JPH11197567A - Self-traveling type fog generator and atomizing method - Google Patents

Abstract

PROBLEM TO BE SOLVED: To atomize an atomizing liquid, such as medicinal liquid, to a fog form and to uniformly spread the fog in a house by activating a fog generator while allowing a self-traveling truck to travel automatically. SOLUTION: A nozzle pot 3 constituting the fog generator 2 is erected at the front part of the automatically traveling truck 1 and a medical liquid tank 5 mounted on the truck 1 is communicated with a two-fluid atomizing nozzle 4 supported by the nozzle post 3. The atomizing liquid in the medicinal liquid tank 5 is atomized by supplying compressed air to the two-fluid atomizing nozzle 4 through an air supplying hose 6 from a compressed air supplying source contg. an air compressor, etc., installed on the outside of the tuck 1 in such a manner that the atomizing liquid is atomized to the fog form from the two- fluid atomizing nozzle 4. As a result, the atomizing rate per unit time is extremely little and, therefore, the smaller amt. of the atomizing liquid to be carried suffices and the uniform unmanned atomizing is made possible.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a self-propelled smoke machine and a spraying method which are suitable for use as a control apparatus and a control method for, for example, greenhouse cultivation of vegetables and the like.

[0002]

2. Description of the Related Art For example, when performing a work for controlling vegetables grown in a house, the work is performed in a closed space, so that there is much concern about chemical injury to the human body. Therefore, a room temperature fog machine has been proposed as a device suitable for unmanned pest control work in a house. The fogger is a device for spraying a chemical solution such as a bactericide into ultrafine particles (so-called fumes) of about 5 to 20 μm, and is conventionally used by being fixed at a predetermined position in a closed house. . Then, the chemical solution supplied from the fogger in a so-called fume state floats in the house and fills the inside thereof, so that it is possible to safely and reliably control the house.

[0003]

However, in the conventional spray control method in which the fogging machine is fixed, it is actually difficult to uniformly distribute the chemical solution in the house.
In particular, when the size of the house increases, the chemical solution may not be able to reach every corner of the house.

[0004] Therefore, it is conceivable to arrange a plurality of foggers in one house, but in that case, the equipment cost increases.

[0005] It has also been proposed to use a duct provided with a large number of spray ports along the longitudinal direction of the house.
There is a problem that the amount of the chemical liquid attached to the duct is large, which is uneconomical.

SUMMARY OF THE INVENTION The present invention has been made in view of the above circumstances, and an object of the present invention is to provide an economical self-propelled fogger and a spraying method which enable uniform unmanned spraying.

[0007]

According to one aspect of the present invention, there is provided a self-propelled fogger according to the present invention, comprising: a fog machine; When,
It is provided with.

According to the first aspect of the present invention, by operating the fogging machine while automatically driving the self-propelled carriage, for example, a spray liquid such as a chemical solution is converted into a so-called fog state in a house. , Can be evenly distributed. In addition, since both the fogging machine and the self-propelled trolley can adopt conventionally known appropriate ones, it is economical.
Further, since the amount of spray per unit time of the fogger is very small, the amount of spray liquid to be carried is small, and this point is also optimal for unmanned spraying while traveling by itself.

According to a second aspect of the present invention, there is provided a self-propelled fogger according to the present invention, comprising: a tank for storing a spray liquid; a spray nozzle for spraying the spray liquid in the tank; A hose reel that unwinds and winds an air supply hose for supplying air to a self-propelled truck that automatically travels, and a one-way clutch between the wheel of the self-propelled truck and the hose reel therebetween. And a torque limiter device interposed therebetween so as to be drivingly connected to each other, a driving force is transmitted to the hose reel side only when the hose reel winds up the air supply hose, and the traveling speed of the self-propelled vehicle and the The winding speed of the air supply hose by the hose reel is synchronized.

[0010] In this case, for example,
A spray compressed air is supplied from a compressed air supply source outside the self-propelled carriage through the air supply hose. And
The one-way clutch causes the hose reel to idle, and the air-supply hose unwinds to allow the self-propelled vehicle to travel forward, and the one-way clutch operates to drive the self-propelled vehicle. Is transmitted to the hose reel, and the self-propelled carriage travels backward while automatically winding the air supply hose. When the hose reel winds the air supply hose, the traveling speed of the self-propelled carriage and the winding speed of the air supply hose by the hose reel are automatically synchronized by the operation of the torque limiter device. No sag occurs in the hose.

