JPS63158152A - Running control apparatus of chemical agent sprinkling work vehicle - Google Patents

Abstract

PURPOSE:To eliminate the wastefulness of a chemical agent in a turnaround process, by making it possible to control the sprinkling state of a chemical agent sprinkling apparatus in the turnaround process on the basis of set data. CONSTITUTION:A control apparatus 17 controls the operation of various actuators on the basis of the detection data of sensors S1-S4 and potentiometers R1-R3, the receiving data of a receiver 21 and preliminarily stored and set running control data and allows a machine body to automatically run to a straight line process and a turnaround process. In the turnabout process, the running control data is taught and the values of three nozzle switches 16L, 16R, 16C are successively added at each time when the steering angles of steering angle detecting potentiometers R1, R2 are sampled to renew the respective values of three sprinkling counters sampling a scattering state. By this method, the chemical agent sprinkling state in the turnabout process is taught.

Description

[Detailed Description of the Invention] [Industrial Application Field] The present invention provides an airframe equipped with a chemical spraying device capable of freely changing the chemical spraying state, which can be used in a straight line stroke and from the end of a straight line stroke to the next straight line stroke. The present invention relates to a travel control device for a medicine/reagent-degrading cloth work vehicle, which is provided with a travel control means for automatically controlling the vehicle to travel while spraying chemicals during each of the turning strokes in which the body is moved to the starting end.

[Conventional technology]

In general, in the above-mentioned travel control device for this type of chemical spraying work vehicle, when traveling in a straight line, the vehicle automatically travels while spraying chemicals on both left and right sides of the vehicle and upward, thereby spraying chemicals on trees located on both sides of the vehicle. Spraying work will be performed automatically.

Conventionally, in the turning stroke, the medicine was also spread while traveling in the same way as in the straight stroke.

[Problem that the invention seeks to solve]

However, for example, if a road is located outside the turning path, if the agent is sprayed while turning, the agent will be sprayed on the side of the road, which is located outside the turning path and does not need to be sprayed. There were tremors that caused the drug to be wasted during the recirculation process, such as when the patient was in a state where the patient was in a state of trembling.

The present invention has been made in view of the above-mentioned circumstances, and its purpose is to make it possible to set the spraying state of chemicals during the redirection process, thereby preventing unnecessary spraying of chemicals during the redirection process. be.

[Means for solving problems]

A characteristic configuration of the travel control device for a chemical spraying work vehicle according to the present invention is that a spraying state setting means is provided for setting a chemical spraying state in the turning stroke, and the spraying state setting means is configured to set a spraying state during the turning stroke based on setting information by the spraying state setting means. The present invention is further provided with a spraying state control means for controlling the spraying state of the chemical spraying device, and its functions and effects are as follows.

[For production]

That is, the dispersion state setting means sets the dispersion state of the chemical during the turning stroke, and when the vehicle actually travels through the turning stroke, the dispersion of the chemical is controlled based on the set information. .

〔Effect of the invention〕

Therefore, it has become possible to prevent unnecessary spraying of chemicals during the turning process.

〔Example〕

Embodiments of the present invention will be described below based on the drawings.

As shown in Figures 3 and 4, automatic driving, remote control (
The engine (E) and the boarding control section (1) are installed on the front side of the fuselage (V), which can be operated both radio-controlled (radio-controlled) and boarding control (manual), and the exterior is installed on the rear side of the fuselage (V). It is equipped with a drug tank (2) with a cover (2a). A chemical dispersion device (a chemical spraying device) in which a pump (4) provided at the lower part of the fuselage (V) jets the chemical supplied from the chemical tank (2) from a number of nozzles (5) and is dispersed by air blown by a blower (6). 7) is attached to the rear side of the chemical tank (2), and is used mainly for planting trees (in orchards, etc.).
A work vehicle is configured to spray chemicals while traveling between F) and (F).

However, the nozzle (5) is arranged so that the spraying state can be switched separately in each range divided into three directions, left, right, and upper with respect to the aircraft (V). It is divided into three parts: 5R) and (5C).

As shown in Fig. 2, trees (F) are arranged in rows on both the left and right sides of the aircraft (V).
Between trees (F) and (F), while turning the tree (F) located at the end of the straight line between trees (F) in the longitudinal direction toward the direction of the next adjacent straight line. It is designed to travel back and forth to spray chemicals.

