TW202332378A - Spray working vehicle capable of spraying a sufficient amount of chemicals by extending and retracting a side spray rod so as to overlap the spraying range of chemicals in an adjacent row - Google Patents

Abstract

A spray working vehicle is capable of spraying a sufficient amount of chemicals by extending and retracting a side spray rod so as to overlap the spraying range of chemicals in an adjacent row. The spray working vehicle is provided with a liquid agent spraying device (10) for spraying a liquid agent. The liquid agent spraying device is provided with a plurality of spraying nozzles (130) at predetermined intervals, and the liquid agent spraying device is movable. A position information acquisition unit (140) for acquiring position information of the spray working vehicle (1) is provided, and a movement amount detection unit (108) for detecting the movement amount of the liquid agent spraying device is provided. The position information obtained by the position information acquisition unit and the movement amount of the liquid agent spraying device in the position information are recorded in a control device (200). Based on the recorded position information and the movement amount of the liquid agent spraying device (10) in the recorded position information, the control device (200) extends and retracts the liquid agent spraying device (10) to spray the chemical from the spraying nozzles (130) so as to include a part of the spraying area.

Description

Spreading machine

The present invention relates to a spreading work machine equipped with spreading devices such as side spray bars.

Conventional spreading work machines are equipped with a chemical tank for storing the chemical solution to be spread at the rear of the traveling body, and are equipped with telescopic side spray booms that expand to the left and right sides of the body to spread the chemical solution. The left and right side spray booms are composed of fixed side spray booms and movable spray booms. Spreading nozzles for dispersing chemicals are arranged at prescribed intervals on the fixed side spray booms and movable spray booms.

Furthermore, the expansion and contraction amounts of the left and right side spray booms in the adjacent work rows before turning are recorded for each predetermined position, and the difference between the end of the chemical dispersion range of the adjacent work row and the chemical dispersion range of the current work row is recorded. The expansion and contraction amounts of the left and right side spray booms are controlled so that the ends do not overlap (Patent Document 1). [Advanced technical documents] [Patent Document]

Patent Document 1: Japanese Patent No. 6244144

[Problem to be solved by the invention]

Conventional dispensing machines prevent the dispersion ranges of chemicals from overlapping in adjacent rows, thereby suppressing unnecessary use of chemicals.

However, the chemical sprayed from the outermost dispersion nozzle of the side spray bar overlaps the spray range of the spray nozzles of the other spray nozzles. However, the spray ranges of the spray medicine at the outermost spray nozzles do not overlap. Therefore, the amount of spray is smaller than at other spray positions. Therefore, there is a problem that the chemicals are not sufficiently spread near the ends of each work area, and pests and diseases are likely to occur.

The present invention considers the conventional problems, and aims to provide a spreading vehicle that can spread a sufficient amount of chemicals by extending and contracting the side spray boom so as to overlap the chemical dispersing range of the area where the chemicals have been dispersed. [Means used to solve problems]

A first aspect of the present invention is a dispersion work vehicle 1, which is provided with a liquid dispersion device 10 for dispersing a liquid. The liquid dispersion device 10 is provided with a plurality of dispersion nozzles 130 at predetermined intervals, so that the liquid can be dispersed The dispersion device 10 expands and contracts, and the characteristic is that the dispersion vehicle 1 is provided with a position information acquisition component 140 for obtaining position information of the dispersion vehicle 1, and is provided with an expansion and contraction amount for detecting the expansion and contraction amount of the liquid dispersion device 10. The detection unit 108 records the position information obtained by the position information acquisition unit 140 and the expansion and contraction amount of the liquid dispensing device 10 in the position information in the control device 200. The control device 200 is based on the recorded position information and the The amount of expansion and contraction of the liquid agent dispensing device 10 in the recorded position information causes the liquid agent dispersing device 10 to expand and contract so that the agent is dispersed from the dispersion nozzle 130 so as to include a part of the dispersed area.

A second aspect of the present invention is the dispersion work vehicle according to the first aspect, wherein the dispersion nozzle 130 for dispersing the chemical so as to include a part of the dispersed area is located on the dispersion area of the liquid agent dispersion device 10 . The outermost of the nozzles 130 .

A third aspect of the present invention is the dispersion work machine according to the second aspect, wherein the control device 200 controls the liquid agent dispersion device 10 in such a manner that the entire dispersion range of one of the dispersion nozzles 130 is located in a dispersed area. elongate.

