the spreader 1 are covered with a magnetic shielding member 33a. Each of the sub-cables 33 that are not covered by the rear side of the spreader 1 in the traveling direction is separated from the tread pressure switch 33c by the length of the spreader 1 to the rear side. The degaussing part 33b is formed.

Then, as shown by the phantom line in FIG. 1, when the spreader 1 passes through the sub-cable 33 provided at the outer side position of the left center portion of the guide cable 28, the front wheel of the spreader 1 When the stepping switch 33c of the sub-cable 33 is turned on and the treading switch 33c is turned on, an alternating current is applied to the sub-cable 33 from the induction cable 28 to generate a magnetic field in the magnetizing part 33b. This magnetic field is detected by the direction switching magnetic sensor 34 provided on the rear left side of the spraying machine 1 to control the switching of the drug spraying direction from each spray nozzle 5A, that is, the front wheel of the spraying machine 1. Until the pedal 8 passes the tread pressure switch 33c, the tread pressure switch 33c is held in the OFF state, so that the demagnetizing portion 33b of the sub cable 33 To prevent the magnetic field in the magnetizing unit 33b from being erroneously detected by the steering control magnetic sensors 27a and 27b provided on the front side of the spraying machine 1. The spreader 1 can be precisely steered along the guide cable 28.

When the sprayer 1 passes through the sub-cable 33 provided inside the right upper corner of the guide cable 28 in the state where the spray direction is controlled as described above, the sprayer 1 When the front wheel 8 of No. 1 steps on the tread pressure switch 33c of the sub cable 33 and the tread pressure switch 33c is turned on, an alternating current from the induction cable 28 flows through the sub cable 33 and a magnetic field is generated in the magnetizing unit 33b. The magnetic field for direction switching provided on the rear right side of the spraying machine 1 is detected by this magnetic field and the switching control of the drug spraying direction from each spray nozzle 5A is performed. Of. Also at this time, as in the case described above, the pedal pressure switch 33c is kept in the OFF state until the front wheels 8 of the spraying machine 1 pass the pedal pressure switch 33c, and the steering control magnetic fields are maintained. This allows the spreader 1 to be accurately steered along the guide cable 28 without affecting the sensors 27a and 27b.

In the above embodiment, each of the sub cables 33 is connected to the induction cable 28, and the alternating current applied to the induction cable 28 by the alternating current generator 30 is used. The sub-cables 33 are applied to the respective sub-cables 33. However, each of the sub-cables 33 is formed into a single loop shape without being connected to the induction cable 28, and the loop-shaped sub-cables 33 are formed. May be connected to an alternating current generator so that the magnetic field is generated only when the sub-cable is needed by turning on the tread switch.

FIG. 2 shows a control block of the electromagnetic induction type chemical spraying machine as described above. The level sensor 4A provided in the chemical tank 4 and the above-mentioned level sensor 4A are provided on the input side of the controller 35 including a microcomputer. The magnetic sensors 27a and 27b are respectively connected via the A / D converter 36, and the direction switching magnetic sensor 34 and the wireless remote controller 31 are also connected to the input side of the controller 35. It is connected to the receiver 32 that receives the transmitted command signal. The level sensor 4A controls the turning off of the dynamic injection clutch 6 of each of the spray nozzles 5A and the direction switching mechanism 7 when the remaining amount of the medicine in the tank 4 becomes equal to or less than a certain amount. This is for controlling and stopping the spraying of the medicine from each spray nozzle 5A.

A drive circuit 37 for on / off controlling the dynamic injection clutch 6 is connected to the output side of the controller 35, and the dynamic injection clutch 6 is connected to the output side of the drive circuit 37. The drive circuit 38 for switching 7 is connected, and the direction switching mechanism 7 is connected to the output side thereof. Further, steering drive circuits 39 and 40 for switching the electromagnetic solenoids 24L and 24R of the second switching control valve 24 are connected to the output side of the controller 35, and the electromagnetic solenoids 24L and 24R are connected to the output sides thereof. And a display lamp 41 that displays the spraying direction of the medicine from each of the spray nozzles 5A by the direction switching mechanism 7 is connected, while the output side of the controller 35 is also operated by the second hydraulic cylinder 25. A drive circuit 42 for switching control of the electromagnetic solenoids 26L, 26R of the third switching control valve 26 is connected, and the electromagnetic solenoids 26L, 26R are connected to the output side thereof.

