JPH0947204A - Self-propelled chemical spraying vehicle - Google Patents

Abstract

PROBLEM TO BE SOLVED: To uniform the spray density of a chemical and to raise the accuracy of the detected speed of a self-propelled chemical spraying vehicle by equipping the vehicle with a rotator for detecting a vehicle speed, a rotative speed detector and a spray flow rate controlling means, spraying the chemical from a nozzle to a paddy field and changing the spray flow rate in relation to the vehicle speed. SOLUTION: This self-propelled chemical spraying vehicle runs on a traveling ground and a rotator for detecting a vehicle speed rolls on the surface layer of the traveling ground to make the slip ratio of the rotator lower than that of wheels. The rotative speed of the rotator is detected by a rotative speed detector 82 and the vehicle speed is calculated based on the detected value of the detector 82. A spray flow rate controlling means 76 changes a spray flow rate based on the vehicle speed calculated from the rotative speed of the rotator to uniform the spray density regardless of the vehicle speed. A spray flow rate controlling means 76 changes the spray pressure of a nozzle 30 for jetting a chemical 54 to control the spray flow rate.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a self-propelled chemical spraying vehicle capable of uniformly spraying chemicals.

[0002]

2. Description of the Related Art In Japanese Unexamined Patent Publication No. 1-159071, a vehicle speed and a spraying flow rate are actually detected by detecting a vehicle speed and a spraying flow rate in order to equalize a spraying density of a drug on a field regardless of the vehicle speed of a self-propelled drug spraying vehicle. The spraying density of is calculated, and the spray pressure of the nozzle is controlled so that this becomes the target value. The vehicle speed is detected from the rotation speed of the wheels.

On the other hand, in order to effectively utilize the rice transplanter, a boom sprayer or the like is attached to the truck of the rice transplanter instead of the planting device to spray the chemicals on the paddy rice field.

[0004]

DISCLOSURE OF INVENTION Problems to be Solved by the Invention When a chemical is sprayed on a paddy rice field by a self-propelled paddy chemical spraying vehicle, the slip ratio of the wheels of the self-propelled paddy chemical spraying vehicle is generally 5 to about 5 in the paddy field.
Since it reaches 20%, even if the rotational speed of a predetermined element of the power transmission system from the prime mover to the wheels is detected as in Japanese Patent Laid-Open No. 1-159071, the vehicle speed obtained from the rotational speed is significantly different from the actual vehicle speed. However, it is difficult to achieve uniform spraying. In particular, a self-propelled paddy chemical spraying vehicle may spray a concentrated chemical with a low dilution rate.In such a case, the deviation of the detected vehicle speed from the actual vehicle speed due to the large slip ratio is applied uniformly. Have a great adverse effect on.

Further, the target spray flow rate or target spray pressure, etc.
Although it varies depending on the application condition such as the type of drug, the type of crop, the growth condition, the condition of the field, etc., in Japanese Patent Laid-Open No. 1-159071, the operator determines the target application flow rate from the type of drug and the condition of the field. It is necessary to decide and set.

An object of the present invention is to provide a self-propelled chemical spraying vehicle capable of accurately detecting a vehicle speed which is an important detection factor and achieving better uniform spraying. Another object of the present invention is to provide a self-propelled chemical spraying vehicle capable of easily switching the control according to the spraying status such as the type of drug or the type of crop.

[0007]

The self-propelled chemical spraying vehicle (10) of the present invention has the following components (a) to (c). (A) A vehicle speed detecting rotor (98) that is provided separately from the wheels (16, 18) and rolls on the surface layer (38) of the running place (34) and has a smaller slip ratio than the wheels (16, 18) (98) ( b) Rotation speed detector (82) that detects the rotation speed of the vehicle speed detection rotor (98) (c) Obtain the vehicle speed from the output of the vehicle speed detection rotor (98) and control the spray flow rate in relation to this vehicle speed Spraying flow control means (7
6)

The self-propelled chemical spraying vehicle (10) runs on the running place (34) by driving the wheels (16, 18). Rotating body for vehicle speed detection (98)
Along with the traveling of the self-propelled chemical spraying vehicle (10),
The slip ratio of the vehicle speed detection rotating body (98) is smaller than that of the wheels (16, 18) by rolling on the surface layer (38) of the vehicle. The rotation speed of the vehicle speed detection rotating body (98) is detected by the rotation speed detector (82), and the vehicle speed is detected by the rotation speed detector (82).
Is calculated based on the detected value of. Spray flow control means (76)
Changes the spraying flow rate based on the vehicle speed calculated from the rotation speed of the vehicle speed detecting rotating body (98) so that an appropriate and uniform spraying density is obtained regardless of the vehicle speed.

