JPH09191811A - Spray control device in unmanned self-propelled sprayer - Google Patents

Abstract

PROBLEM TO BE SOLVED: To inexpensively detect the gyration status of gyrating movement of an unmanned mobile spray and changing the spraying direction in spray work of medicament while moving automatically the unmanned mobile sprayer movable along the inductive cable by detecting an inductive cable with an inductive sensor driving with a crawler driving system gyrating by the action of side-clutches and side-brakes on right and left sides. SOLUTION: This sprayer judges the gyration status and gyrating direction from the ON times of the side-brake, and the spray unit mounted in arc shape has 5 spray nozzles such as left-down direction spray nozzle 18LD, left direction spray nozzle 18L, middle direction spray nozzle 18M, right direction spray nozzle 18R and right-down direction spray nozzle 18RD and capably set to spray for each direction and when the machine recognized itself in status gyration at headland the spray from the spray nozzles directing to the outer side of the gyration are stopped and the time setting of spray stopping and spray restarting are respectively set up.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention can change the spraying direction according to the turning direction of a spraying device divided into a plurality of spraying devices while automatically running the spraying work of the chemicals in an orchard or the like. Technology.

[0002]

2. Description of the Related Art Conventionally, when an operator rides on a spraying work vehicle such as a speed sprayer and sprays chemicals in an orchard or the like, the operator may be sprayed with the chemicals. A technique for allowing an automatic traveling device to travel along an induction cable is known. In these technologies, an induction cable is laid in advance on the travel route of the orchard, induction sensors are arranged on both sides of the traveling vehicle, and the induction sensor detects the magnetic field strength generated by passing an alternating current through the induction cable. Then, the values detected by the left and right inductive sensors are calculated by the control circuit, and the steering device is controlled by the control circuit so that the output values from the left and right inductive sensors are substantially the same. is there.

A plurality of nozzles for spraying the medicine are divided into left and right middle and middle sets, and when traveling in a headland,
A technique has also been known in which spraying is applied only on the inside of the swirl and not on the outside, so that the chemical is not sprayed wastefully and no chemical damage is caused to other fields.
For example, the technique disclosed in JP-A-7-87807.

[0004]

In the conventional automatic traveling vehicle, the traveling vehicle is of the wheel type and the steering cylinders are used for the front and rear wheels, respectively, in the configuration in which the spraying direction is changed when the vehicle travels on the traveling path. The steering angle is detected, the steering angle, the angular velocity sensor, and the value from the speed sensor are used to determine whether the vehicle is rotating. The nozzles on the inside of the turning sprayed, and the sprays on the outside stopped, but since it was a wheel-type traveling vehicle in the past, the steering angle can be detected to detect the turning, but a crawler-type traveling device. In this case, since the vehicle turns by turning the clutch "on" and "off" and braking the brake, it is not possible to detect a turn with the same configuration.

Further, since the condition of the running road surface of the orchard, the inclination, the turning radius at the time of turning, etc. are different for each orchard, a sharp turn is made on the sloping ground, and if the turning radius is large, it goes straight. In some cases, it may be difficult to determine the line, and many sensors such as the steering angle, angular velocity sensor, and speed sensor are required, resulting in an increase in cost.

[0006]

The present invention uses the following means in order to solve the above problems. In other words, in the unmanned self-propelled spreader that detects the guide cable with the guide sensor, the crawler type traveling device can travel along the guide cable, and turns by operating the left and right side clutches and the left and right side brakes. While detecting the turning-on time of the brake to determine the turning state and turning direction, the spraying device arranged in an arc shape is divided into a plurality of spraying directions, and spraying can be carried out in each desired direction.
When it is determined that the headland is in a turning state, the spraying of the spraying device outside the turning is stopped.

Further, in the unmanned self-propelled spraying machine, the ON time of the side brake is integrated, and when the ON integrated time exceeds a set time, the spraying of the spraying device on the outside of the turning is stopped, and from the time when the spraying is stopped. The spraying is restarted after the ON integrated time has passed the set time, and the set time can be changed.

Further, instead of detecting the ON time of the side brake to determine the turning state and turning direction, the rotation speed of the left and right crawlers is detected by a speed sensor to determine the turning state and turning direction. It was done.

