JPH08131916A - Chemical liquid pump control device for chemical sprayer - Google Patents

Abstract

PURPOSE: To prevent the automatic stop of a chemical liquid pump generated by false sensing of running-out of chemical liquid in the case where the spray pressure is low by providing an automatic stop selection means and controlling the operation of the chemical liquid pump by means of the remote control from a transmitter based on the selection operation of the automatic stop selection means. CONSTITUTION: When the pumping pressure of a chemical liquid pump is set low, the difference between the set pumping pressure and the threshold pressure becomes small to increase the possibility of false sensing, and a chemical liquid running-out signal is output by the variation of the pumping pressure of the chemical liquid pump connected with an electromagnetic clutch 79. Therefore, a switch 80 with a lock is operated to retain the ON state through a controller 87, and in the case the chemical liquid running-out signal is output, the operation of the chemical liquid pump is still continued. In the case of actual running-out of chemical liquid, the chemical liquid pump is stopped by the remote control from a transmitter. In the case of spraying the chemical liquid mannually, automatic stop is selected by an automatic stop select switch 74, and the chemical liquid pump is stopped automatically by the chemical running-out signal.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a chemical liquid pump controller for a 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 Conventionally, as one form of a chemical spraying machine, a magnetic sensor detects the magnetic field generated by an induction cable laid in a meandering pattern by sewn between trees in the soil of a field such as an orchard, Some have made it possible to automatically drive the drug sprayer along the cable unattended.In addition, a receiver is installed in the drug sprayer to remotely control the drug sprayer while it is running automatically from a remote transmitter. Some are made available.

[0006] For example, when a chemical solution runs out, the chemical sprayer is guided to a predetermined chemical solution supply location to supply the chemical solution automatically or by remote control by a transmitter.

[0004]

However, for example, when the spraying pressure is low and the discharge pressure of the chemical liquid pump is set low as in the case of spraying the herbicide, the set discharge pressure and the preset threshold pressure are close to each other and erroneous. Increase the likelihood of detection,
When the threshold pressure is crossed by the steady fluctuation of the discharge pressure of the chemical pump, the chemical out signal is output,
There was a problem that the chemical pump automatically stopped even though the chemical was not exhausted.

Further, when the chemical solution is sprayed by manual control, the chemical solution pump does not automatically stop even if the chemical solution runs out.
There is a problem of damaging the pump.

[0006]

According to the present invention, an automatic stop selection means is provided in a chemical spraying machine which is equipped with a chemical solution shortage detecting means and which stops the chemical solution pump by the output from the chemical solution shortage detecting means. By providing an automatic stop selection means, it is possible to control the operation of the chemical solution pump by remote control from the transmitter regardless of the output from the chemical solution shortage detection means. It is intended to provide a pump control device.

Further, in a chemical spraying machine equipped with a chemical liquid shortage detecting means so as to stop the operation of the chemical liquid pump by the output from the chemical liquid shortage detecting means, the chemical liquid shortage detecting means is set to a preset threshold pressure. Configured to detect lack of chemical solution by comparing with the discharge pressure of the chemical pump,
Moreover, when the chemical pump that was automatically stopped due to lack of chemical is restarted, even if the discharge pressure of the chemical pump is lower than the preset threshold pressure before spraying continuously for a certain period of time after restart, Another feature is that the pump is not automatically stopped.

[0008]

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

1 to 5 is a chemical spraying machine equipped with a chemical pump control device according to the present invention. The chemical spraying machine A has an engine 2 provided in a front hood 1,
A driving operation section 5 provided with a steering handle 3 and a driver's seat 4,
Spray nozzle 6 and blower fan 7 for spraying chemicals, left and right front wheels 8 and 8 and rear wheels 9 and 9 as running wheels, and chemical tank
10 and a chemical solution pump 11 for pumping the chemical solution in the same chemical solution tank 10 to the nozzle 6 are configured so as to spray the chemical solution while traveling. G is a field, and 31 is a running track line laid underground in the field G, which uses a guide cable.

