JPH07241503A - Induction type chemical-spreading machine - Google Patents

Abstract

PURPOSE:To prevent the chemical-unspreading and repeated sections as completely as possible from being generated and to efficiently spread chemicals by equipping a liquid chemical-out position recognition controlling means linked with liquid chemical-out state-detecting actuation for recognizing the position on the travel orbit of an induction type chemical-spreading machine being under the liquid chemical-out state while keeping a turning part as standards. CONSTITUTION:A controlling means for performing liquid chemical-out position-recognizing control counts the turned number of times at the same time with read of the working state in a turning part through a first and second controllers 40, 41 in accordance with the detection result of a steering angle sensor 37, a vehicle speed sensor 71 and a velocity sensor 70 at every time for traveling the turning part on a traveling orbit line from a time for starting automatic travel. Timers T built into the respective controllers 40, 41 start measurement of time while keeping the position of each turning finish end as the starting point of reckoning. When a liquid chemical sensor 54 detects the liquid chemical-out state, a liquid chemical pump and a blowing fan are stopped in the travel position of this time as the liquid chemical- out position. It is stored in the recording memory 56 of an EEPROM whether the number of times in turning is an odd number or an even number. The elapsed time in travel from the turning finish position is stored in the recording memory 56.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an induction type chemical spraying machine used for spraying chemicals in an orchard for cultivating apples, grapes, pears and the like.

[0002]

2. Description of the Related Art Heretofore, as one form of an induction type chemical spraying machine, there is one in which a chemical spraying is carried out mainly in an orchard or the like while automatically traveling between fruit trees unmanned.

That is, in the soil of a field such as an orchard, an induction cable as a running orbit line formed in a meandering shape by combining a straight portion and a turning portion is laid, and a magnetic field is generated in the induction cable. This magnetic field is detected by a magnetic sensor attached to the inductive type drug spraying machine, and the inductive type drug sprayer can be automatically driven along the induction cable.

Moreover, a receiver is provided in the inductive type drug spraying machine so that the transmitter can transmit the data and the vehicle can be automatically run by remote control.

In this way, it is possible to carry out the chemical spraying work while automatically moving the induction type chemical sprayer along the guide cable in the field, and during the chemical spraying work, for example, when the chemical liquid runs out. In case of occurrence, by automatic driving or by remote control with a transmitter, run the inductive type drug sprayer to a predetermined chemical solution replenishment place,
The chemical solution is supplied at the chemical solution supply place.

[0006]

However, in the above-mentioned induction type chemical spraying machine, when the chemical liquid runs out during the chemical spraying operation, the induction type chemical sprayer is run to the chemical liquid supply path to supply the chemical liquid. Although the work can be performed, it is difficult to identify the location where the chemical liquid runs out when the induction type chemical sprayer is moved to the location where the chemical solution runs out after the replenishment work is completed. A section occurs,
In some cases, the control effect could not be ensured well, and in some cases, the chemicals were oversprayed, resulting in problems such as waste of chemicals due to excessive chemical spraying and adverse effects on trees.

[0007]

Therefore, in the present invention, in an inductive type chemical spraying machine capable of automatically moving on a running track line formed by a combination of a straight portion and a turning portion,
Chemical liquid cutout detection means that detects chemical liquid cutout, and chemical liquid cutout position recognition control that recognizes the position on the running track of this machine where the chemical liquid has run out in conjunction with the chemical liquid cutout detection operation based on the turning part The present invention provides an inductive drug spraying machine, which comprises:

Further, according to the present invention, there is provided a liquid medicine running-out movement control means for moving the machine to a predetermined liquid medicine running-out movement position in association with the liquid chemical running-out detection operation by the liquid chemical running out detection means, Equipped with automatic return control means to automatically return the machine from the location to the position where the chemical solution runs out.
Automatic spraying switching control means that automatically stops the outer spraying at the turning part and automatically restarts the outer spraying after the end of turning, and automatic spraying that controls the restarting of the spraying automatically after returning to the chemical solution out position. When the restart control means and the automatic spraying restart control by the automatic spraying restart control means are selected, the automatic spraying switching control means by the automatic spraying switching control means until the chemical spraying work by the automatic spraying restart control is restarted. It is also characterized in that it is provided with an automatic spraying restart priority control means for controlling so as not to start.

