JPH08107747A - Agrochemical dispersion machine and self-propelled vehicle mounting the same - Google Patents

Abstract

PURPOSE: To provide an agrochemical dispersion machine and the subject vehicle capable of dispersing sufficient amount of an agrochemical in a carefully thought out way without exposing a relevant operator to a harmful agrochemical by controlling respective spray nozzles to desired orientations through remote control technique. CONSTITUTION: This agrochemical dispersion machine 1 is equipped with agrochemical spray nozzles 6, a spray nozzle swinging mechanism 2 to swing the spray nozzles 6 vertically and traverse-fashion, a remote input unit 3 to dispatch wireless signals for controlling the spray nozzles 6 to respective desired orientations, and a control means 4 to drive and control the spray nozzle swinging mechanism 2 based on the wireless signals received by a receiving antenna 18 from the remote input unit 3. The control means 4 (control unit) also has a function to drive, through remote control, an on-off valve provided at a feed pipe channel to feed an agrochemical to the spray nozzles 6 to conduct on-off control of the feed pipe channel. The self-propelled vehicle mounts the agrochemical dispersion machine 1 on the body 17 of its truck 5.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a chemical spraying device for spraying chemicals such as pesticides to agricultural crops such as grains and fruit trees, plants, etc. by remote control, and a self-driving vehicle equipped with the same.

[0002]

2. Description of the Related Art Conventionally, when spraying chemicals such as pesticides in the cultivation of fruit trees such as mandarin oranges, a chemical solution tank storing the pesticide is placed on a farm road, and a portable spray nozzle connected to the chemical solution tank via a hose is used. The worker held it by hand and sprayed the pesticide on the fruit trees. On the other hand, a passenger type chemical spraying vehicle (so-called speed sprayer or the like) may be used in order to reduce the spraying work.

However, in any case, since the pesticides that have an adverse effect are often applied to the body, the worker is forced to put a mask on his mouth and cover almost the whole body with feathers to carry out the spraying work. It was Therefore, the spraying work in the extreme heat is
It was particularly harsh.

Further, when it is desired to stop the spraying work using the above-mentioned portable spray nozzle, the worker himself has to return to the chemical liquid tank and close the main stopper, which is a troublesome task. In addition, there is a disadvantage that the drug is unnecessarily sprayed from the spray nozzle even while returning to the drug solution tank.

[0005]

[Problems to be solved by the Invention]
As disclosed in Japanese Patent No. 3571 or the like, there is also a self-propelled chemical spraying vehicle in which a target injection position on a fruit tree or the like is variably controlled without a person boarding.

However, according to such a self-propelled chemical spraying vehicle, the variable direction of the injection nozzle is only up and down, and it is constant in the lateral direction. That is, the target injection position of the injection nozzle could only be changed up and down during the spraying work. Further, since the traveling direction of the vehicle body is regulated in a substantially fixed course in the front-rear direction, the target injection position cannot be changed by turning the vehicle body itself.

For this reason, there are cases where the medicine does not reach hidden areas such as the underside of the leaves, and it has been difficult to spread the medicine evenly and uniformly. On the contrary, there has been a problem that excessively redundant drug spraying is performed on a site that has already been sufficiently sprayed.

[0008] Therefore, an object of the present invention is to control the injection nozzle in a desired direction by remote control so as to perform fine and sufficient chemical spraying without exposing the operator to harmful chemicals. An object of the present invention is to provide a chemical spraying device and a self-propelled vehicle equipped with the same.

[0009]

In order to achieve the above object, a drug spraying device according to the present invention comprises a spray nozzle for spraying a drug, a spray nozzle rocking mechanism for rocking the spray nozzle, and a remote operation for spraying. The first remote control means for driving the nozzle swing mechanism to control the ejection nozzle in a desired direction is adopted.

Further, in the medicine spraying device having the above-mentioned structure,
An opening / closing valve that is provided in a supply pipeline for supplying a drug to the injection nozzle and that opens and closes the pipeline, and a second remote control unit that drives the opening / closing valve by remote operation to control the opening and closing of the supply pipeline are provided. It will be.

Further, the self-propelled vehicle equipped with the chemical spraying device according to the present invention has a wheel body traveling on the ground, a traveling drive means for rotationally driving the wheel body, a steering means for changing the traveling direction of the wheel body, and a remote control. A trolley is provided with a third remote control means for drivingly controlling the traveling drive means or the steering means, and the trolley is equipped with the chemical spraying device of each of the above-mentioned configurations.