Further, the spraying device is divided into five parts of a lower left spraying pipe, a left spraying pipe, a middle spraying pipe, a right spraying pipe and a lower right spraying pipe, and the lower left, left, right and lower right spraying devices are opened and closed when turning. The outer spray is stopped.

[0010]

BEST MODE FOR CARRYING OUT THE INVENTION An embodiment in which the spraying control device of the present invention is arranged will be described with respect to an automatic vehicle equipped with a rocking sprayer. FIG. 1 is an overall side view of an unmanned self-propelled sprayer equipped with a rocking sprayer, FIG. 2 is a plan view of the same, FIG. 3 is a plan view of an automatic steering device, and FIG. 4 shows a spraying state during reciprocating spraying. FIG. 5, FIG. 5 is a front view showing a spraying state of a terrace cultivation field,
FIG. 6 is a front view of the remote controller, FIG. 7 is a control block diagram, and FIG. 8 is a diagram showing an integrated value of a sensor output during a right turn, an output of an angle sensor, and a brake operation time.

First, an unmanned self-propelled spraying machine according to the present invention will be described with reference to FIGS. 1 and 2. Chassis 9
A crawler traveling device A formed by winding the crawlers 10L and 10R is disposed on the lower left and right sides of the. The chassis 9
A driver's seat B is formed on the front of the driver's seat, a driver's seat 11 is arranged in the left-right center of the rear of the driver's seat B, and an automatic steering device D, which will be described later, is arranged below it. A chemical liquid tank 13 is mounted on the chassis 9 at the rear of the driver's seat 11, and an engine E for driving and driving the power sprayer, a mission case M, and a power sprayer 2 are mounted on the rear of the chassis 9, and these are covered. It is covered with 14. On the rear part of the chassis 9,
A plurality of nozzles 1 covered with the spray section cover 16
A rocking spray device 17 in which 1 ... Are arranged in an arc is arranged.

As shown in FIG. 7, the rocking spray device 17 comprises a left spray pipe 18L, a middle spray pipe 18M, and a right spray pipe 18R, each of which is composed of several nozzles 1.1.1. It is configured to swing right and left at the same time. Also,
A lower left spray pipe 18LD and a lower right spray pipe 18RD are arranged below the left spray pipe 18L and the right spray pipe 18R, and spray to the lower left and right sides, as shown in FIG. When the fruit trees are cultivated in a staircase (terrace cultivation), it is possible to spray the lower part of the fruit trees on the valley side.

The left spray pipe 18L and the middle spray pipe 18
M, the right spray pipe 18R, the lower left spray pipe 18LD, and the lower right spray pipe 18RD have switching valves 27, 28, 29, 47, respectively.
Connected to the switching valve 27, 28, 29, 47.4
8 is a switching drive motor 27a, 28a, 29a, 4
7a and 48a are provided, and the switching drive motor 27a
・ 28a ・ 29a ・ 47a ・ 48a is connected to the control circuit C, and the switching valve 27 ・ 28 ・ 29 ・ 47 ・ 48 is selected and switched depending on the presence or absence of crops, the circulation and the inclination with respect to the traveling direction of the machine. , The spray direction can be changed. However, the drive actuator for switching the switching valves 27, 28, 29, 47, 48 is not limited to the switching drive motor, and may be a solenoid or the like. The changeover valves 27, 28, 29, 47, and 48 are spray switches (or spray cocks) 24 provided in the operating section B.
It can be opened and closed by operating the LD, 24L, 24M, 24R, and 24RD, and the switching valves 27, 28, 29, 47,
Reference numeral 48 is connected to an original cock 23 provided on the side of the driver's seat 11 of the driver's section B, which will be described later.

The main cock 23 is connected to the discharge side of the power sprayer 2, and when the main cock 23 is closed, the power sprayer 2 is connected.
The medicine discharged from is returned to the medicine tank 13. The power sprayer 2 is driven by the engine E, and an electromagnetic clutch 45 is disposed between the output shaft of the engine E and the input shaft of the power sprayer 2, and the electromagnetic clutch 45 is connected to the control circuit C. Thus, power transmission to the power sprayer 2 can be turned on / off by remote control or at a set position.