[0009]

In the orchard or the like, when performing the chemical spraying work, the induction type chemical sprayer is automatically moved along the running track line formed by the combination of the straight section and the turning section, The drug is sprayed from the induction type drug sprayer.

At this time, when the chemical liquid shortage detecting means detects the chemical liquid shortage, the chemical liquid shortage position recognizing means turns the position on the running track of the main body, in association with the chemical liquid shortage detecting operation of the chemical liquid shortage detecting means. The machine can be recognized based on the facing part, the machine can be moved to a predetermined chemical solution replenishment location, and after the chemical solution replenishment work is completed at the same chemical solution replenishment location, the machine can be identified by the chemical solution out position recognition means. Accurately return to
The chemical spraying work can be continued.

In addition, the machine is moved to a predetermined moving position when the chemical liquid is exhausted, in conjunction with the chemical liquid exhaustion detecting operation by the chemical liquid exhaustion detecting means,
For example, if the device is equipped with movement control means at the time of running out of the chemical solution that moves to the chemical solution replenishment place, the movement control means at the time of running out the chemical solution automatically and reliably moves the machine from the chemical solution running-out position to the chemical solution replenishing place. Can be made.

Further, when the automatic recovery control means for automatically returning the machine from the moving position at the time of running out of the chemical solution to the position of running out of the chemical solution is provided, the automatic recovery control means automatically and surely causes the machine to run out of the chemical solution. It is possible to return to the position and continue the drug spraying work.

Further, automatic spraying switching control means for automatically stopping the outer spraying at the turning portion and automatically restarting the outer spraying after the end of turning, and automatically restarting the spraying after returning to the chemical liquid out position. When automatic spraying restart control means for controlling and automatic spraying restart control by the automatic spraying restart control means are selected, by automatic spraying switching control means until the chemical spraying work by the automatic spraying restart control is restarted. When the automatic spraying restart priority control means for controlling so that the automatic spraying switching control is not started is provided, even when the automatic spraying restart control by the automatic spraying restart control means is selected, the automatic spraying start priority control means is provided. The automatic spraying switching control by the automatic spraying switching control means is not started until the machine is returned to the position where the liquid medicine runs out and the automatic spraying is restarted. It is possible to stop.

[0014]

Embodiments of the present invention will be described below with reference to the drawings.

1 to 4 is an induction type chemical spraying machine according to the present invention. The induction type chemical spraying machine A has an engine 2 provided in a front bonnet 1, a steering handle 3 and A driving operation section 5 provided with a driver's seat 4, a spray nozzle 6 for spraying a chemical solution, and a blower fan 7, front wheels 8, 8 and rear wheels 9, 9 on the left and right which are running wheels, a chemical solution tank 10, and the like. A chemical pump 11 for pumping the chemical in the chemical tank 10 to the nozzle 6.
And is configured to spray the chemical liquid while traveling. G is a farm field, 31 is a running track line laid underground in the farm field G, and a guide cable is used.

The induction type chemical spraying machine A shown in FIG.
As shown in FIG. 4, a hydraulic power steering cylinder 12 controlled by operating the handle 4 is provided, and the cylinder 12 is connected to the front and rear axle cases 16 and 17 via front and rear crank arms 14 and 15 connected by a rod 13 so that the left and right sides are connected. The front and rear wheels 8, 8, 9, 9 are configured to be steered by the cylinder 12 for four wheels.