[0012]

In the medicine spraying apparatus according to the present invention, when the operator operates the desired direction of the injection nozzle from a remote place such that the medicine does not scatter, the first remote control means is operated by the operator. The jet nozzle swing mechanism is driven based on the setting operation signal. Therefore, the jet nozzle swing mechanism swings the jet nozzle in the desired direction.

Further, since the above-mentioned second remote control means is provided, the opening / closing valve for supplying the medicine is opened / closed according to the operator's request from a remote location.

Further, in the self-propelled vehicle equipped with the drug spraying device according to the present invention, even if there is a difficult part where the drug is hard to reach when sprayed at a certain place, the third remote place can be selected from a remote place depending on the operator's desire. The control means moves the carriage to a desired location. At that location, the first remote control means, if desired, causes the jet nozzle to swing toward the difficult site.

[0015]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS A chemical spraying device and a vehicle equipped with the same according to an embodiment of the present invention will be described below with reference to the accompanying drawings. FIG. 1 is a schematic configuration diagram of a drug spraying device according to an embodiment of the present invention, and FIG. 2 is a side sectional view of a main part of an injection nozzle swing mechanism of the drug spraying device.

In these figures, the chemical spraying device 1 of this embodiment is desired to have a spray nozzle 6 for spraying a chemical such as pesticide, a spray nozzle swing mechanism 2 for swinging the spray nozzle 6, and a spray nozzle 6. It mainly comprises a remote input device 3 for transmitting a wireless signal for controlling the direction and a control means 4 for receiving and driving a wireless signal from the remote input device 3 to drive and control the injection nozzle rocking mechanism 2. There is.

Further, the control device 4 drives the opening / closing valve 27 made of an electromagnetic ball valve provided in the supply pipe line 28 for supplying the medicine to the injection nozzle 6 by remote control to supply the supply pipe line 28.
It also has a function to control opening and closing.

In the jet nozzle swing mechanism 2, 7 is a jet nozzle 6 having a total of 5 nozzles, one at the tip and two at the left and right.
Is a long tubular injection nozzle head, and 8 is a cylindrical base portion arranged below the injection nozzle rocking mechanism 2.
Is a casing which is provided on the upper part of the base 8 and covers the main part of the injection nozzle swinging mechanism 2, and 10 is a cylinder which is axially supported in a bearing hole (not shown) on the upper surface of the casing 9 so as to be movable back and forth in the hole center direction. -Shaped lifting outer tube, 11 is a swirling inner tube which is slidably inserted into the lifting outer tube 10 and is formed into a cylindrical shape through which a medicine can flow, and 12 is an upper end opening of the swirling inner tube 11 and an injection nozzle head. A flexible hose that connects the rear end opening of the injection nozzle 7 and the fixing hose 13 of the injection nozzle head 7 and the swirling inner pipe 11
A main hinge portion pivotally supported on the upper end of the upper and lower parts is provided with a hinge portion 15 provided on the upper end side of the elevating outer tube 10 and a hinge portion 16 provided on the lower surface of the front portion of the jet nozzle head 7.
A link rod provided by connecting and.

The ejection nozzles 6 are constructed so that the ejection direction is variable with respect to the ejection nozzle head 7 even by manual operation.

Further, in the jet nozzle swing mechanism 2 (mainly referring to FIG. 2), 30 is a vertical swing motor fixed to the inner surface of the upper portion of the base 8 and realized by, for example, a pulse motor, 31
Is a horizontal swing motor fixed to the inner surface of the upper part of the base 8 and realized by, for example, a pulse motor, 32 is an internal support plate fixed to the upper inside of the casing 9, and 33 is a plurality of fixed lower inner parts of the casing 9. Internal support plate 3 suspended and supported in a state of facing the internal support plate 32 via a rod (not shown) or the like, 3
Reference numeral 4 is a drive shaft of the horizontal swing motor 31, 39 is a drive shaft of the vertical swing motor 30, and 35 is a drive shaft 3 of the horizontal swing motor 31.
4 is a transmission gear fixed to the transmission gear 35. The transmission gear 36 is rotatably supported between the upper surface of the base 8 and the internal support plate 33.
The transmission gear 37 meshes with the transmission gear 38, and the transmission gear 38 is fitted and fixed to the swivel inner tube 11 and meshes with the transmission gear 38 coaxial with the transmission gear 36. 41 is a shaft rotatable between the inner support plates 32 and 33. A male screw rod 42 supported and having a trapezoidal male screw threaded on its outer peripheral surface is an engaging portion 43 laterally provided at the lower end of the lifting outer pipe 10.
The female screw slider is loosely fitted to the female screw slider.