A fourth aspect of the present invention is the dispersion work machine according to any one of claims 1 to 3, wherein the liquid agent dispersion device 10 is formed by a base side dispersion device 101 installed on the dispersion work vehicle 1, and The movable spreading device 103 is configured to move along the length direction of the base side spreading device 101. In the base side spreading device 101, opening and closing nozzles 120 are provided at predetermined intervals. The opening and closing nozzles 120 are moved by the movement. The elongation of the liquid dispersing device 10 caused by the movement of the dispersing device 103 sequentially switches to the open state from the inside to the outside of the body, and the expansion of the liquid dispersing device 10 caused by the movement of the mobile dispersing device 103 It contracts and switches to the closed state sequentially from the outside, thereby turning on and off the discharge of the liquid. When the expansion and contraction of the mobile spreading device 103 is stopped, it is located inside the body of the base side spreading device 101 The opening and closing nozzle 120 is in a state in which the amount of dispersion is smaller than in the open state. [Efficacy of Invention]

According to the first aspect of the present invention, based on the expansion and contraction amount of the liquid agent dispersing device 10 for each position information recorded in the area where the liquid agent was dispersed in the previous operation step, the liquid agent dispersing device 10 is expanded and contracted to cause the liquid to flow from By dispersing the dispersion nozzles 130 in adjacent dispersion areas, it is possible to prevent insufficient supply of the liquid agent from occurring near the ends of each work area.

This can prevent the occurrence of poor growth of crops due to insufficient liquid and the loss of crops due to pests and diseases.

According to a second aspect of the present invention, in addition to the effects of the first aspect of the present invention, if the outermost dispersion nozzle 130 of the liquid dispersion device 10 does not disperse the liquid to the dispersed area, the liquid dispersion device 10 By moving into the already-dispersed area, the chemical can be spread overlapping the ends of the already-dispersed area and the current working area. Therefore, the required amount of liquid can be supplied to the current working area, and the growth of crops can be stabilized. .

According to a third aspect of the present invention, based on the effects of the second aspect of the present invention, the control device 200 causes the entire dispersion range of one of the dispersion nozzles 130 to be located in the dispersed area. The spreading device 10 is extended and can reliably supply liquid to the vicinity of the ends of adjacent work rows.

According to a fourth aspect of the present invention, in addition to the effects of any one of the first to third aspects of the present invention, when the expansion and contraction of the mobile spreading device 103 is stopped, the spreader is positioned on the base side. The opening and closing nozzle 120 inside the body of the device 101 is in a state where the amount of dispersion is smaller than in the open state. Therefore, it is possible to prevent the occurrence of areas where the liquid is not dispersed or where the liquid is insufficient.

Detailed implementation

Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings. In addition, in the embodiment of the present invention, description will be given taking a control spreading work vehicle for spreading agricultural chemical liquid as an example.

In this application, let the side of the work vehicle 1 that is the traveling direction of the vehicle be the front, the opposite side be the rear, the left-hand side of the traveling direction be the left, and the right-hand side of the traveling direction be the right square.

As shown in Figures 1 and 2, the dispersion work vehicle 1 is a vehicle for dispersing chemical liquid for prevention and control. It is equipped with front wheels 2 and rear wheels 3. The engine (not shown) is covered with a hood 4 provided on the front side of the dispersion work vehicle 1. icon). A control unit 5 is provided behind the hood 4 , and a steering wheel 6 and a seat 8 are provided in the control unit 5 .

A medical solution tank 9 for storing a medical solution is detachably mounted behind the seat 8 .

In addition, the left and right sides of the front part of the vehicle body of the distribution work vehicle 1 are provided with support brackets 12a protruding in the left and right directions, and the lifting links 12 are rotatably supported on the left and right support brackets 12a, respectively. The lifting link 12 is composed of upper and lower link bodies. The upper and lower link bodies of the lifting link 12 are configured to interlock with each other. A telescopic link is provided on the lower layer of the link body of the lifting link 12 to connect the lower layer of the link body of the lifting link 12 with the support bracket 12 a. Therefore, by extending and contracting the lift cylinder 13, the lift link 12 can be oscillated in the up and down direction.

The lifting link 12 extends to the front of the hood 4 , and a front frame 11 is attached to the front end of the lifting link 12 so as to connect the left and right lifting links 12 . Therefore, by simultaneously extending and contracting the left and right lift cylinders 13, the front frame 11 can be raised and lowered via the left and right lift links 12 that move up and down.