Further, as shown in FIG. 6, the induction type chemical spraying machine A has a fulcrum shaft 18 provided on the center line in the front-rear direction of the machine body.
The spray nozzle 6 is provided via the
The spraying direction of the spray nozzle 6 is changed by the spray nozzle 6, and the spray nozzle 6 is formed by dividing the spray nozzles 20, 21, 22 into the left, right, and middle spray ports, and spraying the spray ports 20, 21, 22 via the spray valve 23. It is configured to be connected to the pump 11 and to spray the chemical liquid from the jet ports 20, 21, 22 toward the left and right sides of the machine body and the upper center.

Moreover, the induction type chemical spraying machine A is shown in FIG.
As shown in, a hydraulic pump driven by the engine 2
24, and a power steering valve 25 that is switched by manual operation of the handle 3, and connects the cylinder 12 to the hydraulic pump 24 via the valve 25, and an automatic steering valve 28 having left and right steering solenoids 26, 27. , A traveling cylinder 29 for operating a traveling clutch and a traveling brake (not shown), and a traveling control valve 30 for controlling the operation of the cylinder 29 to automatically perform the traveling and stopping of the airframe, and the steering, traveling and stopping operations. Is configured to be automatically performed via the valves 28 and 30.

Further, the induction type chemical spraying machine A is shown in FIG.
As shown in FIG. 8 and FIG. 8, a left and right track sensor which is a pair of left and right magnetic field sensors for detecting the magnetic field generated on the track line 31.
32,33 and each sensor 32,3 on the front both sides of the bonnet 1.
In addition to the internal 3, the left and right trajectory detection attitude solenoid 34,35 which is the attitude control means for correcting the detection direction of the trajectory sensor 32,33, and each solenoid 34,35 via the neutral holding spring 36,36. Based on the detection result of the steering angle sensor 37, which is connected to the sensors 32, 33 and detects the steering angles of the left and right front wheels 8, 8, 9, 9, the solenoids 34, 35 are controlled to control the sensors 32, 33. The posture of 33 is automatically corrected, and the pickup coils 38, 39 of the sensors 32, 33 support the sensors 32, 33 in a direction substantially orthogonal to the traveling orbit line 31 in plan view. Traveling track line 31 and left and right track sensor 3
It is configured so that it is possible to prevent the vertical output from decreasing due to the parallel connection between 2,33.

The induction type chemical spraying machine A shown in FIG.
As shown in FIG. 1, first and second controllers 4 formed by microcomputers of the same specifications that can complement each other
The controllers 40 and 41 have timers T and T, respectively.

The first controller 40 manually operates the left, right, and middle spraying operation motors 42, 43, 44 for controlling the left, right, and middle jet outlets 20, 21, 22 to open and close. Left / right /
Medium spraying operation switches 45, 46, 47, an electric blower clutch cylinder 49 for driving or stopping the blower fan 7, a blower clutch switch 50 for manually operating the cylinder 49, and a spraying relay 51 for driving or stopping the chemical pump 11. And left and right obstacle detection sensors 52 and 53 provided on both front sides of the bonnet 1 to detect an obstacle ahead, a chemical solution sensor 54 for detecting the chemical solution amount in the chemical solution tank 10, and a switch between automatic control mode and manual operation mode. An automatic mode switch 55 for performing the operation, a recording memory 56 formed by an EEPROM for recording work data,
It is connected to a receiver 61 for receiving and inputting a signal from a remote control transmitter 60 for performing manual operation (spraying operation, traveling stop) of the chemical spraying work remotely.