To explain the sensors installed on the aircraft (V),
As shown in FIGS. 3 and 4, an ultrasonic sensor (Sl) for steering control that also serves as a non-contact obstacle sensor is installed on the front side of the bumper (8) at the front of the aircraft (V). Three of them are provided on the left, right and center, respectively, with their respective obstacle sensing ranges adjacent to each other.

However, the two left and right ultrasonic sensors (S+), (S+) are
The distance to the obstacle can be sensed so that the obstacle detection information can be used as distance information in the vehicle width direction to the trees (F) and (F) located on both the left and right sides of the aircraft (V). At the same time, the obstacle sensing range is set to extend outside the width of the vehicle body. The central ultrasonic sensor (S,) is designed to detect only the presence or absence of an obstacle within a set distance (in this embodiment, it is set to about 1 m).

Further, on the upper part of the drug tank (2), there is a direction sensor (S2) that detects the absolute direction by sensing the earth's magnetism.
As described below, the trees (F) and (F
) The orientation of the aircraft (V) with respect to a preset reference direction can be detected based on the direction of the straight line traveling between the two.

Also, between the trees located at the end of the straight line,
A marker (a+) formed of a magnetic material such as iron is embedded to indicate the end of the linear stroke, and the marker (m
) is provided below the front end of the body (V).

To explain the traveling system of the aircraft (V), as shown in FIG.
), (3R) for steering hydraulic cylinders (9F), (9R), and electromagnetically operated control valves (10"F), (IOR) for the steering hydraulic cylinders (9F), (9R).

In addition, a hydraulic continuously variable transmission (11) capable of freely switching forward and backward speeds and freely changing forward and reverse speeds is connected to the engine (
E), and the front and rear wheels (3F) and (31?) are simultaneously driven by the output of the transmission (11). The transmission device (
It is interlocked and connected to the speed change arm (14) of 11).

Further, a steering handle ( ) I) for boarding control is provided in the boarding control section (1). In addition, in Figure 1, (S
4) is a distance sensor that detects the traveling distance by detecting the output rotation speed of the transmission (11), and (15) is a distance sensor that detects an obstacle when the ultrasonic sensor (Sl) detects an obstacle during automatic driving. This is a warning light to notify the operator to use remote control to avoid the situation when the vehicle automatically stops. Also, (16L), (16R), (16C)
are nozzle switches for manually operating the respective nozzles (5L), (5R), and (5C) in each of the three directions, left, right, and upward.

Parallel steering involves steering the pair of front and rear wheels (3F) and (3R) in the same direction to move the aircraft (V) in parallel. Type, 4-wheel steering type that turns the aircraft (V) sharply by steering the front and rear wheels (3F) and (3R) in opposite directions, 2-wheel steering type that steers only the front wheels (3F) like a normal car It is configured so that the steering type can be selected and used.

The configuration is such that the parallel steering type and the four-wheel steering type can be selected during remote control, and one of the three types of steering types can be selected during boarding operation.

However, during automatic driving, the above-mentioned steering types are automatically switched, and the front and rear wheels (3F),
It is also possible to switch to a steering type (3R) in which both steering wheels are operated in the same direction with a difference.

In addition, a target steering angle detection potentiometer (Ro) that detects the target steering angle during boarding maneuvers,
The front and rear wheels (3F) and (3R) are provided to be rotated by the steering handle (H), and the front and rear wheels (3F), (3R)
Steering angle detection potentiometers (R1) and (R2) are provided to detect the respective steering angles. Further, a shift position detection potentiometer (R3) for detecting the shift position of the transmission device (11) is provided so as to be interlocked with the rotational operation of the shift arm (14). Then, the detection signals from each of the potentiometers (Ro) to (R3) are transmitted to a control device (100) constituting each of the automatic travel control means (100), the remote control means, and the boarding control means.
17). Further, there are provided a control mode selection switch (18) for selecting which of the above-mentioned control means should be used to control the traveling of the aircraft (V), and a steering type selection switch (19) during boarding operation. However, as will be described later, in the autopilot mode in which the automatic travel control means operates, the remote control means is operated with priority over the automatic travel control means without operating the operation mode selection switch (18). It is configured so that it can be switched to a state in which it is activated.

Next, the configuration of each control means will be explained in detail.