In another self-propelled chemical spraying vehicle (10) of the present invention, the spraying flow rate control means (76) further changes the spraying pressure of the nozzle (30) for spraying the chemicals (54) to spray. Control the flow rate.

The spray flow rate control means (76) increases or decreases the spray pressure of the nozzle (30) to change the spray flow rate of the drug (54). As the spray pressure of the nozzle (30) increases, the injection flow rate of the drug (54) from the nozzle (30) increases and the spraying flow rate increases.

Another self-propelled chemical spraying vehicle (10) of the present invention is
Furthermore, it has the following (d) and (e). (D) Memory means (80) for storing the vehicle speed-spray pressure relational data corresponding to the spraying condition and being exchangeable (e) Spraying the nozzle (30) from the vehicle speed based on the data of the memory means (80) Dispersion flow rate control means (76) that calculates the target value of pressure and controls the spray pressure of the nozzle (30) to the calculated target value

Prior to the application of the drug (54) to the field (34) by the self-propelled drug spraying vehicle (10), the type of the drug (54), the type of crop, the growth state, and / or the field (34) The memory means (80) corresponding to the spraying state such as the state is selected and mounted on the self-propelled chemical spraying vehicle (10). The memory means (80) stores the vehicle speed-spray pressure relational data for achieving the optimum spraying density in the spraying condition corresponding thereto. The spray flow rate control means (76) calculates the spray pressure from the detected vehicle speed in light of the vehicle speed-spray pressure relationship data of the selected memory means (80), and the spray pressure of the nozzle (30) is calculated as the calculated spray pressure. Control to match. Thus, the operator can easily set the control for uniform spraying according to the spraying status by selecting and mounting the memory means (80) according to the spraying status.

In another self-propelled chemical spraying vehicle (10) of the present invention, the vehicle speed detecting rotator (98) further includes a protruding rod (102) for hooking the tip end on the surface layer (38) of the running place (34). ) Are provided at appropriate intervals in the circumferential direction.

The vehicle speed detecting rotator (98) rotates while hooking the tip of the protruding rod (102) on the surface layer (38) of the running place (34). The rotation of the vehicle speed detecting rotary body (98) due to the hooking of the tip end portion of the protruding rod (102) on the surface layer (38) has a small slip ratio as compared with the rolling of the rotational speed simply due to friction.

Another self-propelled chemical spraying vehicle (10) of the present invention is
For paddy field (34).

The self-propelled chemical spraying vehicle (10) runs on the paddy rice field (34) by wheels (16, 18), and the vehicle speed detecting rotor (98) runs on the self-propelled chemical spraying vehicle (10). Along with this, the paddy field (34) moves while rolling on the muddy (38).

In another self-propelled chemical spraying vehicle (10) of the present invention, a vehicle speed detecting rotary member is slid on a surface layer (38) of a running place (34).
It has a sliding body (104) for holding the height of (98) at an appropriate position.

The sliding body (104) is a running place such as a paddy rice field (34).
Slide on the surface layer (38) of (34). The vehicle speed detection rotor (98)
As a result of the fixed relationship with the sliding body (104) in the height direction, the surface layer (38) of the running place (34) can be smoothly rolled while being kept at a predetermined height with respect to the running place (34). And the slip rate is made smaller.