A roof 20 covers the upper part of the operating section B, and an operating column 12 is provided upright on the front part of the operating section B. On the operating column 12, side clutch levers 3L and 3R and a parking brake are provided. The lever 4 is arranged. A side column 15 is provided on the left side of the driver's seat 11, and a main shift lever 5 and an auxiliary shift lever 6 are provided on the side column 40.
And a dynamic injection clutch lever 7 that operates the power sprayer 2.
, A pressure gauge 22, a source cock 23 for opening and closing the rocking spray device 17, a spray switch (or a spray cock) 24LD
・ 24L / 24M / 24R / 24RD are arranged.

Induction sensors 21L and 21R are arranged on both sides of the rear portion of the driver's seat 11. The inductive sensors 21L and 21R are composed of Hall elements, Hall ICs, magnetic resistance elements, magnetic sensors such as magnetic transistors, or pickup coils. The inductive sensor 21L
The attachment position of 21R is forward of the turning center position and rearward of the front end of the crawler 10 in a side view. Further, they are arranged at positions substantially equidistant in the left-right direction from the center line of the machine body in a plan view, and are arranged substantially in the center of the entire height of the machine body in the vertical direction. In this way, the induction sensors 21L and 21R
Is arranged to control the distances from the guide cable 19 laid on the traveling route to the guide sensors 21L and 21R to be equal to each other. Can run.

A pair of side clutch wires 26L and 26R are connected between the bases of the side clutch levers 3L and 3R and the side clutch arms 25L and 25R provided in the transmission case M, and the side clutch arms 25L and 25R are connected to each other. It is linked to the side clutch and side brake. The side clutch is arranged in the transmission case M in the power transmission mechanism while transmitting the power after shifting from the engine E to the left and right axles 46L and 46R.
The side clutch levers 3L and 3R are rotated so that the side clutch is disengaged by one step of rotation, and the side brake provided between the axle and the transmission case is operated by the second step of further rotation. Therefore, when the side clutch lever 3L or 3R is rotated one step, the transmission case M
The transmission of the power on the side rotated inside can be cut off to make a gentle turn, and at the second stage where the side clutch lever 3L or 3R is further turned, the axle is braked to make a sharp turn.

The side clutch wire 26
An automatic steering device D is provided below the driver's seat 11 in the middle of the L / 26R.
Is arranged. That is, as shown in FIG. 3, the structure of the automatic steering device D is such that the mounting plate 30 is fixed to the chassis 9, and the steering driving bodies on the left and right sides are arranged symmetrically in the vertical direction of the mounting plate 30. In this embodiment, the link mechanism on the right side, the side clutch wire 26R, the drive motor 31L as an actuator on the left side, and the angle sensor 41L are arranged on the upper side, and the link mechanism on the left side on the lower side, The side clutch wire 26L, the right drive motor 31R, and the angle sensor 41R are arranged. The drive motor 31L / 3
The 1R and the angle sensors 41L and 41R are connected to the control circuit C. However, the actuator that drives the link mechanism is not limited to the drive motor, and may be an electric cylinder, a solenoid, or the like.

Since the left and right steering driving bodies and the link mechanism have the same structure, the right side will be described.
A drive motor 31R is fixedly installed on the lower surface on the left side of the mounting plate 30, the power from the drive shaft of the drive motor 31R is reduced by a reduction gear box, and the output shaft 32R penetrates through the mounting plate 30 and is projected upward. An arm 33R is fixedly mounted on the output shaft 32R. One end of the connecting link 34R is pivotally connected to the tip of the arm 33R, and the connecting link 3R
The other end of 4R extends rearward and is pivotally connected to the tip of the swing link 35R. The other end of the swing link 35R extends rightward and is pivotally supported by a fulcrum shaft 36R provided on the mounting plate 30.

The receiving body 3 is provided on the middle portion of the swing link 35R.
7R and an arm 39R are fixedly provided, the receiving body 37R is provided with a cutout 37Ra from the upper center thereof, and the side clutch wire 26R is inserted into the cutout 37Ra. One end of the arm 39R is located in the middle of the swing link 35R. Fixed on the upper part, projecting the other end forward, and abutting pin 39R on the lower surface of the tip.
a is projected downward. The side clutch wire 26R is stretched in the front-rear direction on the left and right center of the mounting plate 30, and the wire receiver 6R is mounted on the rear center of the mounting plate 30.
It is slidably supported by 3.