To explain the configuration of the boarding control means, based on the information of the steering type selection switch (19) and the detection information of the target steering angle detection potentiometer (Ro), the steering hydraulic cylinder (9
F), (9R) control valve (IOF), (IOR
), the front and rear wheels (3F), (3R
) in the instructed steering style and at the target steering angle using the steering handle (H). However, the operation of the transmission (11), that is, the adjustment of the vehicle speed, is performed by directly operating the transmission arm (14) using the transmission pedal (12). Further, for safety, the shift pedal (12) is biased so that when the operation of the shift pedal (12) is stopped, the shift position automatically returns to the neutral state, that is, the shift neutral position (N).

To explain the configuration of the remote control means, it is provided with a receiver (21) that receives instruction information given from a remote control transmitter 20), and based on the received information,
The steering hydraulic cylinder (9F), (9R
), and the control valves (22L) of the nozzles (5L), (5R), (5C) whose chemical spray direction is divided into left, right, and upward three parts. ), (22R), (22C), the airframe (V
) and the spraying operation of the chemical spraying device (7),
It is configured for remote control.

To explain the configuration of the transmitter (20), as shown in FIG. The front and rear wheels (3
F) A steering lever (25) for instructing the target steering angle of (3R) is provided, and a blower switch (26) for instructing the rotation of the blower (6) to stop.
, a nozzle switch (27) that instructs to stop the operation of ejecting medicine from the nozzle (5), an emergency stop switch (28) that instructs to make an emergency stop of the aircraft (V), and
When the aircraft (V) is automatically traveling, this transmitter (
20) side, an interrupt switch (29
) are provided.

That is, when the aircraft (V) is automatically traveling using the automatic travel control means, for example, the ultrasonic sensor (Sl) detects an obstacle in front of the vehicle or malfunctions, and the aircraft (V)
) automatically stops, the operator must press the interrupt switch (2) without going to the stop position of the machine (V).
9), the obstacle can then be avoided by remote control using the transmitter (20). In addition, if the interrupt switch (29) is turned off, the aircraft automatically returns to the automatic driving mode and the aircraft (V
) can continue to run automatically.

For safety, the gear shift lever (24) is biased so that it automatically returns to the neutral state, that is, the gear shift neutral position (N) when its operation is stopped.

Next, the configuration of the automatic travel control means (100) will be explained in detail while explaining the operation of the control device (17).

The control device (17) includes each of the sensors (SI).

(Sz), (Sol), C3a) and the detection information of each of the potentiometers (R1) to (R1), as well as the reception information of the receiver (21), travel control information stored in advance, etc. By controlling the operations of various actuators, the aircraft (V) can fly trees (F), (
Control the traveling of the aircraft (V) so that it automatically travels the straight line between F) and automatically turns toward the next straight line as it reaches the end of the straight line. I will do it.

First, to explain the outline of the vehicle body movement during automatic driving, as shown in Fig. 2, there is a starting point (ST) of the straight line travel, and a tree ( P), a straight line (i) connecting between
A second stroke (i) in which the vehicle body is moved to a linear third stroke (iii) facing 180 degrees in the opposite direction to the stroke (i).
i) and after the completion of the third step (iii),
In order to change the direction to a linear stroke in the same direction as the first stroke (i), each of the four working strokes of the fourth stroke (iv), which is turned in the same manner as the second stroke (ii), is performed as described above. The azimuth sensor (S2) in each stroke while being operated by the boarding control means or the remote control means. , distance sensor (S4), and steering angle detection potentiometers (R1) and (R2), each of the four steps (i) to (iv)
), respectively, using the trees (F) and (F) located on both the left and right sides of the aircraft (V) as traveling guides.

However, in this embodiment, in the straight-line strokes of the first stroke (i) and the third stroke (iii), the actual travel distance (DLENGn) from the start point of this straight-line stroke until the proximity sensor (S2) is activated is ) n-+, z and the reference orientation (B) calculated by averaging the detected orientation of the orientation sensor (S2).
ASDRn) Only n-+, z is stored as traveling control information in the straight stroke, and in the turning stroke of the second stroke (11) and the fourth stroke (iv), the steering angle detection potentiometer (R1) is used.

The steering angle detected by (R2) is sampled at every set distance interval (in this example, it is set to approximately 20 cm), and the value is calculated for each turning stroke (ii), (
The information is stored as the traveling control information (iv).

The series of processes for collecting travel control information in the first step (i) to the fourth step (iv) described above will be referred to as "teaching" hereinafter.