Next, the control mode of the electromagnetic induction type chemical spraying machine configured as described above will be described. First, when performing a chemical spraying operation on trees in an orchard, the magnetic field strengths of the alternating magnetic fields generated around the induction cable 28 are detected by the magnetic sensors 27a and 27b, and the detection signals are detected by the A / D converter. It is converted by 36 and input to the controller 35. The controller 35 calculates the lateral deviation direction and lateral deviation deviation amount of the spreader 1 with respect to the guide cable 28, and the controller 35 calculates the lateral deviation direction and lateral deviation amount based on the calculated values. The electromagnetic solenoids 24L, 24R of the second switching control valve 24 are switched based on the outputs to the left and right steering drive circuits 39, 40, whereby the first hydraulic cylinder 17 moves the front-rear direction. The directions of the wheels 8 and 9 are changed, and the above-mentioned spreader 1 is automatically steered accurately along the guide cable 28.

Further, based on a command signal transmitted from the wireless remote controller 31 by an operator's operation and received by the receiver 32 side, the controller 35 outputs the command signal to the drive circuit 42 and the drive circuit 42. While the electromagnetic solenoids 26L and 26R of the third switching control valve 26 for operating the second hydraulic cylinder 25 are switched and controlled, the running / stopping control and gear shifting of the sprayer 1 in the orchard are performed. Further, the dynamic injection clutch 6 is turned on via the drive circuit 37 by the output from the controller 35 based on the command signal transmitted from the wireless remote controller 31, and the spray nozzles 5A are controlled. The spraying of the chemicals from the spray nozzles is performed, and the switching control of the spraying directions of the chemicals from each of the spray nozzles 5A corresponds to the planting condition of trees in the orchard. The sprayer 1 is provided with a magnetic field generated by the sub-cable 33 provided in parallel with the guide cable 28 at a drug spray direction switching position where the drug spray direction from each spray nozzle 5A should be switched. The magnetic field sensor 34 for direction switching is automatically detected.

That is, as shown in FIG. 1, when the spraying machine 1 reaches the drug spraying direction switching position of the guiding route in which the guiding cable 28 is installed, the spraying machine 1 is installed in the drug spraying direction switching position. The magnetic field transmitted from the direction switching sub-cable 33 is detected by the direction switching magnetic sensor 34 provided in the spreader 1, and an output from the controller 35 based on the detection result causes the drive circuit 38 to output the magnetic field. The direction switching mechanism 7 is switch-controlled to automatically switch the spray direction of the medicine from the spray nozzle 5A in accordance with a tree planting state. In the next switch control, this spray direction is changed. It will be maintained. Further, as described above, the above-mentioned control for changing the spray direction of the medicine causes the front wheel 8 of the spraying machine 1 to turn on the pedal pressure switch 33c of the sub-cable 33 so that the magnetic field generated by the sub-cable 33 is sprayed. It is performed only when the direction switching magnetic sensor 34 of the machine 1 detects it, and the sub-cable 33 does not affect the automatic steering control of the spreader 1.

As described above, the operator automatically controls the spray direction of the chemical spray from each spray nozzle 5A in accordance with the condition of tree planting in the orchard, etc. By confirming the work traveling position and the drug spraying direction switching position by each spray nozzle 5A, etc., switching control is performed by operating the wireless remote controller 31 at each spray nozzle 5A at the drug spraying direction switching position. Therefore, the operation by the operator is reduced, the medicine spraying work can be performed easily, and when the spraying machine 1 reaches the medicine spraying direction switching position of the guide path, the direction switching sub-cable 33 is used. The transmitted magnetic field is detected by the direction switching magnetic sensor 34, and the output from the controller 35 based on the detection result is used to output the spray nozzles 5A. Since the switching control is automatically performed, the operator forgets to switch the spray nozzles 5A to cause the spray of the drug to remain on the tree, or sprays the drug to unnecessary parts. Therefore, the spraying of the chemicals on the trees can be performed accurately.