[0019]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS The present invention will be described below with reference to the drawings. 6 and 7 are a side view and a rear view of the self-propelled paddy chemical spray vehicle 10. Self-propelled paddy chemical sprayer 10
Has a rice transplanter truck 12 of a riding type self-propelled rice transplanter, and a boom sprayer 14 attached to the rear portion thereof. The rice transplanter trolley 12 is a riding type self-propelled rice transplanter, and a planting device is attached to the rear part, and when used as a self-propelled paddy chemical spraying vehicle 10, the planting device is removed, and instead. Boom sprayer 14 can be attached. The rice transplanter truck 12 is self-propelled by driving front wheels 16 and rear wheels 18, and the front wheels 16 also serve as steered wheels. The driver as an operator gets into the driver's seat 20 of the rice transplanter truck 12. The boom sprayer 14 has a medicine tank 22 that stores a medicine 54 (FIG. 1), and has a left boom 24, a middle boom 26, and a right boom 28 at the rear portion thereof. The switch can be switched between the expanded position and the closed position when stored. The plurality of nozzles 30 face downward and are arranged along the left boom 24, the middle boom 26, and the right boom 28 at substantially equal intervals. The reciprocating pump 32 inhales the medicine 54 from the medicine tank 22, pressure-feeds it to the nozzle 30, and ejects the medicine 54 from the nozzle 30. Paddy 34 is the ground
The rice 40 is mud containing 36 and the upper layer 38
Has rooted in 38. The front wheels 16 and the rear wheels 18 are supported by the ground 36 and roll on the ground 36 due to friction with the ground 36.

FIG. 1 is a drug system diagram of the boom sprayer 14. Boom sprayer 14 (Figs. 5 and 6) PTO shaft
The rotational power of 46 is transmitted to the crankshaft of the reciprocating pump 32 via the pulley 48, the belt 50, and the pulley 52. The reciprocating pump 32 is driven by the rotational power from the pulley 52 to transfer the medicine 54 in the medicine tank 22 to the strainer 56 and the suction conduit 58.
It is inhaled through and is discharged to the discharge pipe line 62. The pressure regulating valve 60 is
It is connected to the discharge side of the reciprocating pump 32 and adjusts the hydraulic pressure of the discharge pipe line 62. The residual liquid line 64 is a chemical tank for the residual liquid from the pressure regulating valve 60
Return to 22. Each nozzle pipe 66 is hung on each of the left boom 24, the middle boom 26, and the right boom 28 of FIG. 7, and a plurality of nozzles 30 are attached to each nozzle pipe 66 downward at substantially equal intervals. There is. The discharge pipe line 62 branches on the downstream side corresponding to each nozzle pipe 66, and guides the medicine 54 from the discharge port of the reciprocating pump 32 to each nozzle pipe 66. The entire opening / closing cock 68 is arranged in the entire upstream side portion of the discharge pipe 62 and opens / closes the entire portion. The partial opening / closing cock 70 is arranged at each branch portion on the downstream side of the discharge pipeline 62 and opens / closes the branch portion. The control device 72 has a card insertion slot 74 into which one RAM card 80 is inserted and mounted, and an arithmetic / control unit 76 for generating arithmetic and control signals. Battery 78 is control device 72
Supply power to. One RAM card 80 is prepared for each spraying condition such as the type of the medicine 54 used for spraying, the growing time of the rice 40, and / or the state of the paddy field 34. Stored is vehicle speed-spray pressure relationship data that achieves optimum spray density. The electromagnetic pickup 82 generates a pulse having a frequency corresponding to the vehicle speed, and the pressure sensor 84 detects the hydraulic pressure in the entire discharge pipe 62. The outputs of the electromagnetic pickup 82 and the pressure sensor 84 are sent to the calculation / control unit 76, and the servo motor can rotate forward and backward.
86 operates by a control signal from the arithmetic / control unit 76,
Change the pressure adjustment value of pressure adjustment valve 60.

2 and 3 are a side view and a rear view of the vehicle speed detecting device 90. The rod 92 has a pivot pin at the upper end.
It is pivotally supported by the frame 95 via 94, and the raising and lowering wire 96 is hooked on the stay 97 in the middle part, and swings around the pivoting pin 94 according to the pulling of the raising and lowering wire 96. The rotating body 98 is a disc 100 that is inserted between the forked portions 99 at the lower end of the rod 92 and is rotatably supported by the lower end of the forked portions 99.
A plurality of protruding rods 102 are arranged at equal angular intervals in the circumferential direction of the disc 100 and project from the disc 100 in the radial direction. The tip of the protruding rod 102 is sharpened so as to be properly hooked on the muddy portion 38 of the paddy field 34. Electromagnetic pickup
82 generates a pulse in synchronization with the rotation of the disc 100.