Then, when [teaching] is finished, the aircraft (V
) is once moved to the start point (ST) of the work process, and then the first process (i) memorized in [teaching]
~ While controlling the traveling of the aircraft (V) based on the stored information in each stroke of the fourth stroke (iv), by repeating the traveling in each stroke a set number of times, automatic rotation is performed at the end of each linear stroke. While rotating, the trees (F), , (F) are made to travel back and forth while controlling the steering so as not to approach within a set distance, thereby automatically performing chemical spraying work within a predetermined range of the orchard. It is set as. In other words, the traveling control information stored in the [teaching], the pair of left and right ultrasonic sensors (Sl), and the direction sensor (
Based on the detection information of S2), the aircraft (V) automatically travels while operating the steering so as not to approach the trees CF) and (F) within a set distance;
This process will be referred to as "reproduction" below.

Next, based on the flowchart shown in FIG.
teaching] in detail.

As the travel starts from the start point (ST) of the work process, in the first process (i), from the start of travel until the proximity sensor (S3) detects the marker (m) and turns ON. Based on the detection information of the distance sensor (S,) between
+ ), and also calculates the average direction (
RASDR, ) is calculated.

Then, as the proximity sensor (S3) detects the marker (m), the traveling route #(OLENG,) is stored as a reference traveling distance in the first step (i), and
The average orientation (RASDP I) is stored as a reference orientation (Step #100 to Step #102).

The distance traveled (IILENG+) and the average bearing (RAS)
After storing the DP I), the direction sensor (S2)
Based on the detected information, the traveling distance (Ll) of the turning stroke is changed to the above-mentioned distance until the vehicle direction is reversed to within the set tolerance with respect to the average direction (RASDRI) stored in the first stroke (i). In addition to counting based on the detection information of the sensor (S4), the steering angle detected by the steering angle detection potentiometers (R+) and (Rz) is sampled at every set distance (20 cm), and the values are sequentially stored. By performing the processing, the second step (
ii) Teach travel control information. Furthermore, each time the steering angle is sampled, the aircraft (
V) side nozzle switch (16L), (161?)
, (16C) Sampling each operation state,
In addition to teaching the chemical dispersion state in the turning process, the process of incrementing the turning counter value (LOCNTI) by one is performed (Step #103 to Step #111)
2).

To explain the teaching of the chemical spraying state, the three nozzle switches (16L), (16
R), three dispersion counters (NZLL) that sample the dispersion state by sequentially adding their values when (16C) is turned on.

By updating the values of (NZLR) and (NZLC), the chemical dispersion state in the turning process is taught.

Then, the direction detected by the direction sensor (S2) is the first direction.
When the average orientation (RASDR,) of the stroke (i) is reversed to within the set tolerance and the teaching of the second stroke (ii) is completed, the turning counter value (LOCNTI)
Multiply the set ratio (RATE) (set to 50% in this example) to find the darkness value (THR).
And the nozzle switch (16L).

(16R), (16C) Each scattering counter (NZLL), (NZLR) that samples the respective operation status
), (NZLC) (7) The value is the dark value (THR
) or more, the second stroke spraying flag (NZFL) is set, which indicates the spraying state in the turning stroke, i.e. in which direction to spray the chemical, left, right or upward.
AGI) Seratos (Step #113 ~ Step #
116).

As the teaching of the second step (ii) is completed, the proximity sensor (S,) moves to the marker (
The travel distance (DLENGz) and average direction (BASDRz) of the third step (iii) are
) In other words, teach the reference direction (Step #11
7~Step #119).

As the teaching of the third step (iii) is completed, the same process as the teaching of the second step (ii) is performed, so that the traveling distance (iv) of the fourth step (iv) is
Lx) and the turning counter value (LOCNT2) in the fourth process (iv) and the dispersion flag (NZFLAG2) for the fourth process indicating the chemical dispersion state (
Step #120 to Step #133).

Therefore, the second step (ii) and the fourth step (iv)
NZFLAGI and (
The process of setting NZFLAG2) constitutes a dispersion state setting means (101).

When the teaching of the fourth step (iv) is completed, this [teaching] process is ended, and the system waits until the later-described [playback] process is started.

Next, based on the flowchart shown in FIG.
The following describes the processing of [Reproduction] in detail.