At both ends of the front frame 11, a pair of left and right side spray bars 10 (liquid spreading device 10 in the technical proposal) for spreading chemical liquid are installed as an example of a working device. The side spray bars 10 can move up and down. The spray rod rotation cylinders 109 and 109 are respectively provided for the left and right side spray rods 10 so that they can be independently unfolded and folded in the left and right directions. A plurality of nozzles 100 are installed on the side spray bar 10, and a front spray bar 110 is installed on the front frame 11. The front spray bar 110 is provided with a plurality of front nozzles 111 at equal intervals in the left and right direction. The nozzle 100 and each front nozzle 111 of the front spray boom 110 are configured to receive a supply of chemical solution from the chemical solution tank 9 and to spray the chemical solution. In addition, in Figure 1, the right side spray boom 10 is omitted from the figure.

The state in which the side spray boom 10 is rotated inward of the left and right directions of the vehicle body and then downwards and along the left and right sides of the vehicle body is called the stowed position. The side spray boom 10 is rotated forward and upward of the vehicle body. The state in which the outer side of the body is rotated in the left and right directions and extended left and right is called the liquid medicine dispersing posture. In the stowed position, by placing the side spray booms 10 on the spray boom supports 15 provided on the left and right sides of the distribution work vehicle 1 , the side spray booms 10 can be maintained in a state in which they are facing obliquely upward toward the rear of the vehicle body.

The left and right side spray bars 10, 10 are configured to be telescopic, so as to adjust the range of dispersing the preventive agent and the like. As shown in (a) and (b) of Figures 1, 2 and 3 and (a) and (b) of Figure 4, the left and right ends of the front side frame 11 are configured to be able to move in the upward and downward directions respectively. The base spray bar 101 (the base side spreading device 101 in the technical proposal) is installed to rotate in the left and right directions. On the upper part of the base spray bar 101, a sliding plate 102 is disposed movably along the base spray bar 101, and on the sliding plate 102 The movable spray bar 103 (mobile dispersion device 103 in the technical proposal) is provided so that the amount of protrusion of the movable spray bar 103 in the left and right directions of the body can be changed by moving the sliding plate 102 left and right, thereby changing the amount of expansion and contraction, in other words, the dispersion range of the medicine. .

Specifically, the driven wheel 104 is rotatably provided on the end side of the base spray bar 101 (the rear side of the body or the outside of the body), and the driven wheel 104 is provided on the base side of the base spray bar 101 (the front side of the body or the inside of the body). A spray boom telescopic motor 106 is provided to drive the driving wheel 105. The telescopic wire 107 is brought into contact with the driving wheel 105 and the driven wheel 104, and both ends of the telescopic wire 107 are respectively connected to the mounting bends at the left and right ends of the sliding plate 102. 102a, 102a. Furthermore, a rotary encoder 108 (expansion amount detection member 108 in the technical proposal) that calculates the movement amount of the mobile spray boom 103 based on the rotation caused by contact with the expansion and contraction wire 107 is provided on the side of the drive wheel 105 .

In addition, the sensor of the expansion and contraction amount of the side spray boom 10 may be a sensor that calculates the movement amount of the movable spray boom 103 based on the reflection time of the oscillating ultrasonic wave or laser, instead of the above-mentioned rotary encoder 108 .

According to the above structure, when the spray boom telescopic motor 106 is operated, the telescopic wire 107 moves the sliding frame 102 in the left and right direction, thereby changing the left and right protrusion amount of the moving spray boom 103 supported on the sliding frame 102. Change the dispersion range of the medicine.

The above-described nozzles 100 are provided at predetermined intervals on the above-mentioned base spray bar 101 and the movable spray bar 103, and are configured to spread the chemical according to the opening of each nozzle 100 and the output setting of the chemical solution pump 9a that delivers the chemical from the chemical solution tank 9. A set amount of medicine.

When the side spray boom 10 is extended to the maximum extent, that is, when the protrusion amount of the movable spray boom 103 to the outside of the body reaches the maximum, the chemical is sprayed from all the nozzles 100, thereby supplying the chemical to the set range. However, when the left and right lengths of the side spray bars 10 are not the maximum, the chemical dispersion ranges of some nozzles 100 may be the same or mostly overlap, causing the problem that if all the nozzles 100 are opened, the chemical is used redundantly. Furthermore, there are problems such as excessive supply of chemicals, resulting in poor crop growth, or chemicals remaining in harvested products, resulting in a decrease in commercial value.

In order to prevent the occurrence of the above-mentioned problems and to prevent the occurrence of problems such as pests and diseases due to insufficient or uneven distribution of chemicals, the nozzle 100 provided in the base spray bar 101 is configured as follows. As shown in FIGS. 5 to 7 , the opening and closing nozzle 120 is configured. The opening and closing nozzle 120 forms a medicine flow path 122 for the medicine to pass inside the opening and closing nozzle body 121 . The switching rotation shaft 123 formed with the switching flow path 123 a is connected to It is rotatably inserted into the medicine flow path 122 and can be switched between an open state and a closed state. Furthermore, the curved portion (corner portion) of the L-shaped (or V-shaped, or U-shaped) switching cock 124 is inserted into the switching rotation shaft 123, and the opening state and the closing state of the medicine flow path 122 are switched by the rotation operation of the switching cock 124. condition.

