JPH07116573A - Method of prevention of breeding and extermination using unmanned vehicle - Google Patents

Abstract

PURPOSE:To safely and efficiently attain a work for prevention of breeding and extermination in a plastic hothouse. CONSTITUTION:In this method, unmanned vehicle 1 mounted with a device for prevention of breeding and extermination consisting of a unit 2 for prevention of breeding and extermination for spraying a chemical liquid for prevention of breeding and extermination, a nozzle 4 and a nozzle cylinder 5 and capable of moving back and forth and of turning, is run on a running passage between preliminarily set ridges and while a ridge detecting sensor set on the unmanned vehicle 1 detects the ridge at the side of the running passage in the running process, the chemical liquid for prevention of breeding and extermination is automatically sprayed from the nozzle 4 to the ridge direction.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method for controlling a ridge crop made in a house or the like by spraying a chemical solution for controlling the ridge crop.

[0002]

2. Description of the Related Art Conventionally, when controlling a ridge crop produced in a house or the like, an operator directly sprays a chemical solution on the crop with a dynamic spray. Therefore, it is necessary for workers to wear heavy armor even in the midsummer so that they do not bathe or inhale the chemical solution, and they are forced to work hard.

[0003]

According to the above-mentioned conventional control method, the operator has to spray the chemical liquid directly on the crop with a dynamic spray, and even if it is midsummer, the chemical liquid may be bathed or inhaled into the body. Since it is necessary to wear heavy armor so as not to do so, there is a problem that the control work is extremely heavy work for the worker. Therefore, in the present invention, an unmanned vehicle is automatically run on behalf of an operator, and a chemical solution for pest control is automatically sprayed from the vehicle to secure the safety of pest control work. It is a technical issue to be solved to improve work efficiency.

[0004]

The technical means for solving the above-mentioned problems is to provide a traveling path between ridges in which an unmanned vehicle capable of moving forward and backward and turning equipped with a control device for spraying a chemical liquid for control is set in advance. While traveling, while the ridge detection sensor provided in the unmanned vehicle in the course of traveling is detecting the ridges on the side of the traveling passage, the chemical solution for control is applied from the control device in the direction of the ridges. It is to spray it automatically.

[0005]

According to the above-mentioned control method, the worker can set the ridges to be controlled and, after starting the traveling of the unmanned traveling vehicle, can leave the unmanned traveling vehicle. It does not bathe or inhale the sprayed chemical solution, and also has the effect of significantly reducing the work involved in the worker's control work.

[0006]

DESCRIPTION OF THE PREFERRED EMBODIMENTS Next, an embodiment of the present invention will be described with reference to the drawings. FIG. 1 is a side view of an unmanned vehicle 1 which is equipped with a pest control device 2 for spraying a chemical liquid for pest control, a control device including a nozzle 4 and the like, and which is capable of moving forward and backward and turning left and right, and FIG. It is a front view. As shown in FIGS. 1 and 2, a control unit 2 is mounted on a truck 3 of an unmanned vehicle 1. Two nozzle cylinders 5 each having a plurality of nozzles 4 attached thereto are attached to a predetermined metal fitting A in front of the carriage 3. The nozzle 4 is oriented in the left-right direction, and while the unmanned vehicle 1 is traveling in the traveling passage described below, while the ridge detection sensor described below detects the ridge on the side portion of the traveling passage,
The chemical liquid for control is sprayed in the direction of the ridges.

A hose reel (not shown) is attached to the pest control unit 2, and the hose 6 shown in FIG. 1 is wound around the hose reel. The tip of the hose 6 is connected to a dynamic jet (not shown) for pumping a chemical solution for control, and the hose 6 is hose-released as the unmanned vehicle 1 separates from the dynamic jet. On the other hand, while the unmanned traveling vehicle 1 approaches the dynamic injection, the hose 6 is wound around the hose reel.

The base end of the hose 6 is communicated with the nozzle cylinder 5 via a hose reel, but an electromagnetic valve (not shown) is provided in the middle of the hose 6, and the electromagnetic valve is a carriage. Opening / closing control is performed by a control circuit provided in 3. When the solenoid valve is controlled to be opened by this control circuit, the controlling chemical liquid pressure-fed from the dynamic jet flows through the hose 6, the hose reel, the solenoid valve, and the nozzle cylinder 5 to cause a plurality of nozzles. It is sprayed from 4 toward the ridge. The control line 7 shown in FIG. 1 is for electrically connecting the solenoid valve and the control circuit via the connector 8. The control circuit controls traveling of the unmanned vehicle 1 together with control of the solenoid valve.