The female screw slider 42 has a female screw to be screwed with the male screw rod 41. The lower end of the male screw rod 41 is
It is connected to a drive shaft 39 of the vertical swing motor 30 via a coupling 40. The transmission gear 37 is thrust-supported on the upper surface of the base 8, so that the vertical position of the swirl inner tube 11 is substantially constant. The ejection nozzle rocking mechanism 2 has a height from the lower end of the base 8 to the upper end of the main hinge 13 of about 1000 mm and the depth (outside the base 8) with the ejection nozzle head 7 in the horizontal posture position. Diameter) is about 2
The size is 50 mm, and the total weight is about 20 kg, which is relatively small and lightweight.

Now, the swinging operation of the jet nozzle head 7 of the jet nozzle swinging mechanism 2 will be outlined. When the ejection nozzle head 7 is swung in the horizontal direction, it corresponds to the number of pulses of the pulse signal output from the control device 4 (corresponding to the pressing time of the input sheet key of the remote input device 3. The same applies hereinafter). The drive shaft 34 of the horizontal turning motor 31 rotates by the rotation angle. This rotational force is transmitted by the transmission gears 35, 36,
It is transmitted to the swirl inner tube 11 through 38 and 37 in order. As a result, the ejection nozzle head 7 and the elevating outer tube 10 are horizontally swung by an angle corresponding to the number of pulses.

On the other hand, when the ejection nozzle head 7 is swung downward, the drive shaft 39 of the vertical swing motor 30 is rotated counterclockwise in plan view by a rotation angle corresponding to the number of pulses of the pulse signal output from the control device 4. Rotate to. This rotational force is transmitted to the male screw rod 41 via the coupling 40. As a result, the female screw slider 42 moves downward along the male screw rod 41. At this time, the female screw slider 42 descends along with the elevating outer tube 10. Then, the elevating outer tube 10 descends relative to the swirl inner tube 11 whose vertical position is substantially fixed as described above. As a result, a force that rotates around the main hinge portion 13 is applied to the jet nozzle head 7 via the link rod 14, and the jet nozzle head 7 swings downward.

On the contrary, when the ejection nozzle head 7 is swung upward, the drive shaft 39 of the vertical swing motor 30 may be rotated clockwise in plan view. Incidentally, the jet nozzle head 7 can be swiveled 360 ° in the horizontal direction and can be swung ± 30 ° with respect to the horizontal posture position in the vertical direction.

Subsequently, 18 is a receiving antenna for receiving a radio signal from the remote input device 3, 19 is a solenoid of the on-off valve 27, a vertical swing motor 30, and a horizontal swing motor 3.
1, a battery of a 24V DC power source that serves as a drive source for each of 1, a hose connected to a chemical liquid tank 90 (see FIG. 7) described later, and a hose 25 on the chemical liquid tank 90 side and a jet nozzle swing mechanism 2 side. A hose joint for detachably connecting the hose 25, 28 is a supply pipe provided between the swirl inner pipe 11 and the hose 25 for supplying a medicine to the injection nozzle swinging mechanism 2, and 29 is a swirl inner pipe. 11 is a rotary seal joint that connects 11 to the supply pipe 28 in a rotatable and sealed manner.

FIG. 3 is a perspective view of a self-propelled vehicle equipped with the chemical spraying apparatus 1, and FIG. 4 is a plan view of the essential configuration of the self-propelled vehicle. In the self-propelled vehicle shown in these figures, 5 is a trolley on which the drug spraying device 1 is mounted, 17 is a box-shaped car body in which a base 8 of the drug spraying device 1 is supported and fixed on the upper surface,
20 to 23 are wheel bodies realized by rubber tires or the like, 50 is a traveling motor connected to the wheel body 20 via a drive shaft 50a, 53 is a traveling motor connected to the wheel body 22 via a drive shaft 53a, 60 Is the wheel assembly 21 via the drive shaft 60a.
Reference numeral 63 denotes a traveling motor connected to the wheel assembly 23 via a drive shaft 63a.