In the electromagnetic induction type chemical spraying machine as described above, the controller 35 is connected to an input device for presetting the chemical spraying direction switching position of the spraying nozzle 5A in the guide path. The input distance from the start position is stored in the memory of the controller 35, and the direction switching mechanism 7 is switched and controlled based on the set distance to automatically switch the drug spraying direction from each spray nozzle 5A. It may be controllable. In this case, the spray direction at the start can be controlled, and the spray direction in the spraying process can also be controlled. In addition, the control for changing the direction of spraying the chemicals in each of the spray nozzles 5A based on the set distance of the controller 35, and, as described above, the magnetic field from the sub-cable 33 for changing direction is detected by the magnetic sensor 34 for changing direction. You may make it use together with the chemical spray direction switching control from each said spray nozzle 5A by detecting. Further, when it is desired to stop the spraying at the traveling portion in the guide path of the spreader 1, the steering angle for steering control can be detected and the steering angle can be used to stop.

[0035]

[Effect of the device]

 As described above, in the present invention, the guide path is provided in the self-propelled medicine spraying machine 1 provided with the large number of spray nozzles 5A and the direction switching mechanism 7 for switching the spray direction of the medicine sprayed from these spray nozzles 5A. An electromagnetic induction is provided which is provided with magnetic sensors 27a and 27b for detecting the magnitude of the magnetic field intensity generated from an induction cable 28 disposed along the electromagnetic induction cable 28, and the steering is controlled based on the output values from the magnetic sensors 27a and 27b. In the spray direction switching control device for the chemical sprayer, a direction switching sub-cable 33 is provided at the spray direction switching position in the guide path, and the magnetic field strength of the direction switching sub-cable 33 is provided in the sprayer 1. Since the magnetic sensor 34 for direction switching that detects the above-mentioned and outputs an operation command to the direction switching mechanism 7 is provided, the sprayer 1 sprays the drug on the guide path. When the direction switching position is reached, the magnetic field transmitted from the direction switching sub-cable 33 is detected by the direction switching magnetic sensor 34, and the direction switching mechanism 7 is controlled to switch based on the detection result. The direction of spraying the chemicals from the spray nozzle 5A can be automatically switched according to the planting state of trees and the like.

Therefore, as in the prior art, the operator confirms the work traveling position of the spraying machine 1 and the chemical spraying direction switching position of each of the spray nozzles 5A, and the like, and sprays each spray nozzle 5A with the chemical spray. There is no need to perform switching control at the direction switching position, the work by the operator is reduced, and the drug spraying work can be performed easily. Moreover, the sprayer 1 reaches the drug spraying direction switching position of the guide route. At this time, the magnetic field transmitted from the direction switching sub-cable 33 is detected by the direction switching magnetic sensor 34, and the switching control of each spray nozzle 5A is automatically performed based on the detection result. Forgot to switch the spray nozzles 5A and left the spray of the drug on trees, and sprayed the drug to unnecessary places. Therefore, the spraying of the chemicals on the trees can be performed accurately.

[Brief description of drawings]

FIG. 1 is a schematic view of a spray direction switching control device in an electromagnetic induction type chemical spraying device according to the present invention.

FIG. 2 is a control block diagram of the electromagnetic induction type drug sprayer.

FIG. 3 is a partially cutaway side view of the electromagnetic induction type chemical spraying device.

FIG. 4 is a plan view of the electromagnetic induction type chemical spraying device.

FIG. 5 is a plan view of a steering device.

FIG. 6 is a control hydraulic circuit diagram of the steering system.

[Explanation of symbols]

 1 Spreader 5A Spray Nozzle 7 Direction Switching Mechanism 27a, 27b Magnetic Sensor 28 Induction Cable 33 Sub Cable 34 Direction Switching Magnetic Sensor

─────────────────────────────────────────────────── ─── Continuation of the front page (51) Int.Cl. ⁵ Identification number Office reference number FI technical display location B05B 13/04 // G05D 1/08 B 7828-3H

Claims (1)

[Scope of utility model registration request] 1. A self-propelled chemical spraying machine 1 provided with a large number of spray nozzles 5A and a direction switching mechanism 7 for switching spray directions of chemicals sprayed from these spray nozzles 5A, which are arranged along a guide path. Magnetic sensors 27a and 27b for detecting the magnitude of the magnetic field intensity generated from the induction cable 28 are provided,
A spray direction switching control device for an electromagnetic induction type chemical spraying machine, wherein steering control is performed based on output values from the magnetic sensors 27a and 27b, and the direction switching sub-cable is located at a spray direction switching position in the guide path. 33, and the spreader 1 is provided with a direction switching magnetic sensor 34 that detects the magnetic field strength of the direction switching sub-cable 33 and outputs an operation command to the direction switching mechanism 7. Spray direction switching control device for electromagnetic induction type chemical sprayer.