FIG. 3 is a plan view showing a state in which the control unit 2 of the unmanned vehicle 1 is removed and the top plate of the carriage 3 is removed, and FIG. 4 is a side view thereof. As shown in FIG.
The unmanned vehicle 1 is provided with two rubber tire type wheels 11L and 11R on each of the left and right sides. Also, each wheel 1
1L and 11R are rotated by the variable speed motors 12L and 12R. Therefore, the gears 13L and 13R attached to the output shafts of the variable speed motors 12L and 12R and the respective wheels 11 are rotated.
Gears 14L and 14R attached to the rotary shafts of L and 11R are connected by chains 15L and 15R. With this configuration, when the variable speed motors 12L and 12R both rotate at the same speed in the forward direction, the unmanned vehicle 1 travels forward while the variable speed motors 12L and 12R rotate at the same speed and reversely. If so, the unmanned vehicle 1 travels backward. When turning the unmanned vehicle 1 to the left, the variable speed motor 12R is rotated forward while the variable speed motor 12R is rotated.
Rotate L in reverse. Further, when turning the unmanned vehicle 1 to the right, the variable speed motor 12L is rotated in the forward direction, while the variable speed motor 12R is rotated in the reverse direction.

Next, the sensor relationship will be described. Figure 3
As shown in, the ridge detection sensors 21L and 21R are attached to the front part of the unmanned vehicle 1, and the ridge detection sensors 22L and 22R are attached to the rear part. These ridge detection sensors 21L, 21R, 22L, 22R are provided so that the unmanned traveling vehicle 1 can accurately enter the traveling path between the ridges, as described later. Further, a mirror detection sensor 23 is provided at the center of the front part of the unmanned vehicle 1, and a mirror detection sensor 24 is provided at the center of the rear part. These mirrors
The detection sensors 23 and 24 are used for the unmanned vehicle 1 as described later.
Is provided for stopping at a predetermined position after leaving the ridge area after moving forward or backward in the traveling passage between the ridges. Therefore, as will be described later, a mirror detected by the mirror detection sensors 23 and 24 is attached at a predetermined position out of the ridge area. Further, the ridge detection sensors 25L and 25R are provided on the left and right side surfaces of the unmanned vehicle 1, respectively, and the mirror detection sensors 26L and 26R are also provided.
Is provided.

The ridge detection sensors 25L and 25R detect left and right ridges when the unmanned vehicle 1 is moving forward or backward in the traveling passage between the ridges. Further, the mirror detection sensors 26L and 26R are provided to detect a 90-degree turn when the unmanned vehicle 1 turns left and right at a predetermined position. Further, human detection sensors HSL and HSR for detecting a person are provided at the rear of the unmanned vehicle 1.

Bumpers 27 and 28 for stopping a collision are provided at the front and rear of the unmanned vehicle 1. These bumpers 27 and 2 are provided.
When 8 collides with a person, an object, a building or the like, a limit switch or the like operates to immediately stop. Further, a battery 29 is provided in the bogie 3 of the unmanned traveling vehicle 1, and the drive power for the variable speed motors 12L and 12R and the control power for the control circuit built in the control box 30 are provided. Supply.

Next, the board surface device of the operation panel 31 shown in FIG. 5 will be described. The operation panel 31 is attached to the rear part of the unmanned vehicle 1. Operation panel 3 above
1 is a case where the unmanned traveling vehicle 1 is driven for a control function, and a harvesting function described in another application, that is, an operator takes an ridge crop while automatically operating the unmanned traveling vehicle 1 intermittently. It is used for both operations when traveling for the function of putting it in the harvest box placed on the trolley 3.

The key-type main switch 32 mounted on the side surface of the operation panel 31 serves as a power switch that enables power supply from the battery 29. Further, each time the mode setting switch 33 is pressed, the control mode, the harvest mode, and the manual mode are sequentially selected, and the control display lamp 34, the harvest display lamp 35, and the manual mode are selected. The display lamps 36 sequentially light up. Therefore, the control mode is set in this embodiment.

The progress setting switch 37 sets the direction in which the unmanned traveling vehicle 1 moves a plurality of ridges in the harvesting mode, that is, right or left. When the right is set, the right progress indicator lamp 38 is lit, and when the left is set, the left progress indicator lamp 39 is lit.