A hydraulic power steering cylinder 12 controlled by operating the traveling handle 3 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 wheels are connected to each other. 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 chemical spraying machine A is provided with the spray nozzle 6 via a fulcrum shaft 18 provided on the center line in the front-rear direction of the machine body, and sprays the spray nozzle 6 by a direction correcting cylinder 19. Along with changing the direction, the spray nozzle 6 is formed by dividing the left, right and middle jet outlets 20, 21, 22 into
The chemical liquid pump 11 is connected to each of the jet outlets 20, 21, 22 via the spray valve 23.
And is configured to spray the chemical liquid from the respective jet outlets 20, 21, 22 toward the left side, the right side and the upper center of the machine body.

Further, as shown in FIG. 7, the chemical spraying machine A has a hydraulic pump 24 driven by the engine 2,
A power steering valve 25 that is switched by manual operation of the handle 3 is provided, and a hydraulic pump 24 is provided via the valve 25.
A cylinder for connecting the cylinder 12 to the automatic steering valve 28 having left and right steering solenoids 26, 27, and a traveling cylinder for operating a traveling clutch and a traveling brake (not shown).
29, and a travel control valve 30 that controls the operation of the cylinder 29 to automatically start and stop the aircraft, and each operation of steering, travel and stop is automatically performed through each valve 28, 30. It is configured to let.

Further, as shown in FIG. 5 and FIG. 8, the medicine spraying machine A has left and right track sensors 32, 33 which are a pair of left and right magnetic field sensors for detecting a magnetic field generated on the running track line 31.
The left and right orbit detection attitude solenoids 3 which are attitude control means for arranging the sensors 32 and 33 on both front sides of the bonnet 1 and correcting the detection directions of the path sensors 32 and 33.
4,35, each solenoid 34,35 is connected to each sensor 32,33 via the neutral holding spring 36,36, and the left and right front and rear wheels 8,8,
Based on the detection result of the steering angle sensor 37 that detects the steering angle of 9,9, each solenoid 34,35 is controlled to detect each sensor 32,33.
The attitude of the sensors is automatically corrected so that the pickup coils 38, 39 of the sensors 32, 33 support the sensors 32, 33 in a direction substantially orthogonal to the running track line 31 in plan view. It is configured so that the running track line 31 and the left and right track sensors 32, 33 are prevented from becoming parallel to each other and the vertical output is reduced when the time and the like.

Further, as shown in FIG. 9, the medicine spraying machine A is equipped with a control device composed of first and second controllers 40 and 41 formed by microcomputers of the same specifications which can complement each other. The controllers 40 and 41 incorporate timers T and T, respectively.

The first controller 40 manually operates the left, right and middle spraying operation motors 42, 43 and 44 for controlling the opening and closing of the left, right and middle jet outlets 20, 21, 22 and the respective motors 42 to 44. 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. Left and right obstacle detection sensors 52, 53 provided on both front sides of the bonnet 1 to detect obstacles in front, a chemical solution sensor 54 for detecting the presence or absence of a chemical solution in the chemical solution tank 10, an automatic control mode and a manual operation mode. An automatic mode switch 55 for switching and a recording memory 56 formed by an EEPROM for recording work data
And a receiver 61 for receiving and inputting a signal from a remote control transmitter 60 for performing a manual operation (spraying operation, traveling stop) of the drug spraying operation by remote control.

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, touch sensor 65 provided in the center of the front of the bonnet 1 for detecting contact with an obstacle, and spraying direction change switch for manually operating the direction correction cylinder 19.
66, an anomaly indicator lamp 67 for notifying the occurrence of an anomaly, and a receiver
A reception lamp 68 that indicates whether or not 61 is received, and 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 traveling,
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, left and right trajectory sensors 32, 33, and left and right The orbit detection attitude solenoids 34 and 35 are connected.

FIG. 10 is a plan view of a traveling track line 31 laid underground in the field G. The traveling 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. And a plurality of semicircular arc-shaped traveling parts 31b connecting the ends of the adjacent straight parts 31a, 31a, and the start end of the straight part 31a on the outward path, which is the travel start side, and the drug spraying end 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.