On the other hand, the angle sensor 41R is the fulcrum shaft 3
6R is fixed to the lower surface of the mounting plate 30 in front, and the sensor shaft 41Ra of the angle sensor 41R is mounted on the mounting plate 3
The sensor arm 40R is fixed above the sensor shaft 41Ra, and the sensor arm 40R is fixed to the sensor arm 40R.
The contact pin 39Ra is in contact with R. The angle sensors 41L and 41R are composed of potentiometers, rotary encoders, etc., and the sensor arm 40R is rotated by the rotation of the arm 39R, and the rotation angle is detected, and the drive motor 31R is fed back. ing. Further, on the side clutch wire 26R, a stopper 42 is fixedly provided on the side clutch lever 3R side with respect to the receiving body 37R.

The control circuit C includes a central processing unit (CPU) (not shown) and a writable memory (RA).
M), a read-only memory (ROM), an interface, etc., and the control circuit C includes, as shown in FIG. 7, inductive sensors 21L and 21R, drive motors 31L and 31R, and an angle sensor 41L for steering. 41R, switching drive motors 27a, 28a, 29a, 47a, 48a for controlling the spraying direction of the spraying device 17, a vehicle speed sensor 50, an automatic / manual mode selection switch 51,
A start / stop device 52 of the engine E, an operation panel 51 for displaying setting switches for the traveling pattern, the spray pattern, etc., the setting value thereof, and the number of revolutions of the engine, and a receiver 54 are connected to the receiver. 54 receives a signal from a remote controller 55 operated by an operator, inputs the command signal to the control circuit C, and operates the drive motors 31L and 31R based on the signal to start / stop traveling. I am able to

Further, the spray switches 24LD and 24L
-The 24M, 24R, and 24RD are also connected to the control circuit C so that the ON / OFF state can be detected and monitored. That is, when the automatic / manual mode changeover switch 51 is switched to the automatic mode, according to the control pattern described later, depending on the spraying on a sloping ground or the spraying at the time of turning,
Switching drive motors 27a ・ 28a ・ 29a ・ 47a ・
48a is activated to switch the spraying direction. And
Even if the spray pipe is not in the spraying state, spraying is possible by operating the remote controller 55. Further, conventionally, in the automatic mode, one of the switching drive motors 27a
・ When 28a ・ 29a ・ 47a ・ 48a is ON and one of the switching valves 27 ・ 28 ・ 29 ・ 47 ・ 48 is open, the chemical solution is abruptly sprayed when the automatic mode is switched to the manual mode. Therefore, in this embodiment, when switching from the automatic mode to the manual mode,
Control to switch to the manual mode only when the safety switch that detects whether the operator is sitting in the seat is ON and the switching drive motors 27a, 28a, 29a, 47a, 48a are OFF doing.

Further, in the manual mode, when the operator sits on the driver's seat 11 and wants to turn to the right, the side clutch lever 3R is pulled and rotated, and the side clutch wire 26R is rotated by the rotation. Pulled forward, the side clutch arm 25
The R is rotated, the power transmission of the right axle 46R is cut off, and the axle 46R is not driven, so that the vehicle can turn right. Further pulling will activate the side brakes, enabling a sharp turn. At this time, since the stopper 42 moves regardless of the steering device D, a special switching device is not required every time the automatic mode and the manual mode are switched, and the turning can be performed manually even in the automatic mode.

Further, running and spraying work can be performed using the remote controller (transmitter) 55. As shown in FIG. 6, the remote controller 55 includes a stop traveling switch 70 for driving and stopping traveling, a left spray switch 71, a middle spray switch 72, a right spray switch 73, a shift 1 switch 74, and a shift 2 switch 75. An antenna 76 is provided. Then, by reducing the number of switches as much as possible, the number of channels is reduced, cost is reduced, and the transmitter itself is miniaturized.

The spray switching operation using the remote controller 55 is as follows.
By switching as shown in Table 1, it is possible to spray in a desired direction. However, since only the lower left spray pipe 18LD and the lower right spray pipe 18RD are not sprayed, independent spraying is not possible. The left spray pipe 18L or the right spray pipe 18
Can be sprayed only at the same time as R.