FIG. 4 is a plan view of the sliding plate 104. Figure 2
In FIG. 4, the sliding plate 104 is a forked portion via a stay 108.
A warp portion 106 that is coupled to the lower end portion of 99 and that obliquely rises forward is provided at the front end portion. The long hole 110 is the sliding plate 10
It is formed in the horizontal part of 4 and allows the protruding rod 102 to freely protrude to the lower side of the sliding plate 104 while the rotating body 98 is rotating. During the spraying work, the raising and lowering wire 96 is set to the loose state, and the sliding plate 104
When it reaches the upper surface of the muddy mouse 38 and when it is not sprayed, the raising and lowering wire 96 is pulled upward, and the rotating body 98 and the sliding plate 104 are floated to an appropriate height above the ground.

FIG. 5 is a structural diagram of the pressure regulating valve 60. Pressure adjusting port 11
6 is a discharge pipe line 62 near the discharge port of the reciprocating pump 32.
The residual liquid port 118 is connected to the residual liquid pipe 64.
The ball 120 is freely seated on the valve seat 122 from the spill port 118 side and controls the connection between the pressure adjusting port 116 and the spill port 118.
The valve rod 124 fits into the guide 132 at the upper end,
It moves up and down together with 120. The bellows 126 seals the peripheral portion of the valve rod 124 while allowing the displacement of the valve rod 124. In the housing 128, a spring seat 134, a compression coil spring 130, and a guide 132 are fitted in order from the upper side, and the spring seat 134 is attached.
The guide 132 and the guide 132 receive a pressing force to the compression coil spring 130 side by the valve rod 124 and the screw 136, respectively. The screw 136 is screwed onto the upper end of the housing 128, and changes the amount of insertion into the housing 128 with rotation, thereby adjusting the preload of the compression coil spring 130, that is, the pressure adjustment value of the pressure adjustment valve 60. Reducer 13
8 is fixed to the upper end of the housing 128 via a bracket 140, and rotates a screw 136 via a rotating arm 142. The speed reducer 138 rotates the rotary arm 142 at a rotational speed that is the speed at which the rotation from the servo motor 86 has been reduced, and controls the amount of advance of the screw 136.

FIG. 8 is a graph showing the relationship between vehicle speed (actual vehicle speed) and spray pressure stored in three types of RAM cards 80 prepared for paddy rice fields, for example. RAM card A ~
C is set to the following spraying situation. The relationship between the vehicle speed and the spray pressure that achieves the optimum spray density under each spray condition is shown in each RAM.
It is stored in the cards A to C. A: 100 liters for ares B: 50 liters for arels C: 25 liters for arels

The operation of the self-propelled paddy chemical spray vehicle 10 will be described. The spraying operator who operates the self-propelled paddy chemical spraying vehicle 10 accurately grasps the spraying status such as the type of the chemical 54, the growth status of the rice 40, the state of the paddy field 34, and the RAM corresponding to the spray status. Select card 80. For the paddy field 34, three kinds of RAM cards 80 are prepared as shown in FIG. 8, and the most suitable RAM card 80 is selected from the RAM cards 80 and mounted in the card insertion slot 74 of the control device 72. The raising and lowering wire 96 is relaxed, and the vehicle speed detecting device 90 swings downward around the pivot pin 94 due to gravity, and the sliding plate 104 lands on the surface of the muddy portion 38. When the whole opening / closing cock 68 and all the partial opening / closing cocks 70 are opened and the self-propelled paddy chemical spray vehicle 10 is run, the chemical 54 in the chemical tank 22 is sucked by the reciprocating pump 32, and the discharge conduit 62 Is sent to each horizontal horizontal row of nozzle pipes 66 through the nozzles, and is jetted from the nozzles 30 of each nozzle pipe 66 to the paddy field 34.

The front wheels 16 and the rear wheels 18 of the rice transplanter bogie 12 penetrate through the mud 38 and come into contact with the ground 36 below the mud 38,
It rotates and advances the self-propelled paddy chemical spray vehicle 10 in the paddy field 34. At this time, the sliding plate 104 slides on the surface of the muddy portion 38 while holding the warp portion 106 from slipping into the muddy portion 38, and holds the rotating body 98 at an appropriate height. Disk 10
The protruding rod 102 of 0 passes through the long hole 110 of the sliding plate 104, pierces the surface of the muddy 38 at the tip, and the muddy 38
The disk 100 is rotated as the self-propelled paddy field chemical spraying vehicle 10 moves forward. The rotating body 98 rolls in the paddy field 34 with a slip ratio smaller than that of at least the front wheels 16 and the rear wheels 18, or with almost no slip. The electromagnetic pickup 82 generates a pulse synchronized with the rotation of the disc 100, that is, a pulse having a frequency proportional to a vehicle speed that is substantially close to the true vehicle speed.