In this field G, in this embodiment, the following control can be performed by the first and second controllers 40 and 41 described above.

Manual mode or automatic mode can be selected by the automatic mode switch 55. In the automatic mode, the machine is made to travel at the working speed along the track line 31, the straight line portion 31a sprays all the nozzles, and the traveling portion 31b rotates. The spraying control is performed so that only the nozzles inside the row are sprayed. Moreover, the automatic spraying control that enables the traveling control and the spraying control by operating the transmitter 60, and the position where the chemical liquid sensor 54 detects the lack of chemical liquid are recorded in the memory. 56, and the chemical liquid out position recognition control for automatically returning the machine to the chemical liquid out position P, and when the chemical liquid sensor 54 detects the chemical liquid out, the chemical liquid pump 11 and the blower fan 7 are stopped, and the machine body is moved to a predetermined position. The movement control when the liquid runs out, which automatically stops at, the automatic return control that automatically returns the machine that has been replenished with the liquid to the position where the liquid run out, and the automatic spray restart control has priority over the automatic spray switching control. medicine Automatic spray restart priority control to prevent the overlapped agent spraying section, the chemical pump 11 is activated, and the left, right, and middle spray operation motors 42, 43, 44 are left, right,
The automatic spraying control is permitted only when all the conditions that the middle jet outlets 20, 21, 22 are fully closed, the blower fan 7 is deactivated, and the automatic spraying start switch is ON. Safety control, fan priority control that starts the operation of the blower fan 7 in anticipation of the rise until reaching the predetermined number of revolutions, and outer spraying is stopped when the machine runs along the peripheral edge 31d, and remote control is performed. Only the inner spraying is performed, and when the machine travels the traveling section 31b, the outer spraying is stopped, and when the machine travels the straight section 31a between the trees J, the inner and outer spraying is performed. It is possible to control the chemical spraying.

In the medicine spraying machine A, in the present invention, when the discharge pressure of the chemical liquid pump 11 is lower than the preset low pressure side threshold pressure, the chemical liquid sensor 54 as the chemical liquid shortage detection means outputs a chemical liquid shortage signal. It outputs to the controller, and by doing so, it detects when the chemical liquid tank 10 is empty and when the chemical liquid pump 11 fails for some reason and cannot discharge the chemical liquid. be able to.

FIG. 11 shows an automatic stop selection means. An automatic stop selection switch 74 having one end grounded is connected to an input terminal 73 of a controller 87, and output terminals 75 and 76 are connected to a circuit.
An electromagnetic clutch 79 that connects and disconnects power transmission to the chemical liquid pump 11 via 77 and 78 is connected, and a lock switch 80 is provided in the middle of one circuit 77, and the lock switch 80 and the output terminal are connected.
The midway between 75 and ground 81 is used as an emergency circuit 82.

In FIG. 11, 83 is a power source, 84 is a pull-up resistor, 85 is an input element, and 86 is an output element.

Every time the automatic stop selection switch 74 is turned on, the output terminal is operated by the flip-flop operation.
The output of 75 is turned on and off.
The output terminal 75 is turned off when a chemical solution out signal is input from the output terminal 76, and the output terminal 76 is turned on / off according to the input from the transmitter 60.

With this configuration, when the discharge pressure of the chemical liquid pump 11 is set low because the spraying pressure is low, such as in the case of herbicide spraying, the difference between the set discharge pressure and the threshold pressure and the ratio become small, resulting in an error. When the probability of detection increases and the threshold pressure is crossed due to steady fluctuations in the discharge pressure of the chemical pump 11, a chemical shortage signal may be output, but the lock switch 80 is operated to maintain the ON state. By doing so, even if a chemical solution signal is output from the chemical sensor 54 due to the above-mentioned erroneous detection, the chemical solution pump 11 can be continuously operated, and the spraying work can be continued. The chemical pump 11 can be stopped by remote control from the transmitter 60.