[0027]

[Table 1]

That is, when performing the spraying work, the left spray pipe 1
When spraying from the 8L and the lower left spray pipe 18LD, it is sufficient to press the shift 2 switch 75 and the left spray switch 71 at the same time. When it is desired to discharge from the right spray pipe 18R and the lower right spray pipe 18RD, the shift 2 switch 75 and the right spray switch 73 may be pressed at the same time, and when it is desired to discharge from the middle spray pipe 18M, the shift 2 switch 75 and the middle spray switch 72. When it is desired to stop the spraying, by pressing the left spraying switch 71, the right spraying switch 73 and the middle spraying switch 72 respectively, both sprays can be stopped in the case of the left and right. As described above, in the case of the spraying work which is frequently used, the spraying can be performed by pressing the two switches, and the spraying can be stopped by pressing the one switch during the spraying.

Further, when the spray is used less frequently, that is, when spraying only the left spray pipe 18L or spraying only the right spray pipe 18R, the shift 2 switch 75, the left spray switch 71, the shift 2 switch 75, and the right spray switch are used. Spray switch 7
In addition to 3, the shift 1 switch 74 must be pressed at the same time for three to prevent spraying, and the left spray pipe 18L
When only the lower left spray pipe 18LD is stopped when simultaneously spraying the lower left spray pipe 18LD and the right spray pipe 18R
When stopping only the lower right spray pipe 18RD when simultaneously spraying the lower right spray pipe 18RD and the lower right spray pipe 18RD, the shift 1 switch 74 and the left spray switch 71 or the right spray switch 7
The spray does not stop unless the two switches of 3 are pressed at the same time. In this way, when spraying,
The drug is prevented from being suddenly ejected from an unexpected spray tube just by touching one switch by mistake.

Further, the spray switching operation using the remote controller 55 can be made in the pattern shown in Table 2.

[0031]

[Table 2]

That is, when it is desired to spray from the left spray pipe 18L, the middle spray pipe 18M, and the right spray pipe 18R, which are frequently used, the shift 2 switch 75 and the respective spray switches (the left spray switch 71, the middle spray switch 72). , The right spray switch 73) can be opened by simultaneously pressing the two switches, and if it is desired to spray from the lower left spray pipe 18LD and the lower right spray pipe 18RD, which are less frequently used,
The shift 1 switch 74, the shift 2 switch 75, and the respective spray switches (the left spray switch 71 and the right spray switch 73) can be opened by simultaneously pressing the three switches.

The left spray pipe 18L and the middle spray pipe 18M
And right spray pipe 18R, or left spray pipe 18L
And the lower left spray pipe 18LD at the same time, or the right spray pipe 18
When the R and the lower right spray pipe 18RD are closed at the same time, they can be closed by pressing one of the spray switches (the left spray switch 71, the middle spray switch 72, the right spray switch 73). When only the lower spray pipe 18RD is closed, the shift 1 switch 74 and each spray switch (the left spray switch 71,
The spray can be stopped by pressing two switches of the right spray switch 73) at the same time.

Further, the spray switching operation using the remote controller 55 can be made in another pattern as shown in Table 3.

[0035]

[Table 3]

That is, the left spray pipe 18L and the lower left spray pipe 18L
The D or right spray pipe 18R and the lower right spray pipe 18RD cannot be opened or closed at the same time, and when the frequently used left spray pipe 18L, middle spray pipe 18M and right spray pipe 18R are opened, the shift switch 75 ' And two spray switches (left spray switch 71, middle spray switch 72, right spray switch 73) can be opened at the same time, and the lower left spray pipe 18LD and the lower right spray pipe 18RD are used less frequently, respectively. If you want to spray,
The shift switch 75 ', the lower (D) switch 74', and the respective spray switches (the left spray switch 71 and the right spray switch 73) can be opened by simultaneously pressing the three switches.

The left spray pipe 18L and the middle spray pipe 18M
When closing each of the right spray pipe 18R and the right spray pipe 18R, it can be closed by pressing one of the spray switches (left spray switch 71, middle spray switch 72, right spray switch 73). When closing the spray pipe 18RD, the down (D) switch 7
4'and each spray switch (left spray switch 71,
The spray can be stopped by pressing two switches of the right spray switch 73) at the same time.