When the function setting switch 40 is set to the extermination mode, the one-way scatter display lamp 41 and the reciprocating scatter display lamp 42 sequentially light up each time the button is pressed, and the function is in that lighting state. Is set. On the other hand, when the harvest mode is set, the lamps 41 and 42 replace the forward display and the backward display.

The speed setting switch 43 sets the traveling speed of the unmanned vehicle 1 to a high speed or a low speed. Each time the speed setting switch 43 is pressed, a high speed display lamp 44 and a low speed display lamp 45 are set.
, But they light up sequentially.

The start / poise switch 46 is pressed when the unmanned vehicle 1 starts to run, while it is temporarily stopped when the unmanned vehicle 1 is pressed while the unmanned vehicle 1 is running.
The display lamp 47 lights up. Therefore, if the switch 46 is pressed while the unmanned vehicle 1 is temporarily stopped, the unstarted vehicle 1 is restarted.

The harvest return switch 48 is
It is used when the unmanned vehicle 1 is moved to the ridge on the opposite side when there is no crop left. The hose take-up switch 49 is operated when the hose 6 is taken up manually. Further, the forward switch 50 and the reverse switch 51 are pressed when the unmanned vehicle 1 is moved forward or backward by manual operation.

The ridge number / standby time setting switch 52 sets the number of ridges to be controlled in the range of 1 to 20 when the control mode is set. The set value is the display 53
Are displayed in sequence. On the other hand, when the harvesting mode is set, the waiting time of the unmanned vehicle 1 is set at intervals of 5 seconds within a range of 5 to 60 seconds. The standby setting time is the display 5
It is displayed in 3.

The forward movement distance selection switch 54 is used to select the forward movement distance of the unmanned vehicle 1 from 70, 50 and 30 cm when it is set in the harvest mode, and is pushed once each time. The display lamps 55, 56 and 57 are sequentially turned on.

The spray pressure check lamp 58 is turned on when the pressure of the dynamic jet is 15 Kg / cm ² or less.
It should be noted that the unmanned traveling vehicle 1 does not travel because sufficient control cannot be performed when the spray pressure check lamp 58 is lit. When the spray pressure check lamp 58 is turned on while the unmanned vehicle 1 is traveling, the traveling is stopped.

The battery-voltage check lamp 59 displays five levels according to the voltage of the battery-29. In addition, when the charge display is lit, it indicates that the battery 29 needs to be charged, and the unmanned vehicle 1 is stopped.

Next, a method for controlling the unmanned vehicle 1 will be described with reference to FIGS. 6, 7 and 8. Figure 6
FIG. 3 is a control work explanatory diagram in which the unmanned traveling vehicle 1 is caused to travel with the traveling passages between the ridges P1 to Pn formed in the house, and spraying a chemical solution for control from the nozzles 4 to each ridge.
As shown in FIG. 6, first, the unmanned vehicle 1 is moved to the A in the house.
It is set at one point and the tip of the hose 6 is connected to the dynamic jet. Next, with the key type main switch 32 attached to the side surface of the operation panel 31 turned on,
The mode setting switch 33 is pressed to set the control mode. Next, the function setting switch 40 is pressed to select one-way spraying or reciprocal spraying. Next, press the speed setting switch 43,
The traveling speed of the unmanned vehicle 1 is set to high speed or low speed. Next, press the ridge number / standby time setting switch 52,
After setting the number of ridges to be controlled while observing the displayed value on the display 53, the start / poise switch 46 is pressed to start the unmanned vehicle 1.

(1) The unmanned vehicle 1 starts traveling forward,
When the ridge detection sensor 25R detects the ridge P1, the control circuit of the unmanned vehicle 1 controls the opening of the solenoid valve to spray the control chemicals from the nozzle 4 in the ridge P1 direction. (2) When the unmanned traveling vehicle 1 travels in the traveling passage while spraying the chemical solution and reaches the point A2, the ridge detection sensor 25R stops detecting the ridge P1. Therefore, the spray of the chemical solution is stopped and the unmanned vehicle travels. Car 1 also stops. (3) The unmanned vehicle 1 will automatically switch to reverse travel,
While winding the hose 6, return to the point A1 and stop. In this backward traveling, if reciprocal spraying is selected by the function setting switch 40, the control liquid is sprayed from the nozzle 4 in the ridge P1 direction even on the return path. Then, in the stopped state at the point A1, the rear mirror detection sensor 24 of the unmanned traveling vehicle 1 detects the mirror M installed at the end of the traveling passage.