Further, in the case of manually spraying the chemical solution, if the automatic stop selection switch 74 is selected to automatically stop the chemical solution pump 11, the chemical solution pump 11 can be automatically stopped by the chemical solution shortage signal.

FIG. 12 shows another circuit configuration. Switches 90 and 91 each having one end grounded are connected to the input terminals 88 and 89 of the controller 87, and the chemical pump is connected to the output terminal 92.
The electromagnetic clutch 79 connected to 11 is connected.

Table 1 shows the relationship between the on / off states of the switches 90 and 91 and the outputs, and like the above, it is possible to prevent the chemical liquid pump 11 from stopping due to an erroneous detection when the spray pressure is low.

In Table 1, * indicates that it can be turned off by remote control from the transmitter.

[0029]

[Table 1]

Further, Table 2 shows the relationship between the operation of each function unit and the operation of the display unit corresponding to the output voltage from the chemical liquid sensor 54 as the chemical liquid out detection means and the control mode before the chemical liquid exhaustion in the automatic spraying control. Is configured to detect a chemical solution shortage by comparing the preset threshold pressure with the discharge pressure of the chemical solution pump, and when the chemical solution pump that was automatically stopped due to the chemical solution shortage is restarted, , Left, up, right even if the discharge pressure of the chemical pump is lower than the preset threshold pressure before spraying continuously for a certain time (for example, 5 seconds) in one direction or more, I try not to stop automatically.

By this control, during automatic spraying control,
When the chemical liquid tank 10 becomes empty, the spraying work can be started by simply replenishing the chemical liquid tank 10 with the chemical liquid without requiring a troublesome procedure such as mode switching.

Further, the liquid chemical sensor 54
It is possible to accurately grasp the situation where the chemical solution is not supplied to the.

When the chemical liquid tank 10 is emptied during the spraying work, even if the chemical liquid tank 10 is replenished with the chemical liquid, the chemical liquid does not reach the chemical liquid pump 11 immediately. Until the liquid medicine reaches the liquid medicine pump 11, the state where the discharge pressure is low continues and the liquid medicine sensor 54 continues to output the liquid medicine out signal, so that the spraying work cannot be started by the conventional automatic spraying control.

Therefore, a troublesome procedure is required in which the manual mode is temporarily switched to and then the automatic spraying mode is switched to after the discharge pressure becomes high.

[0035]

[Table 2]

In FIGS. 13 and 14, an output terminal 96 of a controller 95 that outputs a pulse is connected to an input terminal 94 of a controller monitoring unit 93 that supplies power to a load only when an edge of the pulse is detected within a fixed time. When the controller 95 detects an abnormality by connecting the output terminal 97 of the controller monitoring unit 93 to the output terminal 99 of the controller 95 through the stop solenoid 98 that supplies fuel to the engine only when the controller 95 is excited. Shows a configuration and a flow chart of control operation of the controller 95 in which current absorption of the output terminal 99 of the controller 95 is stopped and pulse output from the output terminal 96 is stopped, and inexpensive components such as an off-delay timer are shown. The controller 95 can be monitored with.

Since output control is performed on both the inflow side and the outflow side of the current flowing through the stop solenoid 98,
Even if the stop solenoid 98 is short-circuited to the ground, the current is blocked so that the safety can be improved.

FIGS. 15 and 16 are flowcharts of the control operation in the case of remote control from a multi-channel transmitter. One of the multi-channels is used for switching the control target and the other channels are used. It is distributed to each control target.

FIG. 15 shows a flow chart of the switching operation of the controlled object. By carrying out such control, the state of the chemical spraying machine cannot be visually observed when the line of sight of a tree or the like is not visible, so that the transmitter is operated twice. It is possible to solve the problem that an erroneous operation such as an operation is likely to occur and a desired state cannot be obtained.

FIG. 16 shows a flow chart of the chemical liquid pump control. By performing such control, the channel is always on during the spraying work and there is no channel assignment only for turning on / off the chemical liquid pump which is rarely used. Therefore, it is possible to minimize deterioration in handleability.