As shown in (a) to (d) of Figure 6 and (a) to (d) of Figure 7, the switching cock 124 is configured to rotate within a range of approximately 180 degrees, and has the function of switching from an open state to a closed state. The first contact portion OC is in contact with the dispersion switching pin 112 when switching from the closed state to the open state, and the second contact portion CO is in contact with the dispersion switching pin 112 when switching from the closed state to the open state. Among the first contact portion OC and the second contact portion CO, Either side is directly above the movement path of the dispersion switching pin 112 . In addition, as shown in (a) to (d) of Figure 6 , when the switching cock 124 rotates 90 degrees, the switching flow path 123a rotates 45 degrees, and when the switching cock 124 rotates 180 degrees, the switching flow path 123a rotates 90 degrees.

In addition, as shown in (a) and (b) of Fig. 3 and (a) and (b) of Fig. 4, the opening and closing nozzle 120 is not provided in the movable spray bar 103, but a spreader that can only adjust the opening is provided. The nozzle 130 always spreads the chemical while the side spray boom 10 is performing the spreading operation, regardless of changes in the spreading range of the side spray boom 10 .

As described above, the nozzle 100 is a component name including the opening and closing nozzle 120 and the dispersion nozzle 130 . In addition, the dispersion range of the opening and closing nozzle 120, the dispersion nozzle 130, and the front nozzle 110 expands in a conical shape (taper) from the center point of each nozzle in the plan view (b) of FIG. 8, and the front side during operation ( In (a) of Figure 8 when viewed from the back), it expands in a triangular shape from the lower end of each nozzle.

As shown in FIG. 9 , the above-mentioned boom telescopic motor 106 is operated by the operator's manual operation or based on the telescopic signal of the control program to move the movable spray boom 103 and expand and contract the side spray boom 10 . For a manual adjustment switch (not shown) that adjusts the length by manual operation, only during operation, a signal is sent from the control device 200 to the spray boom telescopic motor 106 to operate it. When the operation is stopped, as will be described later, the spray boom The telescopic motor 106 is stopped at a position corresponding to the predetermined nozzle pitch P, and the dispersion range of the mobile spray boom 103 is changed.

This allows the operator to spread the chemical within an optimal range while visually observing the condition of the crops. On the other hand, the operator needs to perform telescopic operations on either or both of the left and right side spray booms 10 and 10 while driving the work vehicle 1, which poses a problem of placing a great burden on the operator.

For the expansion and contraction of the side spray boom 10 based on the control program, each signal moves the left and right intervals between the plurality of opening and closing nozzles 120 or the dispersion nozzles 130, that is, the nozzle pitch P (for example: 300 mm).

Thereby, the spreading working width of the side spray boom 10 can be automatically switched, so the operator can concentrate on the operation of the work vehicle 1 and is less likely to deviate in the traveling direction.

In addition, it is possible to prevent the dispersion range of the chemical from becoming too large and supplying the chemical to the overlapping range, causing poor growth of the crops due to the chemical. It is also possible to prevent the occurrence of locations where the chemical is not dispersed, and to prevent the crops from being withered due to pests and diseases and unable to be harvested. .

In addition, the boom telescopic motor 106 is connected to the control device 200 and receives a control signal to operate or stop. However, when a stop signal is sent from the control device 200, the boom telescopic motor 106 can extend or contract at least one nozzle pitch P. Take action during the period.

Furthermore, the following control structure is formed: when the movable spray bar 103 moves in the extension direction, the opening and closing nozzle 120 located at the outermost side of the body within the extension range is stopped in the middle of switching from the closed state to the open state, and the moving spray bar 103 is stopped in the extended direction. When the rod 103 moves in the contraction direction, the opening and closing nozzle 120 located at the outermost side of the body within the contraction range is stopped in the middle of switching from the open state to the closed state. In other words, the intermediate state is a state in which the dispersion switching pin 112 shown in (c) of FIG. 6 and (c) of FIG. 7 is located between the left and right of the first contact portion OC and the second contact portion CO.

When the boom telescopic motor 106 is stopped by a manual stop operation or by receiving a signal from the control device 200 when a stop condition is met, it is configured to make an emergency stop when the rotary encoder 108 detects a predetermined rotation angle. For detecting the rotation angle of the rotary encoder 108 , a sensor (not shown) for detecting the angle is separately provided, or the rotation angle of the rotary body to be read by the rotary encoder 108 is calculated based on the rotation angle.