As the [Regeneration] process starts, first, the total number of travel strokes is calculated as the number of straight strokes (first stroke and third stroke) (K
N [IM), and the reference orientation (BASDRn), distance traveled (DLENGn), and current stroke stored in the [teaching] process are the first stroke (i) to the fourth stroke ( iv) Each of the process flags (CFLAG) indicating which process corresponds to the process is initialized based on the stored information (step #200, step #201).

In addition, in the initial setting process, the process in the first step (i) will be explained.
SDRn) and traveling distance (DLENGn) are respectively set to the reference direction (RASDR+) and traveling distance (OLENG I) of the first stroke (i), and the value of the stroke flag (CFLAG) is set to the first stroke (i). (i)”
“It will be set to 1n.

After the initial setting process is completed, the blower (6)
At the same time, the clutch (23) of the fuselage (V ) starts running while spraying chemicals in all three directions, left, right, and upward, and then determines whether or not the entire journey has been completed based on the set number of strokes (KNUM). #202. Step #203).

If the number of strokes (KNUM) is zero, it is determined that the set number of strokes has been traveled, and although not illustrated, the operation of the chemical spraying device (7) is stopped, and
The vehicle will stop running and the work will be completed.

If the number of strokes (KNUM) is not zero, based on the information received by the receiver (21), the transmitter (
20) is operated to determine whether there is a radio control interrupt request for preferentially operating the remote control means (step #204).

If there is a radio control interrupt request, as described below,
The process branches to the radio control interrupt] processing.

If there is no radio control interrupt request, the aircraft (V)
It is determined whether or not to branch to the [turn] process for moving the line to the next linear stroke (Step +1205).

The value of the process flag (CFLAG) indicates the turning process.
If the value is 2' or "4", the process branches to the [turn] process, which will be described later.

On the other hand, if the value of the stroke flag (CFLAG) is not "2" or "4" indicating a turning stroke, that is, if it is "'1" or "3" indicating a straight stroke, A pair of left and right ultrasonic sensors (St), (Sυ
The orientation of the aircraft (V) is maintained within a tolerance with respect to the reference orientation (BASDRn) based on the detected distance information and the orientation detected by the orientation sensor (s2), and
Trees (F) located on both left and right sides of the aircraft (V),
(F) so as to go straight between the front and rear wheels (3F).
, (3R) is performed (step 1t206).

However, if the ultrasonic sensor (S,) detects that there is an obstacle within 1 meter, the operator will be instructed to make an emergency stop of the aircraft (V) and use remote control means to avoid it. In order to make the notification, the process branches to the process of [radio control request], which will be described later (step +1207).

If [radio control request] is not required, the proximity sensor (S
3) detects the marker (m) and determines whether it has been turned on, thereby determining whether the linear stroke has ended (step 1t208).

If the proximity sensor (S,) is not turned on, the aircraft (V) is moved to the tree (F), ( This will keep the vehicle moving straight between F).

If the proximity sensor (S3) is ON, the value of the current stroke flag (CFLAG) is determined in order to branch to the [turn] process in the process of step #205,
1°', the value of the stroke flag (CFLAG) is set to "2" indicating the second stroke (ii) which is the first return stroke.
” and the third stroke (iii
) to the reference direction (BASDIh). On the other hand, if the value of the current process flag (CFLAG) is "3", the value of the process flag (CFLAG) is set to "4" indicating the fourth process (iv), which is the second direction process. At the same time, the reversal direction is set to the reference direction (13A) of the first step (i).
sDR, ) (step #209 to step H
1l).

After setting the stroke flag ((:FLAG) and the reversal direction, the stroke number (KNtlM) is subtracted by one stroke, and in step #208, the proximity sensor (
As in the case where S, ) is not ONL, the process from step #203 to determine whether the entire number of strokes has been traveled is repeated (step #212).

To explain the steering control, the pair of left and right ultrasonic sensors (sr
), (sr) based on the detection information of trees (
F), determines whether the aircraft (V) is approaching within a set distance to (F), and also uses the direction sensor (
Based on the detection information in S2), it is determined whether the orientation of the aircraft (V) is aligned with the reference orientation (BASDRn), and if there is no deviation from the orientation, the aircraft (V) is steered in parallel steering mode. While keeping the orientation unchanged, move the aircraft (V) in parallel in the direction away from the approaching trees (F), so that the aircraft (V) can move away from the trees (F) on both the left and right sides.
The position of the aircraft (V) in the width direction is adjusted so that the aircraft (V) travels midway between F) and (F).