Further, the second controller 41 includes the automatic mode switch 55 and the receiver 61, an engine operation permission relay 62 for detecting preparation for medicine spraying work, a main shift reverse sensor 63 for detecting reverse switching, Sub-transmission high-speed sensor 64 for detecting sub-transmission high-speed switching, and touch sensor 65 provided in the center of the front surface of the bonnet 1 for detecting contact with an obstacle.
A spraying direction changing switch 66 for manually operating the direction correcting cylinder 19, and an abnormality display lamp 67 for notifying an abnormality occurrence,
A reception lamp 68 that indicates whether or not the receiver 61 has received a signal, an automatic mode lamp 69 that indicates the automatic switching of the automatic mode switch 55, and an angular velocity sensor 70 that detects the angular velocity when the aircraft is turning.
A vehicle speed sensor 71 for detecting the vehicle traveling speed, an engine rotation sensor 72 for detecting the rotation speed of the engine 2, the left and right steering solenoids 26, 27, a steering angle sensor 37, and left and right trajectory sensors 32, 33. Left and right trajectory detection attitude solenoids 34,35
And are connected.

FIG. 10 is a plan view of the running track line 31 laid underground in the field G. The running track line 31 is
A plurality of straight line portions 31a arranged in a substantially straight line between the front and rear vertical rows of the tree J that is vegetated in large numbers at regular intervals in the front, rear, left and right width directions, and outside the tree J located at the end of each straight line portion 31a. A plurality of semicircular arc-shaped turning portions 31b that connect the ends of the adjacent straight portions 31a, 31a, and the starting end and the drug spraying end side of the straight portion 31a on the outward path that is the traveling start side. Connection part 31 that connects the end of the straight part 31a on the return path
c and a peripheral edge portion 31d arranged along the peripheral edge of the field G in a substantially rectangular ring shape.
31d is connected to the transmitting unit 31e, and the transmitting unit 31e
An electric signal is transmitted to the traveling track line 31 to
A magnetic field is generated around 31. a is an automatic traveling start position, b is a chemical spraying start position, c is a travel route switching position, d is a chemical spraying end position, e is a chemical liquid supply path, and f is a rework start position.

With the above-mentioned structure, in the present embodiment, automatic spraying control, chemical liquid running-out position recognition control, chemical liquid running-out movement control, automatic return control, automatic spraying switching control, automatic spraying restart priority control. The safety control, the fan priority control, and the chemical spraying control can be performed. Each control will be described below.

[Automatic Spraying Control] As shown in FIG. 11, the automatic spraying control means for performing automatic spraying control is in the manual mode when the automatic mode switch 55 is off, and when the switch 55 is on, the machine runs at the working speed. As a result, the running track line 31 is detected by the left and right track sensors 32, 33, the straight part work is started in the straight part 31a of the straight track line 31, and the straight running control and the spraying of all nozzles are performed.
While spraying the chemical solution in a semi-circle, it moves straight along the running track line 31 and, at the turning part 31b, the left and right track sensors 3
Left and right steering solenoids 26,
The turning steering control of the power steering cylinder 12 by the 27 is performed, and the turning angle is calculated based on the steering angle detection of the steering angle sensor 37 and the traveling speed detection of the vehicle speed sensor 71 to correct the course and change the direction during straight traveling. When the front and rear wheels 8 and 9 are steered by the cylinder 12, the machine 12 is turned to the next process by performing automatic spraying switching control to stop the spraying of the medicine on the outer side of the turning direction. , Steering angle sensor 37
The attitude solenoids 34 and 35 operate based on the steering angles of the front and rear wheels 8 and 9 detected by the left and right track sensors 3 and 33 to rotate the left and right track sensors 32 and 33 in the steering direction of the front wheels 8 and 8.
Support the pickup coils 38, 39 of the 2, 33 in a direction substantially orthogonal to the running track line 31, and
I'm trying to prevent the output drop.

When the automatic mode switch 55 is turned on to perform work in the automatic mode, the steering wheel 3 and the driver's seat 4 are covered with an openable / closable cover (not shown) to allow unattended operation and The transmitter 60 is operated to start / stop the traveling of the machine and stop the spraying on the outside of the turning direction by controlling the left and right spraying operation motors 42 and 43 by remote manual control of the operator.