Next, 51 is a swing support plate for the left front wheel on which the traveling motor 50 is mounted and supported, 54 is a swing support plate for the right front wheel on which the traveling motor 53 is mounted and supported, and 61 is a traveling motor. A rocking support plate for the left rear wheel on which 60 is placed and supported, 64 is a rocking support plate for the right rear wheel on which the traveling motor 63 is placed and supported, and 52 is a left front portion on the bottom surface of the vehicle body 17. A shaft that stands upright and rotatably supports the swing support plate 51, and 55 is a vehicle body 17
A shaft that is erected on the right front portion of the bottom surface of the vehicle to rotatably support the swing support plate 54, and 62 is erected on the left rear portion of the bottom surface of the vehicle body 17 to rotatably support the swing support plate 61. The shaft 65, which is erected at the right rear portion on the bottom surface of the vehicle body 17, is mounted on the swing support plate 64.
It is a shaft that rotatably supports.

Further, reference numeral 56 denotes a steering link rod horizontally mounted on the front end projection of the swing support plate 51 and the front end projection of the swing support plate 54, and 66 swings with the rear end projection of the swing support plate 61. Dynamic support plate 64
A steering link rod horizontally mounted on the rear end projection, 57 is engraved on the front side of the steering link rod 56 and is a rack portion meshing with the pinion 57a, 67 is engraved on the rear side of the steering link rod 66. A rack portion that meshes with the pinion 67a, 58 is a steering motor that rotationally drives the pinion 57a, and 68 is a pinion 67.
It is a steering motor that rotationally drives a.

DC motors are used for the traveling motors 50, 53, 60, 63 and the steering motors 58, 68, and the 24V DC power source from the battery 19 is used as a drive source. The battery 19, the control device 4, and the antenna 18 are provided in the rear portion of the vehicle body 17. Also,
The control device 4 also has a function of driving and controlling all of the above-described motor devices arranged on the carriage 5 by remote control. Note that the control device 4 has a so-called antiphase 4WS system control function, which is related to the steering system of the bogie 5, for driving and controlling the steering motors 58 and 68 to simultaneously swing the front wheels and the rear wheels in opposite directions. There is. As a result, the turning radius of the self-propelled vehicle is reduced, and a self-propelled chemical spraying device suitable for Japanese agricultural work can be realized.

That is, in the self-propelled vehicle of the present embodiment, the constitution comprising the traveling motors 50, 53, 60, 63 and the respective drive shafts 50a, 53a, 60a, 63a is referred to as "traveling driving means" in the present invention. Is one example. In addition, the swing support plates 51, 54, 61, 64 and the shafts 52, 55, 6
2, 65, steering link rods 56, 66, and rack portion 5
7, 67, pinion 57a, 67a, and steering motor 5
The configuration consisting of 8, 68 is the "steering means" referred to in the present invention.
Is an example.

FIG. 5 is a block diagram showing a control system of a self-propelled vehicle equipped with a chemical spraying device. In the figure, a control device 4 converts a radio signal received by a receiving part 18 into a control part 70 which is realized by a general-purpose microcomputer and a memory (both are not shown) into a signal which can be taken in by the control part 70. It is composed of a receiving unit 71 for outputting.

In this structure, a receiving section 71 is connected to the signal input side of the control section 70 so that signals can be transmitted.
On the other hand, on the signal output side of the control unit 70, a main switch 72 for turning on / off the power of the drug spraying device and the entire self-propelled vehicle equipped with the same on the trolley 5, a horizontal turning motor 31 provided on the trolley 5, respectively. The vertical swing motor 30, the opening / closing valve 27, the traveling motors 50, 53, 60, 63, and the steering motors 58, 68 are connected so that signals can be transmitted.

FIG. 6 is an external view of the remote input device 3 used in a self-propelled vehicle equipped with the drug spraying device 1. In the figure, the remote input device 3 includes a transmitting antenna 73 that transmits a wireless signal (for example, an FM radio signal), and a transmitting antenna 73 that converts an input signal set and input from the outside into a wireless signal.
The remote control case 74 is provided with a transmitter (not shown) for outputting to the remote control case 74, and the front surface of the remote control case 74 is formed by so-called input sheet keys.