According to the present invention, since the compressed air supply source does not need to be mounted on the self-propelled vehicle, the weight of the entire self-propelled vehicle can be further reduced, and for example, the soft self-propelled vehicle can be soft. The automatic running property is good even in the field.

In general, a self-propelled spraying apparatus equipped with a hose reel for winding a spraying liquid supply hose is known, for example, from Japanese Utility Model Publication No. 1-1333, but the components of the present invention are as follows. , A hose reel for an air supply hose. In this case, since the transfer target of the hose is gas, compared to a hose reel for supplying a spray liquid,
A small load is applied to the hose reel when unwinding and winding the hose. Therefore, the running stability of the self-propelled truck is not impaired, and the power for winding the hose reel is small, and the durability of the hose reel is improved. is there.

According to a third aspect of the present invention, there is provided a self-propelled fogger according to the first or second aspect, wherein the self-propelled vehicle is allowed to travel at a very low speed. Here, the term "extremely low speed" means a low-speed traveling speed at which a very small amount of spray liquid that is sprayed in a so-called fume form can be uniformly distributed in a space along a traveling path without any shortage. For example, a speed of about 0.5 m / sec or less corresponds.

By the way, in order to allow the self-propelled carriage to run stably while unwinding and winding the air supply hose with the hose reel, it is desirable to arrange the center of gravity of the hose reel as low as possible. On the other hand, if the hose reel is arranged too low, the maximum winding diameter of the hose reel must be reduced,
The full length of the air supply hose cannot be sufficiently increased, and the self-propelled spray area decreases. An invention which simultaneously satisfies these conflicting requirements is the invention according to claim 4.

According to a fourth aspect of the present invention, there is provided a self-propelled fogger according to the first, second or third aspect of the present invention, wherein the rotation axis of the hose reel is the wheel of the self-propelled carriage. The hose reel is arranged so as to have the same ground height as the rotation axis of the hose reel. If you do this,
Since the ground height of the center of gravity of the hose reel can be minimized and the winding diameter of the hose reel can be maximized, the running stability can be improved and the self-propelled spray area can be maximized.

On the other hand, a spraying method according to the present invention described in claim 5 is to spray while automatically moving the fogger. The method of the present invention is characterized in that it is operated while moving the fogger, which has been conventionally a stationary type, and has an advantage that unmanned and uniform spraying is possible.

According to a sixth aspect of the present invention, there is provided a spray method, comprising: a tank for storing a spray liquid, a spray nozzle for spraying the spray liquid in the tank, and a hose reel for winding an air supply hose. The self-propelled vehicle is mounted on a self-propelled vehicle that automatically travels, and the air supply hose is unwound and wound by the hose reel according to the traveling speed of the self-propelled vehicle. The compressed air for spraying is supplied from the compressed air supply source outside the carriage to the spray nozzle through the air supply hose.

[0018]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, a preferred embodiment of the present invention will be described with reference to the drawings.

FIG. 1 is an overall perspective view of a self-propelled fogger according to an embodiment of the present invention, FIG. 2 is a cross-sectional plan view of a main part of the self-propelled fume machine, and FIG. It is explanatory drawing which shows the spray piping system of a fog machine.

The self-propelled fogger according to the present embodiment is obtained by mounting, for example, a two-fluid nozzle type room-temperature fog machine 2 on a truck 1 that runs automatically, and is used for unmanned pest control work in a house or the like. It is suitable for use. Since the fogger 2 sprays a very small amount of the spray liquid L such as a germicide, the amount of liquid to be carried at once can be reduced. For this reason, since the weight applied to the carriage 1 is small, it is particularly suitable for traveling spraying work mounted on the carriage 1.

The structure and operation of the self-propelled fogger according to the present embodiment will be described roughly. As shown in FIG. As shown in FIG. 3, a chemical liquid tank 5 mounted on the carriage 1 is communicated with a two-fluid spray nozzle 4 which is erected and supported by the nozzle support 3. As shown in FIG. 2, a hose reel 7 that unwinds and winds the air supply hose 6 is mounted on the carriage 1. As shown in FIG. 3, by supplying compressed air to the two-fluid spray nozzle 4 through the air supply hose 6 from a compressed air supply source 9 including an air compressor 8 and the like fixed outside the carriage 1, The spray liquid L in the tank 5 is sprayed from the two-fluid spray nozzle 4 in a so-called fume state. The carriage 1 moves forward while unwinding the air supply hose 6 from the hose reel 7, moves backward while winding up the air supply hose 6, and sprays a chemical solution from the spray nozzle 4. It runs automatically in the furrows in the house.