[Chemical Liquid Out-Position Recognition Control] As shown in FIG. 12, the chemical liquid out-position recognition control means for performing the chemical liquid out-position recognition control travels in the turning portion 31b on the traveling track line 31 from the start of automatic traveling. Each time, the steering angle sensor 37 and the vehicle speed sensor 71
Based on the detection result of the speed sensor 70 and the speed sensor 70, the first and second controllers 40 and 41 read the working status of the turning portion and simultaneously count the number of turning times.
Each timer T built in 0, 41 starts time measurement from the turning end position of each turning portion 31b as a starting point, and when the chemical liquid sensor 54 as the chemical liquid shortage detecting means detects the chemical liquid shortage,
The running position at that time is set as the chemical solution out position P and the chemical solution pump 11
And the blower fan 7 are stopped, the number of times of turning of the final turning portion 31b is stored in the recording memory 56, which is an EEPROM, depending on whether it is “odd” or “even”, and the turning end position of the final turning portion 31 is changed. The traveling elapsed time of is also stored in the recording memory 56.

For example, as shown in FIG. 10, since the number of times of turning from the automatic running start position a to the chemical solution running-out position P is 3, it is stored in the recording memory 56 as an "odd number", and the running time t Is also remembered.

In this way, by recognizing the chemical solution running-out position P from the "odd" or "even" turning information stored in the recording memory 56 and the elapsed travel time t, the automatic return control means described later is used. The automatic return of the machine to the chemical liquid out position P can be accurately performed.

Instead of measuring the elapsed time t from the turning end position to the chemical solution out position P, the rotational speed of the travel transmission shaft of the travel mission section (not shown) is measured to determine the chemical solution out position P. It is also possible to recognize it as the distance from the turning end position.

[Movement Control When Running Out of Chemical Solution] As shown in FIG. 13, when the chemical solution sensor 54 detects the running out of the chemical solution during the chemical spraying operation, the chemical solution pump 11 controls the movement control means when running out of the chemical solution. And the blower fan 7 are stopped, and, for example, as shown in FIG. 10, when the chemical replenishment path e is on the automatic travel start position a side, at the turning end position of the turning portion 31b of the even number of times. It is designed to automatically stop running.

For example, at the chemical solution running-out position P shown in FIG. 10, since the number of turns is an odd number of three times, the automatic running is continued as it is, and the fourth turning portion 31b is automatically turned at a predetermined angle. I'm trying to stop.

In this way, when the chemical solution runs out, the machine is automatically stopped at a predetermined moving position when the chemical solution runs out, for example, a position near the chemical solution replenishing path e, and the machine solution The worker can easily see the cut.

Further, the automatic running start position a and the chemical replenishing path e
When and are located on opposite sides of the field G,
This machine may be automatically stopped at the turning end position of the turning portion 31b of an odd number of times. For such a case, it is determined whether the automatic traveling start position a is on the chemical solution replenishing path e side. It is preferable to provide a selection switch for selection so that the switching operation can be appropriately performed.

[Automatic Return Control] The automatic return control means for performing the automatic return control is the upper side adjacent to the turning portion 31b where the machine automatically stops after performing the chemical solution replenishment work on the machine where the chemical solution has run out. The turning end end position of the turning portion 31b is used as a rework start position, and the machine is automatically returned to the chemical solution out position.

That is, in the automatic return control, as shown in FIG. 14, the first and second controllers 40 and 41 read the turning information at the time of the occurrence of the chemical solution out based on the storage of the recording memory 56, and the even turning is performed. In this case, the automatic traveling is started from the rework starting position, the traveling time is started to be measured by the timer T, and the time obtained by subtracting the constant error correction time t1 from the traveling elapsed time t stored in the recording memory 56 has elapsed. Then, while the chemical spraying control is restarted by the automatic spraying restart control, in the case of an odd number of turns, the running time measurement is started from the turning end position where one turning part 31b is turned and the recording memory is started. When the elapsed travel time t stored in 56 has elapsed, the chemical spraying operation is restarted by the automatic spraying restart control.