On the other hand, if there is a misalignment, the front and rear wheels (3F) and (3R) are steered in opposite directions in accordance with the direction of misalignment, so that the aircraft (V) The aircraft (V) is oriented so that it is located between the trees (F) and (F), and the orientation of the aircraft (V) is maintained within the set unfavorable zone with respect to the reference orientation (BASDRn). Fix it.

However, in this embodiment, the front and rear wheels (3F).

After the (3R) direction was changed to the set steering angle, it was set to immediately return to the neutral steering state, and the direction and position of the aircraft (V) could not be corrected by the previous operation. In this case, the control loop completes one cycle until the orientation and position of the aircraft (V) are corrected, and the steering operation is performed again based on the next detected information.

Next, based on the flowchart shown in FIG.
Eko] will be explained in detail.

First, based on the value of the process flag (CFLAG),
It is determined whether it is the first turn, that is, the second stroke (ii) or the second turn, that is, the fourth stroke (iv), and the steering angle and mileage (1 , l, Ll> and scatter flag (NZFLAGl,
NZFLAG2) f7) Each piece of information is read in a backward manner using the information corresponding to the determined letter process (steps 11300 to 11302).

Next, based on the travel distance (Ll or tz), the start and stop of spraying in the turning process is determined (as described later), and the spraying flag (NZFLAGI or NZFLAGI) is determined.
Based on the setting state of G2), the nozzle (5L),
(5R), (5C) to be operated, and the corresponding control valve (22L), (22R),
(22C) and the distance sensor (S) is activated.
Based on the detection information in step 4), each time the steering angle is sampled in the above [teaching] and the set distance is traveled, the stored steering angle is sequentially read out and the current steering angle is updated (step #30).
3~Stephbu 11308).

However, if the traveling distance of this turning stroke is short, the control of the spreading state based on the setting state of the spreading flag (NZFLAGI or NZFLAG2) is not performed.

That is, as shown in FIG. 5, as the turning stroke starts, the traveling distance (Ll or Lz) measured in the [teaching] process becomes equal to the length of the aircraft (V). The first set distance MCI, ) (set to 3 m in this example) and this first set distance (II
) plus the predetermined distance (1m) (2nd set distance (12))
If the distance is less than the sum of (l++l12),
Regardless of the taught spraying state, the chemical spraying is not stopped during turning.

On the other hand, if the turning distance (1, + or L2) is greater than or equal to the sum of the first setting distance (11) and the second setting distance (12) (j!1+42g), the turning distance At the same time as the distance traveled (CNT) counted based on the detection information of the distance sensor (S4) exceeds the first set distance (β,), the spraying 7-7g (NZFLAGI) starts. or NZFLAG2), the nozzle (5L), (5
R), (5C) control valves (22L), (22
R).

(22C) is activated by the scattering flag (NZFLAGI).
or NZFLAG2).

Then, the traveling distance (CNT) is equal to the turning distance (L
= L, or a third set distance (13) which is the distance of the actual turning stroke obtained by subtracting the second set distance (12) from L2).
The control valve (22L).

(22R) and (22C) are all activated to spray the chemical in three directions: left, right, and upward from the start of the linear stroke of the first step (i) or third step (iii). It is set to return (Stephbu #303~
Step #307).

Therefore, in the above-described process, the dispersion state setting means (1
A spraying state control means (IO2) is configured to control the spraying state of the chemical spraying device (7) in the redirection process based on the setting information according to No. 01).

Next, it is determined whether all the stored data, that is, all the information on the steering angle has been read out, and if all the data has been output, the stroke flag CCFLAG) is set to
Based on the current value, the value indicating the next linear stroke (""1'
“or “3”) and the mileage (DLEN).
Gn) is set to the updated stroke flag (CFLAG).
), the traveling distance of the first step (i) (OLE
NG+) or the mileage of the third step (iii) (OLE
NG2) to end this [return] process and return to the process of determining the number of strokes in step #203 of [reproduction] (step #308 to step $1312).

If the output of all the stored data has not been completed, it is determined whether the direction of the aircraft (V), that is, the direction has been reversed, based on the detection information of the direction sensor (S2), and the direction is reversed. If so, the process is branched to steps #310 to #1312 to end the [turn] process (step #11313).