First, the configuration and operation of the cart 1 will be described in detail. In FIG. 1, an undercarriage 11 constituting the carriage 1 together with a vehicle body cover 10 has a steering front wheel 12 which is a free-wheeling wheel at a front portion thereof. The steering of the front wheels 12 is controlled by an electric steering servomotor 13 as a steering control prime mover mounted on the chassis 11.

As shown in FIG. 2, the chassis 11 has a pair of left and right running drive rear wheels 14a, 14
b. The pair of left and right rear wheels 14a, 14b
A pair of left and right electric motors with reduction gears 15a, 15b mounted on the rear part of the chassis 11 and rotatable forward and backward are used as driving motors for traveling driving, and are respectively driven by sprockets 16, 17 and rear wheel driving chains 18, 18. Driven separately. Thus, the pair of left and right rear wheels 14a, 14b
Are made to be able to make a differential travel freely, so that a stable travel and a smooth turning travel can be performed in an uneven field.

In FIG. 2, reference numerals 70, 70 are sprockets for adjusting the tension of the rear wheel drive chains 18, 18, respectively. In FIG. 1, reference numeral 71 denotes a handle of the carriage 1, and reference numeral 72 denotes a pair of the left and right rear wheels 14.
This is a stand for supporting the carriage 1 with a and 14b floating.

Both the steering control motor 13 and the pair of left and right traveling drive motors 15a and 15b are mounted on the undercarriage 11, as shown in FIG. The battery 19 is operated as a power source, and is automatically controlled by a control circuit including a microcomputer and the like in a control box 20 which is also an automatic control means mounted on the chassis 11. The traveling speed of the truck 1 is extremely low so as to be suitable for spraying by the fogger 2. For example, it is desirable that the maximum is about 0.5 m / sec, and further, within that range, for example, 0.083 m / sec, 0.117 m
It is preferable that a plurality of speed steps such as / msec, 0.167 msec, and 0.3 m / sec be provided so that the speed can be freely switched according to the conditions of the spraying work site.

The traveling pattern of the carriage 1 in the house is arbitrary. For example, the ridges serving as traveling paths are determined in advance so that the chemical solution can be evenly distributed in the house, and the carriage is automatically driven in a predetermined pattern. It should be done. As an example, in the present embodiment, the carriage 1 is caused to automatically travel along the guide cable 21 laid in advance in the house H. In this case, depending on the laying pattern of the guide cable 21, for example, as shown in FIG. 4 or FIG.

In the example shown in FIG. 4, the guide cables 21 are laid every other ridge between a number of ridges extending in parallel with each other, and each of the guide cables 21 extends so as to connect the start end between the ridges. Via the headland 22, for example, it is connected to an induction transmitter 23 installed outside the house H1.
Further, the terminal end 21a of each of the guide cables 21 laid between the ridges at every other ridge is connected to the return wire 2
4 and the return wire 24 is connected to the induction transmitter 23.

In FIG. 4, the bogie 1 is mounted on the headland 2
Starting from the start position 25 at the end of No. 2, the vehicle travels forward along the first spray ridge R1 along the guide cable 21 closest to the start position 25. When the end of the first spray ridge space R1 is reached, the carriage 1 stops temporarily and the headland 2
Return to 2 and go back. Next, the traveling direction is switched again at the headland 22 to advance the vehicle, and the vehicle travels forward along the next guide cable 21 in the second spray ridge R2. In this way, after reciprocating one after the other in the order of the third spray ridge R3 and the fourth spray ridge R4, and returning to the final spray ridge RE,
The vehicle travels backward on the headland 22 to the start position 25 in reverse.

In the example shown in FIG. 5, on the left and right sides of the headland 26, between a large number of ridges distributed in parallel so as to extend in the left and right direction on the left and right sides of one headland 26 extending in the front and rear direction. The guide cable 21 is laid so as to be staggered and spaced every other ridge, and the guide cable 21 is connected to the guide transmitter 23 installed outside the house H2 via the headland 26. ing. Further, the end portions 21a of the induction cables 21 are connected to return wires 24, 2 respectively.
4 and the return wires 24, 24 are connected to the inductive transmitter 23.