Therefore, for example, the medicine run-out position P shown in FIG. 10 corresponds to the case of the odd number of times of turning, so that the automatic running is started from the rework start position f and one turning unit 31 is used.
The traveling time measurement will be started from the turning end position after turning b.

Further, the constant error correction time t1 is set by the operator when the turning information at the time of the occurrence of the chemical solution is an even turning.
When the machine is moved to the rework start position f by manual operation using the
Considering that the turning end position of 31 and the rework starting position f may not be exactly the same, this error is set in advance by converting it to time.

When recognizing the chemical solution out position P as a distance from the turning end position, a constant error correction distance can be set in advance.

In this way, by correcting the human error of the re-work start position and minimizing the duplicate drug spraying, it is possible to minimize the harm due to the redundant drug spraying and the wasteful use of the drug. I am able to do it.

Here, the automatic spraying restart control means for carrying out the automatic spraying restart control is constructed in the same manner as the automatic spraying control by the above-mentioned automatic spraying control means so that the automatic spraying can be restarted from the chemical solution running-out position. ing.

[Automatic Spraying Switching Control] The automatic spraying switching control means for performing automatic spraying switching control is, as shown in FIG.
When the turning is started by the detection of each of the sensors 37 and 70, one of the left and right spraying operation motors 42 and 43 on the outside of the turning is controlled to close the jet outlet 20 or 21 on the outside of the turning, and the turning outside While stopping the spraying of the drug to the nozzles, the jets 20 or 21
Control is performed to restart the spraying of the medicine on the outer side of the turning direction, and the straight ahead work is performed.

When the remote manual operation is performed before the turning is completed and remote manual signals (left on / off and right on / off signals) are sent from the transmitter 60, the left jet signal is generated by the left on signal. The drug spraying from 20 is started, while the drug spraying from the left jet port 20 is stopped by the left off signal, while the drug spraying from the right jet port 21 is started by the right on signal,
The spraying of the medicine from the right ejection port 21 is stopped by the right off signal, and the remote manual operation by the transmitter 60 is preferentially performed by the turning portion 31b.

After the remote manual operation is performed,
The contents of this operation may be rewritten as automatic control data so as to be in a working state of automatic control. Also,
By storing the data of each field for each field, it is possible to set a spray pattern unique to the field.

[Automatic spraying restart priority control] As shown in FIG. 16, the automatic spraying restart priority control means for performing the automatic spraying restart priority control is adapted to perform the automatic spraying restart control prior to the automatic spraying switching control. Is.

In this way, when the automatic spraying restart control is selected, the automatic spraying switching control is not performed before the automatic spraying is restarted from the position where the chemical solution has run out, and the automatic spraying is controlled in the automatic return control. This unit can be turned by switching control.
Immediately after turning 31b is finished, one-sided spraying is started to prevent the problem of overlapping drug spraying sections from occurring.

[Safety Control] As shown in FIG. 17, the safety control means for performing safety control operates the chemical liquid pump 11 and causes the left, right, and middle spraying operation motors 42, 43, and 44 to spray left, right, and middle jets. Exit 2
Only when all the conditions that 0, 21, 22 are fully closed, the blower fan 7 is deactivated, and the automatic spray start switch (not shown) is ON are satisfied, the automatic spray control is performed. I'm trying to allow it.

In this way, it is possible to prevent the accidental accident of accidentally performing the automatic spraying control when the operator does not intend to use the automatic spraying control function.

[Fan Priority Control] As shown in FIG. 18, the fan priority control means for performing the fan priority control sets the fan operation start distance and the spray operation motor drive distance in advance, and starts automatic traveling. After that, when the machine travels to the fan operation start distance, the blower fan 7 starts to operate, and when the machine travels to the spray operation motor drive distance, the left, right, and middle spray operation motors are started. It is designed to drive 42, 43, 44.