Alternatively, it may be configured to rotate to a predetermined angle by inertia after receiving a stop signal and stopping.

With this stop control structure, when the operation of moving the movable spray boom 103 is stopped, the dispersion switching pin 112 is stopped at a position where the switching cock 124 is rotated approximately 45 degrees and moved to an intermediate state between the open state and the closed state.

The above-mentioned intermediate state is a state in which the switching flow path 123a is in diagonal contact with the medicine flow path 122 in the vertical direction of the body, that is, the flow path is narrow but connected. If the flow rate of the medicine or the pressure of the pump is sufficient, the nozzle can be opened and closed with the help of internal pressure. 120 A state in which a smaller amount of medicine is spread than the set amount. At this time, the amount of medicine dispersed is less than that of the opening and closing nozzle 120 in the open state, and the dispersion range becomes an isosceles triangle or cylindrical shape with a small vertex angle.

As described above, when the boom telescopic motor 106 is stopped, the switching cock 124 of the opening and closing nozzle 120 located on the outermost side of the machine body within the changed dispersion operation range is in an intermediate state, thereby enabling the opening and closing nozzle 120 to spread in a narrow range. Less medicine than the set amount.

Thereby, when the spreading operation range of the side spray boom 10 is changed, the chemical can be fully supplied between the current spreading operation range and the already worked range. Therefore, it is possible to prevent crops from being affected by diseases and pests due to insufficient chemicals. As a result, commodity value and output decrease.

In addition, since a smaller amount of chemicals is supplied between the current dispersion operation range and the already worked range than elsewhere, consumption of excess chemicals can be suppressed, and damage to crop growth due to excessive supply of chemicals can be prevented. adverse effects.

In addition, as shown in Figures 3 and 4, at least one or more dispersion nozzles 130 are provided on the base side of the base spray bar 101. When the movable spray bar 103 is contracted to the maximum extent, the spray bar 103 and the sliding frame are moved. The front end portion of the base frame 102 stops at a position closer to the end than the dispersion nozzle 130 provided on the extreme end side of the base frame 101 . At this time, as shown in Figures 3 and 4, the dispersion nozzles 130 provided at predetermined intervals on the movable spray bar 103 and the opening and closing nozzles 120 provided at predetermined intervals on the base frame 101 are arranged as follows: If it is a dispersion When working, they overlap in the front and rear direction of the machine body. When storing, they overlap in the left and right direction of the machine body.

In addition, at least one, in this application, two dispersion nozzles 130 from the end side of the dispersion nozzles 130 provided in the movable spray bar 103 are separated from the end of the base spray bar 101 and do not overlap with the opening and closing nozzles 120 .

According to the above structure, when the movable spray boom 103 is contracted to the maximum extent, the chemical is dispersed only by the dispersion nozzles 130 arranged at a constant nozzle pitch P. Therefore, excessive consumption of the chemical can be prevented. This can prevent crop growth defects and reduce operating costs.

In addition, by providing the dispersion nozzles 130 that do not overlap with other nozzles on the base side of the base spray boom 101 and the end side of the movable spray boom 103, the distribution work vehicle can be stably distributed regardless of the expansion and contraction amount of the side spray boom 10. The left and right sides of 1 and the outer end of the side spray rod 10 supply a set amount of medicine.

As a situation in which the control device 200 is used to automatically control the expansion and contraction of the side spray boom 10, as shown in FIG. Specify distance overlapping operations. The end of the work row sprays the chemical from the dispersion nozzle 130 provided near the outer end of the movable spray bar 103. However, since the dispersion range of the dispersion nozzle 130 disposed on the outermost side does not overlap with the other dispersion nozzles 130 and the opening and closing nozzles 120, , there is a possibility that the amount of chemical dispersion will be reduced due to the influence of wind direction, etc.

However, if the amount of chemical spray is to be suppressed, it is preferable to perform expansion and contraction control as follows: using the ends of adjacent rows where the chemical is dispersed as the boundary line, and always using the outer end of the side spray boom 10 as a reference to this boundary line. Get as far into the dispersed area as possible. According to this dispersion control, it is possible to suppress the overlap of the dispersion positions of the chemical agents as much as possible, thereby achieving a reduction in the amount of chemical agents used.

On the other hand, although the usage amount of the chemical increases, in order to spread the chemical at the same chemical dispensing position as the other nozzles 100 (opening and closing nozzle 120, dispersion nozzle 130) at the end of the current working area, it is preferable to The outermost always dispersing nozzle 130 faces the vicinity of the end of the dispersion area, and the dispersion positions of the chemicals overlap.