In this input sheet key, 75 is a forward key for moving the truck 5 forward, 76 is a backward key for moving the truck 5 backward, 77 is a left turn key for moving the truck 5 left, and 78. Is a right turn key for making the carriage 5 turn right, 79 is an ascending key for making the jet nozzle head 7 face upward, 80 is a descend key for making the jet nozzle head 7 face downward, 81 is a jet key head 7 facing left The left turn key for turning the injection nozzle head 7 to the right, the right turn key for turning the injection nozzle head 7 to the right, the valve open key 83 for opening the on-off valve 27,
84 is a valve closing key for closing the on-off valve 27, and 85
Is a power-on key for turning the main switch 72 on, and 86 is a power-off key for turning the main switch 72 off.

In this remote input device 3, the operable range of remote control is about 50 m at maximum, and the continuous usable time is set to about 10 hours, but it is also possible to give more capability. Is.

Next, the chemical spraying operation of the self-propelled vehicle equipped with the chemical spraying apparatus of this embodiment will be described below.
As shown in FIG. 7, prior to the chemical spraying work, a chemical solution tank 90 storing a chemical agent such as an insecticide, a hose reel 93 around which the hose 25 is wound, and an interposition between the chemical solution tank 90 and the hose reel 93. An attached device such as the main plug 91 or the chemical solution pump 92 that sends the medicine to the hose 25 at a constant pressure is installed on a farm road or the like, which is separated from the field E by a distance where the chemical solution does not scatter.

Therefore, the operator opens the main plug 91 and activates the chemical liquid pump 92 so that the spraying work can be started at any time. Then, when the operator presses the power input key 85 of the remote input device 3 and further presses the valve opening key 83, the opening / closing valve 27 of the self-propelled vehicle is opened and the medicine is ejected from each ejection nozzle 6.

At this time, the up key 79 or the down key 8
When 0 is pressed, the jet nozzle head 7 swings upward or downward, and the chemical spraying direction is remotely controlled up and down. Also,
When the left turn key 81 or the right turn key 82 is pressed, the injection nozzle head 7 turns left or right, and the drug spraying direction is remotely operated left or right. This makes it possible to reliably inject the medicine toward the target portion of the fruit tree 94, which is desired by the operator.

Therefore, the operator can swing the injection nozzle 6 in a desired direction by operating the remote input device 3 while being in a remote place where the influence of the medicine is not exerted. Avoid exposing yourself to harmful drugs. As a result, the body does not have to be attached to heavy equipment, and thus work can be performed lightly. Further, for example, even in a region where the branches and leaves of the fruit tree 94 are overlapped or in a region where it is difficult to spread the leaves, it is possible to perform fine and sufficient chemical spraying.

On the other hand, from the position where the self-propelled vehicle is stopped, there is also a portion of the fruit tree 94 where the chemicals can no longer be sufficiently sprayed even if the jet nozzle head 7 is rocked. In such a case, the forward key 75 or the backward key 7 of the remote input device 3
6 or left turn key 77 or right turn key 78,
By moving the self-propelled vehicle to a place where the drug can be sprayed, it is possible to sufficiently spray the drug even on the site.

That is, the structure of the self-propelled vehicle of this embodiment, which is provided with the remote input device 3, the receiving antenna 18, and the control device 4, is the "first remote control means" referred to in the present invention.
These are examples of the "second remote control means" and the "third remote control means", respectively.

As described above, according to this self-propelled vehicle, the medicine spraying device 1 can be freely moved to a desired place without being kept at a fixed place on the ground. Can be performed more reliably. Further, since the duplicated spraying of the drug to the same part of the tree 94 is reduced, the waste of the drug in that case can be eliminated.

However, when the distance from one tree 94 after spraying to the next tree 94 is relatively long, the valve closing key 84 is pressed to move the opening / closing valve 27 once when moving between them. It is good to put it. As a result, it is possible to reduce unnecessary ejection of the chemical liquid during movement. In this case, since the opening / closing valve 27 can be opened / closed by a remote operation from a remote place, the valve opening / closing operation does not require any trouble and is extremely convenient.

Incidentally, the types and sizes of the injection nozzles 6, the chemical pressure in the injection nozzles 6, or the hose 25 are set so that the injection range S by all the injection nozzles 6 has a maximum reachable distance of about 30 m and a maximum reachable width of about 15 m. The inner diameter and other conditions are set. However, the above-mentioned ejection range S may be appropriately set and changed according to the drug spray target, the surrounding environment, and the like.

In the above embodiment, the DC power source was used as the drive source, but the present invention is not limited to this, and an AC power source such as AC100V can be connected by wire. In that case, it is preferable to wire the electric wires along the hose 25 in order to secure the traveling property of the vehicle and to simplify the configuration.