In the automatic mode, the driving section B
By switching the automatic / manual mode changeover switch 51 provided in the above to the automatic mode and pressing the stop traveling switch 70 of the remote controller 55, it is possible to switch between running and stopping, and steering in the running state. Is a magnetic field from the induction cable 19
The R is detected, and the drive motors 31L and 31R are controlled to travel along the guide cable 19 while allowing the deviation within a certain width. Further, while detecting the traveling speed by the vehicle speed sensor 50, the traveling speed is changed according to the traveling pattern preset and stored in the memory, and the switching drive motor 27a is changed according to the spray pattern.
When the spray of the nozzle 1 is selected by operating 28a and 29a and is controlled to spray both sides or only one side, when an abnormality occurs, an alarm is issued and displayed on the display panel, and the engine is displayed. Stop E and stop spraying.

The steering control is performed by the induction sensor 21L.
・ Induction cable 19 within a certain range from the center between 21R
Is located, that is, as shown in FIG.
The control circuit C calculates whether the output value of the inductive sensor 21L / 21R is lower or higher than the output value V1 when it is located in the center, and when the output value of the inductive sensor 21L / 21R exceeds the dead zone. The side clutch is operated, and when the brake operation value is exceeded, the side brake is operated. Further, the output value is predicted to increase or decrease by the PID calculation circuit or the like, and when the side clutch or the side brake is actuated to tend to return toward the intermediate position, the dead zone is exceeded. Even if the side clutch is not actuated, or if the brake actuation value is exceeded, if there is a tendency to return to the intermediate position, the side brake is not actuated. Further, the rotation angles of the drive motors 31L and 31R for operating the side clutch and the side brake are detected by angle sensors 41L and 41R,
As shown in FIG. 8B, the operation of the side clutch is when the value of the angle sensor 41R is V2, and the operation of the side brake is output at V3. Further, the time when the side brake is operated is integrated by the control circuit C and is shown in FIG. 8 (c). This is a calculation that counts the operating time of the side brake and adds it,
It is not necessary to detect the running speed and the number of rotations of the axle with a sensor.

Next, the case where the machine body turns right and turns will be described. In the case of a right turn, since the guide cable 19 is curved clockwise, the guide sensors 21L and 21R provided on the machine body traveling straight ahead are displaced to the left side of the guide cable 19. Then, as shown in FIG. 8A, when the detection value of the induction sensor 21R exceeds the dead zone, the drive motor 31R is driven. By rotating the drive motor 31R, the arm 33R, the connection link 34R,
The swinging link 35R is rotated to move the receiving body 37R forward, the receiving body 37R abuts the stopper 42, pulls the side clutch wire 26R forward, and pivotally connects to the rear end of the side clutch wire 26R. The side clutch arm 25R is rotated, the side clutch is disengaged, the power transmission of the right axle 46R is cut off, and the axle 46R
Can be turned right without being driven.

When the side clutch tends to be further separated from the induction cable 19 by only disengaging the side clutch, the drive motor 31R is further rotated to pull the side clutch wire 26R forward, and the side clutch arm 25R is further moved. When turned, the side brakes are activated and a sharp turn is possible. As shown in FIG. 8, when the vehicle is traveling, it is not possible to turn by following the guide cable 19 simply by disengaging the side clutch. Therefore, the side brake is intermittently operated and the side brake operating time is integrated. This integrated value is shown in FIG. 8 (c). The spray on the outside of the turning is stopped at t1 when the integrated value exceeds the set value T1, and further spraying is restarted at t2 when the integrated value exceeds the set value T2. , The integrated value is then reset.

As a means for detecting the traveling in the headland, the left and right speeds are calculated from the rotation speeds of the left and right axles or the rotation speeds of the wheels or crawlers, instead of integrating the operating time of the side brakes. Alternatively, the rotation speed of the crawler can be calculated by a speed sensor to detect the turning state and the turning direction, and the stop and restart of the outer spray can be determined from the turning state and the turning direction.

At the time of this traveling, the spraying on the outer side of the turning and the lower part of the inner side are stopped to prevent wasteful spraying and chemical damage to the outside of the field. The stop of this spraying and the spraying start timing after the end of the turning are The side brake is controlled by the integrated value of the ON time, and the time is set by the spray stop setting time changing means 64 and the spraying start setting time changing means 65 connected to the control circuit C. The set time changing means 64/65
The variable resistance is used, or a numerical value is digitally input so that it can be changed according to the condition of the road surface such as hardness or softness, inclination, turning radius, vehicle speed and the like. Further, as shown in Table 4, the discharge and stop of the medicine are performed by the switching drive motor 27.
The a / 28a / 29a / 47a / 48a rotates the cock to control the opening / closing.