In order to control the expansion and contraction of the side spray boom 10 as described above, as shown in Figures 1, 2, and 9, the distribution vehicle 1 is provided with a receiving antenna 140 that communicates with satellites and obtains position information (position in the technical proposal). Information acquisition unit 140), in the control device 200, performs a process of correlating and recording the coordinates received by the receiving antenna 140 and the movement amount of the moving nozzle boom 103 detected by the rotary encoder 108 at the time of reception.

In addition, in order to improve the reception accuracy, it is preferable to install the receiving antenna 140 as high as possible on the upper part of the work vehicle 1. Therefore, when a cockpit covering the surroundings of the seat 8 is provided, it can be installed on the top of the cockpit and on the left and right sides of the body. When a cockpit frame (Rops) is installed at the rear of the seat 8, it may be installed near the center part in the left-right direction of the aircraft body above the cockpit frame. At this time, since the receiving antenna 140 and the side spray boom 10 are separated by a certain distance in the front-to-back direction, if the accuracy is to be further improved, the control device 200 can be made to measure the front-to-back distance between the receiving antenna 140 and the side spray boom 10 correction.

If the front-to-back distance between the side spray boom 10 and the receiving antenna 140 is reduced, the antenna pole may be erected by protruding upward from the hood 4 , or the antenna frame may be installed across the hood 4 .

Alternatively, as shown in FIGS. 1 and 2 , a receiving antenna 140 with high reception accuracy even at a low position may be mounted on the surface of the hood 4 . In any case, when the receiving antenna 140 is installed near the center position on the left and right sides of the machine body, the separation distance can be approximately equal to either of the left and right side spray booms 10 , 10 , thereby preventing the position detection accuracy from deteriorating. deviation.

Furthermore, a steering wheel potentiometer 141 is provided to detect an operation amount of the steering wheel 6 of the work vehicle 1. When an operation amount that can be regarded as a turning operation of the distribution work vehicle 1 by the operation of the steering wheel 6 is detected, the control device 200 determines which direction is left or right. One side is outside the direction of the turn.

In addition, when the steering wheel potentiometer 141 detects an operation amount that can be regarded as a turning operation, the control device 200 contracts the boom rotation cylinder 109 of the side spray boom 10 corresponding to the outside of the turning direction, and switches the side spray boom 10 toward the turning direction. Tilt upward toward the outside. Thereby, it is possible to prevent the side spray boom 10 on the outside of the turn from being damaged due to contact with the slope or wall at the edge of the field.

In addition, it may be configured such that the left and right side spray booms 10, 10 and the front spray boom are stopped during the turning process by operating the automatic switching button when turning in advance according to the planting pattern of crops near the turning position at the end of the field. 110, or the dispersion of chemicals from the left and right side spray booms 10, 10 and the front spray boom 110 can be arbitrarily put into a cut-off state.

According to the above structure, even under working conditions that require spraying chemicals during turning, the chemicals can be fully supplied to crops near the turning position, and the influence of pests and diseases due to insufficient chemicals can be prevented.

On the other hand, if there are no crops near the turning position, the supply of chemicals can be stopped. Therefore, the consumption of chemicals can be suppressed and agricultural operation costs can be reduced.

In addition, the control device 200 records the left and right width of the spreading work vehicle 1 and the length of the base spray boom 101 when the spreader vehicle 1 is deployed sideways of the body, from the left and right center positions of the body where the receiving antenna 140 is installed to the base spray boom 101 The distance between the outer ends is output as a certain value. If the installation position of the receiving antenna 140 and the outer end of the deployed base boom 101 are shifted in the front-rear direction of the body, a correction value using a trigonometric function is applied.

In addition, although the left and right positions of the movable spray boom 103 vary according to the amount of expansion and contraction, the installation interval between the dispersion nozzles 130, the so-called nozzle pitch P, is always set to 30 cm, and this 30 cm is set as one unit detected by the rotary encoder 108. , enabling the control device 200 to calculate the current expansion and contraction amount.

When it is considered that the next work area has been reached after the above-mentioned turning control, that is, when the detection value of the steering wheel potentiometer 141 can be regarded as a non-turning operation, the control device 200 determines the position coordinates currently received via the receiving antenna 140 and the current position coordinates. During the turning, the detected value of the rotary encoder 108 located on the inside side of the turn is used to calculate the calculated expansion and contraction amount of the outer end of the side spray boom 10 on the inside of the turn, that is, the movable spray boom 103.