In FIG. 5, the carriage 1 is mounted on the headland 2
Starting from the start position 25 at the end of the line 6, along the guide cable 21 closest to the start position 25, for example,
The vehicle travels forward in the first spray ridge space R1 on the left side. When reaching the terminal end of the first spray ridge space R1, the carriage 1 temporarily stops and returns to the headland 26 in reverse to travel. Next, the traveling direction is switched again at the headland 26 and the vehicle advances, and the vehicle travels forward along the next guide cable 21 in the second spray ridge R2 on the right side. In this way, the third spray ridge space R3 on the left side,
The vehicle travels back and forth one after the other in the order of the fourth spray ridge R4 on the right side, and after returning to the final spray ridge RE, the headland 26 is returned to the start position 25 in reverse.

In order to achieve the following running action along the guide cable 21, the carriage 1 is provided with a pair of left and right follow sensors (not shown) for detecting a magnetic field generated by a current flowing through the guide cable 21, for example. ing. Then, the control circuit operates based on the detection signals of the pair of right and left tracking sensors, whereby the carriage 1 automatically travels along the guide cable 21.
For switching the traveling direction of the truck 1, for example, a magnetic sensor (not shown) is provided on the truck 1, and the magnetic sensor is mounted on a sensor plate 27 previously disposed at a traveling direction switching point of the truck 1. This can be performed by automatically inputting a detection signal obtained by sensing to the control circuit.

The guide system of the carriage 1 along the guide cable 21 is disclosed in, for example, Japanese Patent Laid-Open No. 5-1902 / 1993.
No. 9 has no relation to the gist of the present invention, and a detailed description thereof will be omitted.

In addition, the automatic traveling control of the carriage 1 may be performed by a radio control operation by an operator from outside the house.

Next, the structure and operation of the fogger 2 will be described in detail. The sprayer 2 is a room temperature fogger that sprays the spray liquid L such as a germicide into a so-called fume form of about 5 to 20 μm, and as shown in FIG. 3, the tank for storing the spray liquid L. 5 and the two-fluid spray nozzle 4 known per se for spraying the spray liquid L in the tank 5.

As shown in FIG. 1, the spray nozzle 4 is attached to the upper end of the nozzle column 3 so that the spray angle can be freely adjusted vertically and horizontally. The nozzle case 30 accommodating the spray nozzle 4 includes the nozzle support 3
Above, it is rotatable vertically about an axis XX extending horizontally in the left-right direction in the traveling direction of the cart 1. Then, the spray angle fixing knob 31 is loosened to adjust the angle of the nozzle case 30 with respect to the nozzle post 3, and the spray angle fixing knob 31 is tightened again to fix the spray nozzle 4 to a new spray angle. be able to.

The tank 5 comprises a tank body 31 and a cap 32, as shown in FIG. A spray liquid pipe 33 and a stirring air supply pipe 34, both made of a material having good chemical resistance, penetrate through the cap 32, and when the cap 32 is tightened with respect to the tank body 31, Spray liquid pipe 33 and said air supply pipe for stirring 34
The lower ends 33a and 34a are located near the bottom in the tank body 31. An appropriate filter 35 is provided at the lower end 33a of the spray liquid pipe 33.
Is installed.

An upstream end 36a of a spray liquid hose 36 is connected to an upper end 33b of the spray liquid pipe 33 located outside the tank 5.
The downstream end 36 b of the nozzle 6 is connected to the spray nozzle 4.

The downstream end 37b of the stirring air hose 37 is connected to the upper end 34b of the stirring air supply pipe 34 located outside the tank 5.
On the other hand, the upstream end 37a of the stirring air hose 37
Is connected to an air outlet 39 of an air pressure regulator 38 mounted on the carriage 1.

The air pressure regulator 38 has one air inlet 40 and two air outlets 3 as shown in plan view in FIG.
A pressure gauge 43;
And The air inlet 40 communicates with the air supply hose 6 via an intermediate air hose 44 extending from the hose reel 7, and the air supply hose 6 is fixed outside the carriage 1 (for example, outside the house). Compressed air is supplied from the compressed air supply source 9 including the air compressor 8 and the like.