[0044]

[Table 4]

In such a structure, for example, as shown in FIG.
As shown in Fig. 5, traveling from a low position on the slope along a contour line in a substantially horizontal direction, stopping the outer spraying at the end of the field (headland) and turning around, climbing to the mountain side and spraying along the contour line. The spraying work in the case of re-starting will be specifically described according to the upper stage in the left and right turn of Table 4. The outside of the spray pattern in Table 4 is the opening / closing state of the spray pipe on the outer side at the time of traveling immediately before the circulation, and the inside of the spray pattern is the opening / closing of the spray pipe on the side on the inner side at the time of traveling immediately before traveling. It is in a state. Table 4 The lower part of the left and right turn shows the control when there is no fruit tree on one side at the start of work in an orchard. Although the spray pipe remains sprayed during the work, it may not be sprayed when the fruit tree is young and low.

First, in the first step S1 at the start of work, since it starts from one side of the orchard, it is sprayed on one side, and the switching drive motors 27a and 28a are driven to discharge from the middle spray pipe 18M and the right spray pipe 18R. Let the spray work. In the step S2 of reaching the end of the field and making a right turn, the spray on the outside of the turn is stopped, and therefore the process is continued as it is, and the integrated value of the time when the right side brake is turned on is calculated at this time. Therefore, when the integrated value exceeds T2, it means that the traveling has ended. Therefore, the process proceeds to step S3, the switching drive motors 27a, 28a, 29a are operated, and the switching drive motor 47a is operated by the remote controller 55. The left spray pipe 18L, the middle spray pipe 18M, the right spray pipe 18R, and the lower right spray pipe 18RD are operated to perform spraying, and spray to the upper side, left and right, and lower right.

Next, in step S4 in which the left side brake is actuated to reach the headland, if the integrated value exceeds T1, it is judged that the vehicle is in a rotating state, and the right side switching valve on the outer side is judged. The switching drive motor 27a of 27 and the switching drive motor 47a of the lower right are operated to stop the spray from the right spray pipe 18R and the lower right spray pipe 18RD and turn. Then, when the integrated value exceeds T2, it is determined that the circulation is completed, the switching drive motors 27a and 48a are operated to restart the spray from the right spray pipe 18R and the lower left spray pipe 18LD, and the process S5 is performed. Leading to.

From step S5 to the headland, the same spraying work as in step S2 is performed, and when the integrated value exceeds T1, it is judged that the motor is rotating and the left side switching drive motor 29a. 48a is actuated, the spray from the left spray pipe 18L and the lower left spray pipe 18LD is stopped, and when the integrated value of the time when the right side brake is turned on exceeds T2,
The switching drive motors 29a and 47a are operated to restart the spray from the left spray pipe 18L and the lower right spray pipe 18RD,
The same operation as described above is repeated, and when the final step is one-sided spraying in the same direction as S3, the middle spraying tube 18M and the right spraying tube 18
R, sprayed from the lower right spray pipe 18RD, and in the case of one side spray in the same direction as S5, the left spray pipe 18L, the middle spray pipe 18
M, sprayed from the lower left spray tube 18LD.

[0049]

As described above, the present invention has the following advantages. That is, first, when the headland is turned by operating the left and right side brakes, the ON time of the side brakes is detected to determine the turning state and the turning direction, and the spray on the outside of the turning of the spray device divided into a plurality of parts. Since the spraying direction is stopped, the spraying direction is automatically switched, and the operator does not have to switch the spraying device each time the sprayer turns, which makes the operation easier and there is no external spraying object when turning. At the position, wasteful spraying can be eliminated, spraying efficiency can be improved, and chemical damage can be prevented. Since the turning time is detected by detecting the ON time of the side brake, it is only necessary to count the driving time of the side brake actuator, which can be calculated by the control circuit, and the traveling device and the driving unit need not have sensors for turning. Therefore, the cost can be reduced.