Then, corresponding to the obtained current position coordinates, the end position of the dispersion area where the chemical dispersion operation was performed first and the current top view of the dispersion nozzle 130 installed on the outermost side of the movable spray bar 103 are calculated. The boom telescopic motor 106 is operated based on the calculated difference in the left-right direction of the center position, and the operation of the boom telescopic motor 106 is stopped in response to detection by the rotary encoder 108 .

As shown in Figure 11, when the dispersion nozzle 130 provided at the outer end of the movable spray bar 103 is within the width of the current working area and has not entered the dispersed area, the control device 200 causes the movable spray bar 103 to face the direction at regular intervals. The spread area is extended by the amount of the nozzle pitch P, which is 300mm.

Furthermore, as shown in FIG. 11 , if there is a detection value that can be regarded as that the dispersion nozzle 130 is located above the adjacent row beyond the end EX of the adjacent row, that is, if the dispersion range of the dispersion nozzle 130 is calculated to be 150 mm or more. Entering the end EX of the dispersed area, the separation distance X between the center of the dispersion nozzle 130 and the recorded end position of the dispersed area is calculated. If the separation distance

In addition, when the boom telescopic motor 106 continues to operate due to inertia even if the boom telescopic motor 106 is stopped, it can also be configured to be about 20 to 30 mm before reaching (this value may depend on the performance of the motor, the structure of the boom telescopic mechanism, etc. The stop signal of the boom telescopic motor 106 is sent at the location where the boom telescopic motor 106 changes due to factors.

On the other hand, as shown in Figure 11, when the separation distance 106 moves by the amount of the nozzle pitch P, that is, 300 mm.

The above-mentioned spray boom position is calculated for each position coordinate that matches the position coordinate obtained in the dispersed area, and the spray boom is not moved while the dispersion range of approximately 300 mm, which is 130 meters per dispersion nozzle, enters the dispersed area. The telescopic motor 106 operates, but if it is detected that the dispersion range of the outermost dispersion nozzle 130 enters the current workplace side from the end of the dispersion area, the mobile spray boom 103 is moved to the dispersion area side by 300 mm + the separation distance X The spray boom telescopic motor 106 is operated in a certain amount.

In addition, position coordinates are often acquired multiple times in a short period of time. Each time the spray boom dispersion range is calculated, the load exerted on the control device 200 increases, and if the expansion and contraction signals are continuously sent, the side spray boom 10 The moving spray boom 103 repeatedly expands and contracts in a short period of time, so the dispersion nozzle 130 may not stay at an appropriate dispersion position. Therefore, if the comparison of the position information of the dispersed area and the current working area is performed every time a predetermined time or a predetermined number of points elapses, the calculation frequency of the control device 200 is suppressed and the load is reduced, and the spray boom 103 is moved. By allowing the outermost dispersion nozzle 130 to stay at an appropriate position for dispersing the drug, a sufficient amount of the drug can be supplied to the overlapping dispersion position.

Alternatively, it may be configured to calculate the difference in coordinates in the left-right direction between at least two points due to the lateral movement of the work vehicle 1. Even if the number of points is within a predetermined time or within a predetermined value, when the difference in coordinates exceeds When the allowable range is reached, the control device 200 sends an action signal to the spray boom telescopic motor 106 .

According to the above-mentioned structure, the medicine can be automatically spread overlapping the end portion of the dispersed area. Therefore, the medicine can be supplied in the same manner to the other opening and closing nozzles 120 , the spreading nozzles 130 , or the opening and closing nozzles 120 and the spreading nozzle 130 . Chemicals, therefore, can prevent the product value and production from being affected by pests and diseases due to insufficient chemicals. Industrial availability

The present invention is most suitable for a chemical spreading work machine equipped with a telescopic side spray boom for spreading chemicals on a field.

1: Dispersion work vehicle 2:Front wheel 3: Rear wheel 4: Hood 5:Control Department 6: Steering wheel 8:Agent 9:Medicine solution box 9a:Medicine liquid pump 10: Side spray rod (liquid dispersion device) 12:Lifting link 12a: Support bracket 13: Lift cylinder 15:Spray boom support 100:Nozzle 101: Base spray boom (base side spreading device) 102:Sliding plate 102a: Bend part 103: Mobile spray boom (mobile spreading device) 104: driven wheel 105:Driving wheel 106:Spray boom telescopic motor 107:Telescopic cord 108: Rotary encoder (movement detection component) 109:Spray rod rotating cylinder 110:Spray boom 111:Front side nozzle 112: Dispersion switching pin 120: Open and close the nozzle 121: Opening and closing the nozzle body 122:Medicine flow path 123:Switch the rotation axis 123a: Switch flow path 124:Switch cock 130: Dispersion nozzle 140: Receiving antenna (location information acquisition component) 141: Steering wheel potentiometer 200:Control device 202:First CPU 203: Second CPU 204:Third CPU CO: Second contact department EX: end OC: First Contact Department P: nozzle spacing X: separation distance