In this way, by starting the control of the blower fan 7 which takes time to rise until reaching a constant number of revolutions prior to the total spraying operation motors 42, 43, 44, the initial start of automatic spraying is started. Even so, it is designed to obtain sufficient spraying performance.

[Chemical Spraying Control] The chemical spraying control means for performing chemical spraying control is such that when the machine travels on the peripheral edge 31d, the external spraying is stopped and only the internal spraying is performed by remote manual operation. When chemical spraying control is performed and the machine turns the turning section 31b, the outer spraying is stopped and only the inner spraying is performed, and the straight section 31a placed between the trees J, J is used by the machine. When the vehicle travels, the automatic drug spraying control is performed so as to spray the inside and outside.

As shown in FIG. 19, the peripheral part chemical spraying control is performed by turning off the automatic mode switch 55 to switch to the manual mode, and then transmitting a remote manual signal (a left on / off signal and a right on signal) by the transmitter 60.・ OFF signal), the left ON signal discloses the spraying of the drug from the left ejection port 20, the left OFF signal stops the spraying of the drug from the left ejection port 20, and the right ON signal causes the right ejection port 21 to discharge. The drug spraying from the right ejection port 21 is stopped by the right off signal, and the remote manual operation by the transmitter 60 is controlled by the peripheral portion 31.
I am able to prioritize with d.

After the remote manual operation is performed, the contents of this operation may be rewritten as automatic control data to be in a working state of automatic control.
In addition, by storing the data of each field by field,
It is also possible to set a spray pattern unique to the field.

In addition, as shown in FIG. 19, in the automatic drug spraying control, if the automatic mode switch 55 is turned on to switch to the automatic mode after the peripheral drug spraying control is completed, the angular velocity sensor 70 and the steering angle sensor 37 are turned on. When the second controller 41 calculates the turning angle of the machine based on each detection result from, and when it is detected that the machine starts turning, the outer spraying is stopped, for example, in the case of turning to the right. When the left spray port 20 is closed by controlling the drive of the left spraying operation motor 42, the turning angle is 90 degrees or more, the turning is not completed, and the turning angle is 180 degrees or more is detected. Determines that the machine has finished turning the turning portion 31b and has started traveling on the straight portion 31a, and starts outer spreading.

If the turning angle is not 90 degrees or more, or if the turning angle is not completed and the turning angle is not 180 degrees or more, the machine moves the peripheral edge 31d. When it is judged that the vehicle is traveling or the turning portion 31b has not turned yet, the outer spraying is kept stopped.

Thus, while the machine is turning the turning portion 31b, the outer spraying is stopped, and while the machine is running on the straight portion 31a located between the trees J, J. Performs inner-outer spraying, only inner-side spraying while traveling on the peripheral edge portion 31d, and outer-side spraying can be surely controlled without depending on force.

Further, the above-mentioned chemical spraying control can be selectively adopted by an operator by a selection switch.

[0058]

According to the present invention, the following effects can be obtained.

Even when the machine is moved to a predetermined chemical solution replenishing place by interlocking with the chemical solution shortage detecting means and the chemical solution shortage position recognizing means, after the chemical solution replenishing work is finished at the same chemical solution replenishing place, the machine is again provided. Since it is possible to accurately return to the position where the liquid medicine runs out and to continue the chemical spraying work,
It is possible to prevent the occurrence of the drug non-dispersed section and the drug overlapping application section as much as possible, and it is possible to perform the drug application work efficiently.

By interlocking the medicine run-out detection means and the chemical solution run-out control means, the machine can be automatically and reliably moved from the drug solution run-out position to a predetermined drug solution run-out location, for example, a chemical solution supply location. Therefore, the worker does not lose sight of the machine in the trees in the orchard or the like and can quickly perform the chemical liquid replenishment work, and also from this point, the chemical spraying work can be efficiently performed.