Secondly, the ON time of the side brake is integrated, and when this ON integrated time exceeds the set time,
Since the spraying of the spraying device on the outside of the turning is stopped and the spraying is restarted after the ON integrated time has passed a set time since the spraying was stopped, the set times can be changed individually, so that the road surface is hard or soft. In addition, the spraying can be changed according to the inclination, the turning radius, the vehicle speed, and the like, and the spraying can be switched at the time of optimum turning, so that there is no spraying unevenness and the spraying work can be performed efficiently.

Thirdly, the turning of the unmanned self-propelled spraying machine is detected by the speed sensors of the rotation speeds of the left and right crawlers to judge the turning state and the turning direction, and the spraying device divided into a plurality of parts is provided. Spraying of the spraying device on the outside of the turning is stopped when turning the headland, so the spraying direction is automatically switched, and the operator does not need to switch the spraying device each time the turning is made, and the operation is easy. Therefore, it is possible to eliminate wasteful spraying at a position where there is no spray target on the outside during turning, it is possible to improve spraying efficiency and prevent chemical damage.

Fourthly, the spraying device is divided into five parts of a lower left spraying pipe, a left spraying pipe, a middle spraying pipe, a right spraying pipe, and a lower right spraying pipe, and the lower left, left, right and lower right spraying devices are rotated. Since the spraying on the outside of the turning is stopped by opening and closing, it is possible to spray finely even on cultivated on sloping land or crops in low positions like terrace cultivation, expanding the control range and also wasteful spraying. It can be lost.

[Brief description of the drawings]

FIG. 1 is an overall side view of an unmanned self-propelled sprayer equipped with an oscillating sprayer.

FIG. 2 is a plan view of the same.

FIG. 3 is a plan view of an automatic steering device.

FIG. 4 is a diagram showing a spraying state at the time of reciprocating spraying.

FIG. 5 is a front view showing a spraying state in a terrace cultivation field.

FIG. 6 is a front view of the remote controller.

FIG. 7 is a control block diagram.

FIG. 8 is a diagram showing an integrated value of a sensor output, an output of an angle sensor, and a brake operation time during a right turn.

[Explanation of symbols]

 A crawler type traveling device B driving section C control circuit 10L / 10R crawler 18LD ・ 18L ・ 18M ・ 18R ・ 18RD spray pipe 19 guide cable 21L ・ 21R induction sensor 64 ・ 65 setting time changing means

Claims (4)

[Claims] 1. An unmanned self-propelled spreader in which an induction cable is detected by an induction sensor, a crawler type traveling device is allowed to travel along the induction cable, and the left and right side clutches and left and right side brakes are used to make a turn. ,
The turning state and the turning direction are determined by detecting the ON time of the side brake, and the spraying device arranged in an arc shape is divided into a plurality of spraying directions so that spraying can be performed in desired directions, respectively. A spraying control device in an unmanned self-propelled sprayer, characterized in that when the judgment is made, the spraying of the spraying device on the outside of the turning is stopped. 2. The unmanned self-propelled spreader according to claim 1, wherein the ON time of the side brakes is integrated, and when the ON integrated time exceeds a set time, the spraying of the spraying device on the outside of the turning is stopped, and A spraying control device for an unmanned self-propelled sprayer, characterized in that spraying is restarted after a set time has elapsed since the spraying was stopped, and the set time can be changed. 3. An unmanned self-propelled spreader that detects an induction cable with an induction sensor, allows the crawler type traveling device to travel along the induction cable, and turns by operating left and right side clutches and left and right side brakes. ,
The rotation speed of the left and right crawlers is detected by a speed sensor to determine the turning state and the turning direction, and the spraying device arranged in an arc is divided into a plurality of spraying directions, which can be sprayed in desired directions, respectively, and a pillow. A spraying control device for an unmanned self-propelled sprayer, characterized in that when the ground turning state is determined, the spraying device on the outside of the turning is stopped. 4. The method according to claim 1, 2 or 3.
In the unmanned self-propelled spraying machine described, the spraying device is divided into five parts, a lower left spraying pipe, a left spraying pipe, a middle spraying pipe, a right spraying pipe, and a lower right spraying pipe, and spraying at the lower left, left, right and lower right when turning. A spraying control device for an unmanned self-propelled sprayer, characterized in that the device is opened and closed to stop spraying outside.