The calculation / control unit 76 receives a pulse having a frequency proportional to the vehicle speed and a hydraulic pressure in the discharge conduit 62 from the electromagnetic pickup 82 and the pressure sensor 84. Further, the spray pressure is calculated from the vehicle speed in accordance with the data of the RAM card 80 in the card insertion slot 74, and a control signal is sent to the servo motor 86 so that the detected pressure of the pressure sensor 84 becomes the calculated value, and the pressure regulating valve 60 The preload of the compression coil spring 130 is changed. Thus, the spraying density of the chemical agent 54 in the paddy field 34 becomes a desired value regardless of the vehicle speed.

When the boom sprayer 14 is used in the field, the boom sprayer 14 is attached to the agricultural tractor instead of the rice transplanter truck 12. Further, in order to avoid damage to the protruding rod 102 and the sliding plate 104 in the field, the rotating body 98 is removed, the roller is pivotally supported by the forked portion 99, and the rotation speed of the roller is detected by the electromagnetic pickup 82. To use.

Instead of the RAM card 80, it is also possible to use other small, portable and exchangeable memory means such as a floppy disk, a CD-ROM or the like.

[Brief description of drawings]

FIG. 1 is a drug system diagram of a boom sprayer.

FIG. 2 is a side view of a vehicle speed detection device.

FIG. 3 is a rear view of the vehicle speed detection device.

FIG. 4 is a plan view of a sliding plate.

FIG. 5 is a structural diagram of a pressure regulating valve.

FIG. 6 is a side view of a self-propelled paddy field chemical spraying vehicle.

FIG. 7 is a rear view of the self-propelled paddy field chemical spraying vehicle.

FIG. 8 is a graph showing vehicle speed-spray pressure relationship characteristics stored in, for example, three types of RAM cards prepared for paddy field.

[Explanation of symbols]

 10 Self-propelled chemical sprayer for paddy field (self-propelled chemical sprayer) 16 Front wheel (wheel) 18 Rear wheel (wheel) 30 Nozzle 34 Paddy field (running area, paddy field, field) 38 Muddy (surface layer) 54 Chemical agent 76 Calculation -Control unit (dispersion flow rate control means) 80 RAM card (memory means) 82 Electromagnetic pickup (rotation speed detector) 98 Rotating body (rotating body for vehicle speed detection) 102 Projection rod 104 Sliding plate (sliding body)

Claims (6)

[Claims] 1. (a) For detecting a vehicle speed which is provided separately from the wheels (16, 18) and rolls on the surface layer (38) of the running place (34) and has a smaller slip ratio than the wheels (16, 18). Rotating body (98), (b) A vehicle speed is obtained from the output of the rotating speed detector (82) for detecting the rotating speed of the vehicle speed detecting rotating body (98), and (c) the vehicle speed detecting rotating body (98). A self-propelled chemical spraying vehicle having spraying flow rate control means (76) for controlling the spraying flow rate in relation to the vehicle speed. 2. The spraying flow rate control means (76) comprises a medicine (54).
The self-propelled chemical spraying vehicle according to claim 1, wherein the spraying flow rate is controlled by changing the spraying pressure of the nozzle (30) for injecting the. 3. (d) Memory means for storing and exchanging vehicle speed-spray pressure relational data corresponding to a spraying condition.
(80), and (e) the spray flow rate control means for calculating a target value of the spray pressure from the vehicle speed based on the data of the memory means (80) and controlling the spray pressure of the nozzle (30) to the calculated target value. (7
6. The self-propelled chemical spraying vehicle according to claim 2, further comprising: 4. The vehicle speed detecting rotary body (98) is mounted on a running place (3).
4. The surface layer (38) of 4) is provided with projecting rods (102) for hooking the tip portion at appropriate intervals in the circumferential direction.
3. The self-propelled chemical spraying vehicle according to any one of 3 above. 5. The self-propelled chemical spraying vehicle according to any one of claims 1 to 4, which is for a paddy rice field (34). 6. A sliding body which slides on a surface layer (38) of a running place (34) and holds the height of the vehicle speed detecting rotary body (98) at an appropriate position.
The self-propelled chemical spraying vehicle according to claim 5, which has (104).