Since the automatic return control means can automatically return the machine from the moving position when the liquid chemical runs out to the position where the liquid chemical runs out, the chemical spraying work can be continued promptly and efficiently from this point as well. The chemical spraying work can be performed.

By interlocking the automatic spraying switching control means, the automatic spraying restart control means, and the automatic spraying restart priority control means,
Even when the automatic spraying restart control by the automatic spraying restart control means is selected, the automatic spraying switching control by the automatic spraying switching control means is not started until the machine is returned to the chemical liquid exhaust position and the automatic spraying is restarted. Therefore, it is possible to prevent the overlapped drug spraying section from occurring, and from this point as well, the drug spraying work can be performed efficiently.

[Brief description of drawings]

FIG. 1 is a right side view of an inductive type drug spraying machine according to the present invention.

FIG. 2 is a left side view of the induction type drug spraying machine.

FIG. 3 is a plan view of the induction type drug spraying machine.

FIG. 4 is a front view of the induction type drug spraying machine.

FIG. 5 is an explanatory plan view of a power steering cylinder mechanism.

FIG. 6 is a rear view of the spray nozzle unit.

FIG. 7 is a steering hydraulic circuit diagram.

FIG. 8 is an explanatory plan view of a trajectory sensor unit.

FIG. 9 is a control block diagram.

FIG. 10 is an explanatory diagram of a traveling track.

FIG. 11 is a flowchart of automatic spraying control.

FIG. 12 is a flowchart of a chemical liquid out position recognition control.

FIG. 13 is a flowchart of movement control when a chemical solution runs out.

FIG. 14 is a flowchart of automatic return control.

FIG. 15 is a flowchart of automatic spraying switching control.

FIG. 16 is a flowchart of automatic spray restart priority control.

FIG. 17 is a flowchart of safety control.

FIG. 18 is a flowchart of fan priority control.

FIG. 19 is a flowchart of drug spraying control.

[Explanation of symbols]

 A Induction type chemical sprayer 31 Trajectory line 40 Controller 41 Controller 60 Transmitter 61 Receiver

 ─────────────────────────────────────────────────── ─── Continuation of front page (72) Koichi Tozaki, 1-chome, Nisshin-cho, Omiya-shi, Saitama Prefecture, 2-40 Institute for the Promotion of Specified Industrial Technology, Biological Systems (72) Yoshihiko Miyahara, 1-chome, Nisshin-cho, Omiya, Saitama Address 2 Biological Specific Industrial Technology Research Promotion Organization

Claims (4)

[Claims] 1. An induction type chemical spraying machine capable of automatically moving on a traveling orbit line formed by a combination of a straight line portion and a turning portion, and a chemical liquid shortage detecting means for detecting chemical liquid shortage and the same chemical liquid shortage detection. Means for recognizing the position on the running orbit of the main body where the liquid chemical has run out, based on the turning portion, in association with the liquid chemical runout detection operation by the means. . 2. A chemical liquid run-out movement control means for moving the machine to a predetermined chemical liquid run-out movement position in association with the chemical liquid run-out detection operation by the chemical liquid run-out detection means. Inductive chemical sprayer. 3. The induction type chemical spraying machine according to claim 2, further comprising an automatic return control means for automatically returning the machine from the moving position when the liquid medicine runs out to the position where the liquid chemical runs out. 4. An automatic spraying switching control means for automatically stopping the outer spraying at the turning portion and automatically restarting the outer spraying after the turning is finished, and automatically restarting the spraying after returning to the chemical liquid out position. When automatic spraying restart control means for controlling and automatic spraying restart control by the automatic spraying restart control means are selected, automatic spraying switching control means until the chemical spraying work by the automatic spraying restart control is restarted. 4. The induction type chemical spraying machine according to claim 3, further comprising an automatic spraying restart priority control means for controlling so that the automatic spraying switching control by the above is not started.