Further, as a drive configuration relating to the swing of the injection nozzle swing mechanism 2, the steering of the carriage 5, or the opening / closing of the opening / closing valve 27, a hydraulic drive configuration or an air drive configuration may be used instead of the power source. Is also possible.

Further, the remote operation is not limited to the above-mentioned wireless system, but may be a wired system in which the remote input device 3 and the control device 4 are connected by a communication line. In that case, the communication line is also hose 2
It is preferable to wire along the line 5.

The input sheet key of the remote input device 3 is provided with a steering system switching key, and by operating the key, the steering system is switched to the reverse phase 4WS system and the same phase 4WS system.
It is also possible to adopt a configuration for switching to the system.
As a result, the degree of freedom in the traveling operation of the self-propelled vehicle is further expanded. On the other hand, the steering system is not limited to 4WS, but may be a general-purpose 2WS.

Further, although the chemical liquid tank is arranged separately and independently from the cart, the chemical liquid tank may be mounted on the cart. In that case, it is preferable to employ, for example, a gasoline engine having a large horsepower as a drive source of the self-propelled vehicle.

[0050]

According to the drug spraying device of the present invention, since the spraying direction of the drug by the injection nozzle can be remotely controlled to a desired direction from a remote place where the drug is not affected, the operator is harmful. Fine and sufficient drug spraying can be performed without exposing the drug to the drug.

Further, since the opening / closing valve can be opened / closed from a remote place, the valve opening / closing operation is very convenient because it does not require any trouble. Moreover, it is possible to eliminate the waste of the medicine due to the valve opening / closing operation.

Further, according to the self-propelled vehicle equipped with the chemical spraying device of the present invention, the chemical spraying device can be moved to a desired place without being kept at a fixed place on the ground, so that sufficient chemical spraying work can be performed. Can be performed more reliably. Further, since the duplicated application of the drug to the same site is reduced, the waste of the drug due to this can be eliminated.

[Brief description of drawings]

FIG. 1 is a schematic configuration diagram of a drug spraying device according to an embodiment of the present invention.

FIG. 2 is a side sectional view of a main part of an injection nozzle swing mechanism of the medicine spraying device.

FIG. 3 is a perspective view of a self-propelled vehicle equipped with the drug spraying device.

FIG. 4 is a plan view of a main part of the self-propelled vehicle as seen from above.

FIG. 5 is a block diagram showing a control system of the self-propelled vehicle.

FIG. 6 is an external view of a remote input device used for the self-propelled vehicle.

FIG. 7 is a usage pattern diagram showing a mode in which a drug is sprayed on fruit trees by the self-propelled vehicle.

[Explanation of Codes] 1 chemical spraying device 2 injection nozzle rocking mechanism 3 remote input device 4 control device 5 truck 6 injection nozzle 18 receiving antenna 20, 21, 22, 23 wheel body 27 on-off valve 28 supply pipe 30 vertical rocking Motor 31 Horizontal swing motor 50, 53, 60, 63 Traveling motor 50a, 53a, 60a, 63a Drive shaft 51, 54, 61, 64 Swing support plate 52, 55, 62, 65 Shaft 56, 66 Steering link rod 57a, 67a Pinion 57,67 Rack part 58,68 Steering motor 70 Control part 71 Reception part 73 Transmission antenna E Field (ground)

Claims (3)

[Claims] 1. A first injection nozzle for injecting a drug, an injection nozzle rocking mechanism for rocking the injection nozzle, and a first nozzle for driving the injection nozzle rocking mechanism by remote control to control the injection nozzle in a desired direction. A drug spraying device comprising a remote control means. 2. An on-off valve which is provided in a supply pipeline for supplying a drug to an injection nozzle and which opens and closes the pipeline, and a second remote control means which drives the on-off valve by remote operation to control the opening and closing of the supply pipeline. The chemical spraying device according to claim 1, further comprising: 3. A wheel body traveling on the ground, a traveling drive means for rotationally driving the wheel body, a steering means for changing the traveling direction of the wheel body, and a drive control means for remotely controlling the traveling drive means or the steering means. And a remote control means for forming a trolley, and the trolley is provided with the trolley.
7. A self-propelled vehicle equipped with a chemical spraying device, which is equipped with the chemical spraying device according to any one of 1.