(4) When the unmanned vehicle 1 stops at the point A1 as shown in FIG. 8 and at the same time turns right as shown in FIG. 8, and the mirror detection sensor 26R detects the mirror M, the angle becomes 90 degrees. Stop at the right turn position. (5) When the 90-degree right turn is completed, the unmanned traveling vehicle 1 moves to the position shown in FIG.
As shown in, the process moves forward in the next ridge P1 direction. When the mirror detection sensor 26R on the side surface detects the mirror M installed at the end of the traveling passage in the next row, the mirror detection sensor 26R stops. (6) Next, the unmanned vehicle 1 makes a left turn as shown in FIG. 8, and when the rear mirror detection sensor 24 detects the mirror M, it stops at the 90-degree left turn position. (7) If the unmanned vehicle 1 makes a turn deviate from 90 degrees as shown in Fig. 8, a corrective turn is required. In this case, of the ridge detection sensors 21L and 21R attached to the front part of the unmanned traveling vehicle 1, since the ridge detection sensor 21R does not detect the ridges, the unmanned traveling vehicle 1 is turned right and the ridge detection sensor is detected. When 21L and 21R both stop detecting the ridge and the rear mirror detection sensor 24 detects the mirror M, the correction turning is completed.

(8) As shown in FIG. 8, the unmanned traveling vehicle 1 faces the traveling passage, and the front ridge detection sensors 21L and 21R are provided.
When both of the ridges do not detect the ridge, the unmanned vehicle 1 moves forward, and the ridge detection sensor 25L provided on the side surface detects the ridge P1.
Further, when the ridge detection sensor 25R detects the ridge P2, the control circuit of the unmanned traveling vehicle 1 controls the opening of the solenoid valve to spray the chemical solution for control from the nozzle 4 in the ridges P1 and P2, and to drive the unmanned traveling vehicle 1. Let it run. (9) Hereinafter, the control from (2) to (7) above is repeated. (10) And the number of ridges / standby time setting switch 5
When the control of all the ridges set by 2 and the indicator 53 is completed and the unmanned traveling vehicle 1 returns to the point A3, turn right,
When the mirror detection sensor 26L on the side surface detects the mirror M, the mirror detection sensor 26L stops in a 90 ° right turn state. (11) After the unmanned traveling vehicle 1 has stopped in the 90 degree right-turning state, it travels backward while winding the hose 6, and in the course of the traveling, the mirror detection sensor 26R on the side surface has the same number as the set ridge number. When the Mira-M is detected, the unmanned traveling vehicle 1 stops at the point A1 and a series of pest control work ends.

[0028]

As described above, according to the present invention, an unmanned vehicle capable of moving forward and backward and turning equipped with a control device for spraying a chemical liquid for control is caused to travel in a predetermined traveling path between the ridges. While the ridge detection sensor provided in the unmanned vehicle in the process is detecting the ridges on the side of the traveling passage, automatically spraying the chemical solution for control in the direction of the ridges from the control device. (1) The worker does not need to enter the greenhouse immediately after spraying, as well as in the state of spraying the chemical, so the chemical is not exposed to the body or inhaled Control work can be realized. (2) It is not necessary for the worker to wear heavy equipment as in the conventional case, and the amount of work for controlling the worker can be greatly reduced. (3) The efficiency of the control work can be greatly improved.

[Brief description of drawings]

FIG. 1 is a side view of an unmanned vehicle according to an embodiment of the present invention.

FIG. 2 is a front view of an unmanned traveling vehicle.

FIG. 3 is a plan view showing a device layout of an unmanned vehicle.

FIG. 4 is a side view showing a device layout of the unmanned vehicle.

FIG. 5 is a perspective view showing a device layout of an operation panel of the unmanned vehicle.

FIG. 6 is an explanatory view of a control work by an unmanned traveling vehicle.

FIG. 7 is a supplementary explanatory diagram of the extermination work by the unmanned traveling vehicle.

FIG. 8 is a diagram for explaining a furrow movement of an unmanned vehicle.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Unmanned traveling vehicle 2 Control unit 3 Cart 4 Nozzle 5 Nozzle tube 6 Hose 31 Operation panel P1 to Pn ridge

Claims (1)

[Claims] 1. An unmanned vehicle capable of moving forward and backward and turning, equipped with a control device for spraying a chemical solution for control, is caused to travel in a traveling path between preset ridges, and in the course of the traveling, the unmanned vehicle is operated. An unmanned traveling vehicle characterized by automatically spraying the control chemicals in the direction of the ridges from the control device while the ridge detection sensor provided detects the ridges on the side of the traveling passage. Control method using.