The two air outlets 39 and 41 of the air pressure regulator 38 are connected to an upstream end 45a of a spraying air hose 45 in addition to the stirring air hose 37. The downstream end 45 b of the spray air hose 45 is connected to the spray nozzle 4.

In the above-described fluid circuit shown in FIG. 3, the air pressure regulator 38 always outputs
A large amount of compressed air is supplied to the spray nozzle 4 and a small amount of compressed air is supplied to the stirring air supply pipe 34. The compressed air (stirring air) supplied in small amounts to the stirring air supply pipe 34 floats in the spray liquid L in the tank 5 as bubbles, and stirs the spray liquid L. The components are made uniform, and the spray liquid L is pressurized and sent to the spray nozzle 4.

On the other hand, the compressed air (spray air) supplied to the spray nozzle 4 is blown out from the spray nozzle 4 to make the inside of the spray hose 36 negative pressure. As a result, the spray liquid L in the tank 5 is sucked by the spray liquid pipe 33, passes through the spray liquid hose 36, and is ejected from the spray nozzle 4 together with the spray air in the form of a fume.

The air supply hose 6 is automatically unwound and automatically taken up by the hose reel 7 in accordance with the traveling speed of the carriage 1.

As shown in FIG.
Has a drum-shaped reel body 50 and a reel support shaft 51 fixed to the reel body 50 and extending to the left and right sides in the traveling direction of the carriage 1. An end 6b on the downstream side of the air supply of the air supply hose 6 is inserted into the cylindrical reel support shaft 51 and communicates with a rotary joint 52 provided at the left end of the reel support shaft 51. ing. The pivot joint 52 communicates with the air inlet 40 of the air pressure regulator 38 via the intermediate air hose 44.

Here, the rotation axis Y-Y of the reel support shaft 51 and the rotation axis Y-Y of the pair of right and left rear wheels 14, 14 are shown.
Y and the hose reel 7 so that
Has been arranged. This is because the center of gravity of the hose reel 7 is made as low as possible to improve the running stability of the bogie 1, and the maximum winding diameter of the air supply hose 6 around the hose reel 7 is made as large as possible. This is to make it possible for the vehicle 1 to travel as far as possible from the compressed air supply source 9 and to make the overall length of the self-propelled fogger as short as possible so that a small turn is possible. Specifically, the reel support shaft 51 is rotatably attached to the chassis 11, and the left and right rear wheels 14a and 14b are rotatably mounted on the reel support shaft 51, respectively. I have.

When the carriage 1 moves forward, the hose reel 7 idles due to the tension of the air supply hose 6,
The air supply hose 6 is fed out in accordance with the movement of the carriage 1, and when the carriage 1 moves backward, the air supply hose 6 is driven by one of the pair of left and right traveling drive motors 15 a and 15 b to move the carriage 1 forward. Accordingly, the air supply hose 6 is automatically wound up.

That is, as shown in FIG.
1, a reel drive shaft 53 is rotatably mounted on the reel drive shaft 53. An idle sprocket 54 interposed in a drive system of the left rear wheel 14a is rotatably mounted on the reel drive shaft 53. An intermediate sprocket 55 for driving the right rear wheel 14b while being worn is fixed so as to always rotate integrally with the reel drive shaft 53 by, for example, spline fitting. A reel drive sprocket 57 having a double integral structure is attached to the reel drive shaft 53 via a one-way clutch 56, and is fixed to the reel drive sprocket 57, the chain 58, and the reel support shaft 51. The driven power of the right traveling drive motor 15b is transmitted to the hose reel 7 only when the carriage 1 is driven backward by the driven sprocket 59.

A suitable type of torque limiter 6 is provided between the reel drive shaft 53 and the hose reel 7.
By interposing 0, the traveling speed of the carriage 1 during reverse movement and the winding speed of the air supply hose 6 by the hose reel 7 are synchronized, and the air supply hose 6 is reliably wound up without loosening. I can do it.