Further, since the operation is clearly different when the chemical pump is turned on and when it is turned off, a desired state can be obtained even if the operation is repeated, and two AND operations are required to turn it on. Since it requires, it is safe and prevents erroneous operation.

[0042]

According to the present invention, the chemical spraying device is provided with the chemical liquid cut-out detecting means, and the chemical liquid pump is deactivated by the output from the chemical liquid cut-out detecting means. , The automatic stop selection means makes it possible to control the operation of the chemical liquid pump by remote control from the transmitter regardless of the output from the chemical liquid shortage detection means. If the discharge pressure of the chemical liquid pump is set low because of the low pressure, the difference and ratio between the set discharge pressure and the threshold pressure will be small, increasing the possibility of false detection, and the discharge pressure of the chemical liquid pump will not be constantly maintained. If the threshold pressure is crossed due to fluctuations, a chemical solution out signal may be output, but by operating the switch with lock to maintain the ON state, Be outputted chemical solution out signal from the chemical sensor by detecting, by continuing the operation of the chemical pump,
The spraying work can be continued, and in the case of a real lack of liquid medicine, the liquid medicine pump can be stopped by remote control from the transmitter.

Further, in the case of manually spraying the chemical liquid, if the automatic stop is selected by the automatic stop selection switch, the chemical liquid pump can be automatically stopped by the chemical liquid shortage signal. Further, in the chemical spraying machine, which is provided with a chemical liquid shortage detection means, and is configured to stop the operation of the chemical liquid pump by the output from the chemical liquid shortage detection means, the chemical liquid shortage detection means,
Configured to detect lack of chemical solution by comparing the preset threshold pressure and the discharge pressure of the chemical solution pump, and
When the chemical pump that was automatically stopped due to lack of chemical is restarted, even if the discharge pressure of the chemical pump is lower than the preset threshold pressure before spraying continuously for a certain period of time after restarting, By not automatically stopping, during the automatic spraying control, if the chemical tank becomes empty, you do not need a troublesome procedure such as mode switching,
The spraying work can be resumed simply by replenishing the chemical liquid tank with the chemical liquid.

[Brief description of drawings]

FIG. 1 is a right side view of a chemical spraying machine including a chemical liquid pump control device according to the present invention.

FIG. 2 is a left side view of the medicine spraying machine.

FIG. 3 is a plan view of the medicine spraying machine.

FIG. 4 is a front view of the medicine 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 an explanatory diagram showing a configuration of a control device.

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

FIG. 11 is an explanatory diagram showing a configuration of automatic stop selection means.

FIG. 12 is an explanatory diagram showing the configuration of another embodiment automatic stop selection means.

FIG. 13 is an explanatory view showing a configuration of an engine automatic stop means.

FIG. 14 is a flowchart showing a control operation of an engine automatic stop means.

FIG. 15 is a flowchart showing a channel switching control operation.

FIG. 16 is a flowchart showing a chemical liquid pump control operation.

[Explanation of symbols]

 A Chemical sprayer 40 Controller 41 Controller 60 Transmitter 61 Receiver

Claims (2)

[Claims] 1. A chemical spraying machine comprising a chemical liquid out detection means for stopping the operation of a chemical liquid pump by the output from the chemical liquid out detection means, wherein an automatic stop selection means is provided and an automatic stop selection means is provided. The operation of the chemical liquid pump can be controlled by the remote operation from the transmitter regardless of the output from the chemical liquid shortage detection means by the selection operation of. 2. A chemical spraying machine comprising a chemical liquid shortage detecting means, wherein the chemical liquid pump is deactivated by an output from the chemical liquid shortage detecting means, wherein the chemical liquid shortage detecting means is set to a preset threshold pressure. It is configured to detect the lack of chemical solution by comparing it with the discharge pressure of the chemical pump, and when the chemical pump that was automatically stopped due to the lack of chemical solution is restarted, before restarting spraying for a certain period of time after restarting. A chemical liquid pump control device for a chemical sprayer, wherein the chemical liquid pump is not automatically stopped even when the discharge pressure of the chemical liquid pump is lower than a preset threshold pressure.