Figure 1 is a side view of the work vehicle. Figure 2 is a top view of the work vehicle. (a) of Figure 3 is a front view of the main part of the side spray bar showing the retracted state, and (b) is a top view of the main part of the side spray bar showing the retracted state. (a) of Figure 4 is a front view of a main part of the side spray bar in an extended state, and (b) is a plan view of a main part of the side spray bar in an extended state. Figure 5 is a side view of the main part of the opening and closing nozzle. (a) in Figure 6 is a front view of the main part of the opening and closing nozzle showing the open state, (b) is a front view of the main part of the opening and closing nozzle showing the contact between the dispersion switching pin and the switching cock, and (c) is the opening and closing showing the intermediate state. The front view of the main part of the nozzle, (d) is the front view of the main part of the open and close nozzle showing the closed state. (a) in Figure 7 is a top view of the main part of the opening and closing nozzle showing the open state, (b) is a top view of the main part of the opening and closing nozzle showing the contact between the dispersion switching pin and the switching cock, and (c) is a top view showing the opening and closing nozzle in the intermediate state. A top view of the main part, (d) is a top view of the main part of the opening and closing nozzle showing the closed state. (a) of FIG. 8 is a front view of a principal part showing the overlap of the chemical dispersion ranges of the nozzles, and (b) is a plan view of a principal part showing the overlap of the chemical dispersion ranges of the nozzles. Figure 9 is a control block diagram. Fig. 10 is a schematic view of a field work map showing a state in which areas where chemical dispersion work is performed are colored. (a) in Figure 11 is a front view of the main part showing the state where the end of the side spray boom has not reached the adjacent row, and (b) is the main part showing the state where the end of the side spray boom is in a position partially overlapping the adjacent row. A partial front view, (c) is a main partial front view showing a state in which the agent dispersion operation is performed with the end of the side spray rod overlapping the dispersion positions of adjacent rows.

10: Side spray rod (liquid dispersion device)

102:Sliding plate

102a: Bend part

103: Mobile spray boom (mobile spreading device)

104: driven wheel

120: Open and close the nozzle

EX: end

P: nozzle spacing

X: separation distance

Claims (4)

A spreading operation vehicle (1) is provided with a liquid spreading device (10) for spreading liquid. The liquid spreading device (10) is provided with a plurality of spreading nozzles (130) at predetermined intervals to enable the liquid to be dispersed. The spreading device (10) is telescopic, and is characterized by: The dispersion operation vehicle (1) is provided with a position information acquisition component (140) for obtaining position information of the dispersion operation vehicle (1), and is provided with an expansion and contraction amount detection unit for detecting the expansion and contraction amount of the liquid agent dispersion device (10). The component (108) records the position information obtained by the position information acquisition component (140) and the expansion and contraction amount of the liquid dispersing device (10) in the position information in the control device (200), The control device (200) makes the liquid dispersing device (10) expand and contract based on the recorded position information and the expansion and contraction amount of the liquid dispersing device (10) in the recorded position information, so that the liquid dispersing device (10) expands and contracts from the dispersing nozzle (10). 130) Spread the agent in a manner that includes a portion of the dispersed area. The distribution vehicle as described in claim 1, wherein, The dispersion nozzle (130) for dispersing the chemical so as to include a part of the dispersed area is located at the outermost side among the dispersion nozzles (130) provided in the liquid dispersion device (10). The dispersion operation machine as described in claim 2, wherein, The control device (200) extends the liquid agent dispersing device (10) so that the entire dispersing range of one dispersing nozzle (130) is located in the dispersed area. The dispersion machine according to any one of claims 1 to 3, wherein, The liquid agent dispersing device (10) is composed of a base-side dispersing device (101) installed on the dispersing operation vehicle (1) and a mobile dispersing device that moves along the length direction of the base-side dispersing device (101). (103) composition, In the base side spreading device (101), opening and closing nozzles (120) are provided at predetermined intervals. The opening and closing nozzles (120) are caused by the movement of the moving spreading device (103). (10) is sequentially switched to the open state from the inside to the outside of the body, and the liquid dispersion device (10) is contracted from the outside by the contraction of the liquid dispersion device (10) caused by the movement of the mobile dispersion device (103). The sequence is switched to the closed state, thereby turning on and off the discharge of liquid. When the expansion and contraction of the mobile spreading device (103) is stopped, the opening and closing nozzle (120) located inside the body of the base side spreading device (101) is in a state where the spreading amount is less than in the open state. .