If the direction has not been reversed, it is determined whether or not there is a radio control interrupt based on the information received by the receiver (18), and if there is a radio control interrupt, the process branches to the process of [radio control interrupt] described later. Let (Steve $1314
).

If there is no radio control interrupt, the ultrasonic sensor (S
l) determines whether or not an obstacle has been detected, and if an obstacle is detected, branches to processing of [radio control request] in order to instruct remote control to avoid the obstacle. [ The processing of [return] will be continued (step 11315).

To explain the above [radio control request], as shown in Fig. 9, the transmission device (11) is returned to the neutral position (N) to stop traveling, and the warning light (15) is turned on. , notifies that the emergency stop has occurred, and determines whether or not the interrupt switch (29) of the transmitter (20) has been turned on based on the information received by the receiver (21). Then, as the interrupt switch (29) is turned on, the process branches to a [radio control interrupt] process, which will be described later, so that the aircraft (V) runs on the transmitter (20) side. Switch to remote control mode.

To explain the above [radio control interrupt], the 10th
As shown in the figure, similar to the processing of the [radio control request], by determining whether or not the interrupt switch (29) is turned off based on the information received by the receiver (21), ] is completed.

Then, as the interruption ends, the orientation of the aircraft (V) is determined based on the detection information of the orientation sensor (S2).
It is determined whether or not it is within the set dead zone (SFKAN) with respect to the reference direction (RASDRn) of the straight line travel, and if it is within the set dead zone (SFKAN), the process in the [regeneration] is performed in order to restart automatic driving. The process returns to the process of determining the number of strokes (KNUM) (Step #202). However, the direction of the aircraft (V) is the standard direction for straight line travel (BASDRn).
), if it is not within the set dead band (SFKAN),
In order to subsequently request remote control of the flight of the aircraft (V), the processing branches to the above-mentioned [radio control request].

[Another Embodiment] In the above embodiment, the dispersion state setting means (101) is configured to teach the dispersion state by using a process of teaching travel control information for automatically traveling the aircraft (V). Although exemplified above, it may be set manually in advance, and the specific configuration of the dispersion state setting means (101) can be changed in various ways.

In addition, in the above embodiment, when setting the dispersion state, the dispersion direction can be set by dividing it into three directions, left, right, and upward with respect to the aircraft (V), and which of the three directions can be set. The example above shows the case where you can set whether to spray, but for example, you can divide the scattering direction into left and right, or
It is also possible to simply set the start and stop of spraying, or even to adjust the amount of ejection, and the specific configuration for switching the chemical spraying state can be changed in various ways.

Incidentally, although reference numerals are written in the claims section for convenient comparison with the drawings, the present invention is not limited to the structure shown in the accompanying drawings by the reference numerals.

[Brief explanation of the drawing]

The drawings show an embodiment of the travel control device for a chemical spraying work vehicle according to the present invention, and FIG. 1 is a block diagram showing the control configuration, and FIG. 2 is a block diagram showing the control configuration.
The figure is an explanatory diagram of teaching, Fig. 3 is an overall plan view of the work vehicle, Fig. 4 is a side view of the same, Fig. 5 is an explanatory diagram of the scattering state switching process in the turning process, and Fig. 6 is a flowchart of the teaching process. , FIG. 7 is a flowchart of reproduction processing, FIG. 8 is a flowchart of redirection processing, FIG. 9 is a flowchart of radio control request processing, and FIG. 10 is a flowchart of radio control interrupt processing. (V)... Airframe, (7)... Chemical spraying device, (100)... Travel control means, (101
)...Spreading state setting means, (102)...
... Spreading state control means.

Claims (1)

[Claims] 1. A chemical spraying device (7
) is automatically traveling while dispersing chemicals in each of the straight line stroke and the turning stroke in which the body (V) is moved from the end of the straight line stroke to the starting point of the next straight line stroke. A travel control device for a chemical spraying work vehicle, which is provided with a travel control means (100) for controlling the spraying state, and is provided with a spraying state setting means (101) for setting the chemical spraying state in the turning stroke. Status setting means (101)
A travel control device for a chemical spraying work vehicle, comprising a spraying state control means (102) for controlling the spraying state of the chemical spraying device (7) in the turning stroke based on setting information according to the above. 2. The dispersion state setting means (101)
2. A travel control device for a chemical spraying work vehicle according to claim 1, which is configured to set the chemical spraying directions in three directions: left, right, and above with respect to the vehicle.