Further, a hose aligning and winding mechanism 61 is provided for aligning the air supply hose 6 along the winding width of the reel body 50. The hose aligning and winding mechanism 61 includes a rotatable traverse shaft 62 laid in parallel with the reel support shaft 51 behind the hose reel 7. A moving block 64 is provided on the traverse shaft 62 so as to slidably engage left and right with a fixed guide bar 63 extending in the left and right direction and reciprocate in the left and right direction with the rotation of the traverse shaft 62. I have. A pair of left and right guide rollers 65, 65 each having a drum shape are attached to the moving block 64, and the pair of left and right guide rollers 65, 65 smoothly move the air supply hose 6 in the feeding direction and the collecting direction. The air supply hose 6 is clamped from the left and right so as to be able to be guided.

The traverse shaft 62 is attached to the sprocket 6
The air supply hose 6 which is drivingly connected to the reel driving sprocket 57 having a double integral structure through a chain 6 and a chain 67, and which is synchronized with the traveling speed of the carriage 1 by the operation of the torque limiter 60. The moving block 64 is driven to reciprocate in the left-right direction according to the winding speed. Therefore, when the reel body 50 winds up the air supply hose 6, the air supply hose 6
The reels can be aligned on the peripheral surface of the reel body 50 without any gap.

The hose reel 7 is a hose reel for an air hose. Since the hose is to be transported by gas, the hose reel is used for unwinding and winding the hose compared to a hose reel for a liquid hose. The load on 7 can be small. Therefore, the running stability of the self-propelled carriage 1 is not impaired, the power for winding the hose reel 7 is small, and the durability of the hose reel 7 is improved.

Further, in the self-propelled fogger having the above configuration,
By using the air supply hose 6 as a high-pressure chemical solution hose and the nozzle column 3 having a plurality of airless spray nozzles arranged on the left and right along the vertical direction, a general unmanned traveling power sprayer can be used as it is. It can also be used as

[Brief description of the drawings]

FIG. 1 is an overall perspective view of a self-propelled fogger according to an embodiment of the present invention.

FIG. 2 is a cross-sectional plan view of a main part of the self-propelled fogger shown in FIG.

FIG. 3 is an explanatory view of a spray piping system of the self-propelled fogger shown in FIG.

FIG. 4 is a plan view showing an example of a spray traveling pattern of the self-propelled fogger.

FIG. 5 is a plan view showing another example of the spray traveling pattern of the self-propelled fogger.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Self-propelled trolley 2 Smoke machine 4 Spray nozzle 5 Tank 6 Air supply hose 7 Hose reel 14a, 14b Rear wheel (wheel) 56 One-way clutch 60 Torque limiter Y-Y Rotation axis L Spray liquid

Claims (6)

[Claims] 1. A self-propelled fogger comprising: a fogger (2); and a self-propelled vehicle (1) on which the fog machine (2) is mounted and which runs automatically. 2. A tank (5) for storing a spray liquid (L).
And a spray nozzle (4) for spraying the spray liquid (L) in the tank (5), and an air supply hose (6) for supplying compressed air for spraying to the spray nozzle (4). And a hose reel (7) to be wound on the self-propelled trolley (1) for automatic running, and the self-propelled trolley (1)
The wheels (14a), (14b) and the hose reel (7) are drivingly connected to each other with a one-way clutch (56) and a torque limiter device (60) interposed therebetween. The driving force is transmitted to the hose reel (7) only when the air supply hose (6) winds up the air supply hose (6), and the traveling speed of the self-propelled carriage (1) and the hose reel (7) A self-propelled smoke machine that synchronizes the winding speed of the air supply hose (6). 3. The self-propelled fogger according to claim 1, wherein the self-propelled carriage (1) is allowed to travel at a very low speed. 4. A rotation axis (Y) of the hose reel (7).
-Y) is the wheels (14a, 14a) of the self-propelled carriage (1).
The hose reel (7) is arranged so as to have the same ground height as the rotation axis (Y-Y) of b).
Or the self-propelled fogger according to 3. 5. A spraying method wherein spraying is performed while automatically moving the fogger (2). 6. A tank (5) for storing a spray liquid (L).
A self-propelled trolley (1) that automatically runs a spray nozzle (4) for spraying the spray liquid (L) in the tank (5) and a hose reel (7) for winding an air supply hose (6). ) To automatically drive the self-propelled trolley (1),
While unwinding and winding the air supply hose (6) with the hose reel (7) according to the traveling speed of the self-propelled vehicle (1), a compressed air supply source (outside the self-propelled vehicle (1)) 9) A spraying method comprising supplying compressed air for spraying from 9) through the air supply hose (6) to the spray nozzle (4).