JP2002034422A - Horizontal control device of medicine spraying device - Google Patents

Abstract

(57) [Summary] [Problem] To simplify horizontal control of a medicine spraying device. When a mobile agricultural machine starts running and starts spraying a medicine with a control spraying device, a right-left tilt angle is detected by a tilt sensor (this machine) 55 and a tilt sensor (boom) 57. Next, the relative tilt angle of the control spray device 5 is calculated by subtracting the detected tilt angle of the tilt sensor (this machine) 55 from the detected tilt angle of the tilt sensor (boom) 57. Next, rolling control is performed to correct the control spray device 5 by the relative inclination angle. Since the controlling and spraying device 5 is controlled to be rolled so as to correct only the relative inclination angle obtained by subtracting the left-right inclination angle of the mobile agricultural machine, even when the wheel of the mobile agricultural machine is fitted into the concave portion of the field, it is anticipated. In addition, the rolling control can be performed, the number of times of the rolling control can be reduced, and the control can be simplified.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an improvement of a horizontal control device of a medicine spraying device.

[0002]

2. Description of the Related Art Japanese Unexamined Patent Publication No. 7-155019 discloses a conventional horizontal and horizontal control device for a boom of a control spraying apparatus. According to the present invention, a control spray device is attached to a rear part of a traveling machine body via a work machine mounting device, and the control spray device equipped with a tilt sensor is rotatably mounted on the traveling machine body via a rolling shaft. An actuator for correcting the left-right inclination is provided at a more distant position, and the control spray device is configured to be kept horizontal.

[0003]

In the conventional apparatus, when the control spray device is tilted in the left-right direction, the right-left tilt is corrected by an actuator. At that time, the inclination of the running vehicle is not taken into consideration. In the case where is fitted in the recess and inclined to the left and right, after correcting the left and right inclination, when the wheels of the traveling body escape from the recess, it is necessary to correct the left and right inclination again, and the control was complicated. .

Accordingly, the present invention is to solve such a problem.

[0005]

According to the present invention, a control spray device 5 is attached to the body of a mobile agricultural machine equipped with a tilt sensor (this machine) 55 so as to be rotatable and rotatable. A sensor (boom) 57 is attached, and a relative left and right tilt angle of the control spraying apparatus 5 is calculated by subtracting the tilt on the moving agricultural machine side based on the detected values of the tilt sensor (this machine) 55 and the tilt sensor (boom) 57. The rolling control of the spray control device 5 is performed so as to correct the relative left-right inclination angle.

[0006]

When the mobile agricultural machine starts running and starts spraying the medicine with the control spray device 5, the detected tilt angle is detected by the tilt sensor (this machine) 55 and the tilt sensor (boom) 57. Next, tilt sensor (boom)
The detected tilt angle of the tilt sensor (this machine) 55 is subtracted from the detected tilt angle of 57, the relative tilt angle of the control spray device 5 is calculated, and the control spray device 5 is rotated to correct the relative tilt angle. Let it.

Therefore, in controlling the spray control device 5 horizontally, the spray control device 5 is controlled to be rolled so as to correct the tilt angle of the moving agricultural machine by the reduced relative tilt angle. In the case where the rolling control is performed, the rolling control can be performed in anticipation of this, the number of rolling controls can be reduced, and the control can be simplified.

[0008]

Embodiments of the present invention will be described below. As shown in FIG. 1, the body 2 of the passenger management machine 1 is provided with front and rear wheels 3 and 4 having the same diameter, and a control spray device 5 is attached to a front portion of the body 2. An engine 6 is mounted above the left and right front wheels 3 and 3,
The area around the engine 6 is covered with a bonnet 7. A seat 8 is provided above the left and right rear wheels 4, 4, and a handle 9 is disposed in front of the seat 8. An instrument panel 10 is provided below the handle 9 at the rear of the hood 7. When the steering wheel 9 is steered to the left and right, the left and right front and rear wheels 3, 3, 4, and 4 are simultaneously steered to form a four-wheel steering. A chemical solution tank 11 is detachably mounted around the seat 8 above the body 2.

Power is transmitted from the output shaft of the engine 6 to the front wheels 3, 3 and the rear wheels 4, 4 via a traveling transmission,
Vehicle speed sensor 12 provided on the transmission shaft of the traveling transmission
Is used to detect the vehicle speed. Also, power is transmitted from the output axial force of the engine 6 to the chemical liquid spray pump 13 via the work implement transmission.

As shown in FIG. 2, the lower suction port of the chemical liquid tank 11 is connected to a pump 13 via a water absorption pipe 14, and the pump 13 is connected to a pressure regulator 15 via a pressure pipe 14. . The pressure adjusting device 15 adjusts the pressure of the discharged chemical liquid, and includes a balance tank 15a, a relief valve 15b, an opening / closing cock 15c, a return hose 15d, and the like. Return pipe 1 to the pressure adjustment chamber of pressure adjustment device 15
6 is connected to the starting end side to return a part of the chemical liquid to the chemical liquid tank 11 and to agitate the chemical precipitated at the lower part of the chemical liquid tank.

The chemical solution discharge port of the pressure regulating device 15 is branched into a plurality of high-pressure hoses 17, 17,... I have. High-pressure hose 17, 17, ...
Are connected to the central boom 5a and the left and right booms 5a, 5b constituting the control spray device 5 via an intermediate hose (not shown), and spray the chemical from spray nozzles 19, 19,.

As shown in FIG. 7, the central boom 5a and the left and right booms 5b and 5c, which are the spraying portions of the control spray device 5, are supported by a boom support member 47 at the front of the fuselage. That is, the center boom 5a is attached to the boom support member 47, the base ends of the left and right booms 5b and 5c are pivotally supported at both ends of the frame portion of the center boom 5a, and left and right are moved by left and right lifting actuators (not shown). The booms 5b and 5c are configured to rotate vertically. Then, left and right boom 5
When the b and 5c are rotated upward, they are housed substantially in the width of the machine, and as shown in the drawing, in a horizontal working state where the boom is rotated downward, the left and right booms 5b and 5c are moved to the left and right sides. It will be in a protruding state.

The boom support member 47 can be adjusted up and down by a lifting hydraulic cylinder 48. Further, the center boom 5a is capable of rolling adjustment about the axis 5d in the front-rear direction with respect to the boom support member 47.
, The rolling control can be performed. A damper 49a is provided between the boom support member 47 and the center boom 5a.
Is interposed. Therefore, when the center boom 5a performs the rolling control by the horizontal hydraulic cylinder 49, it is possible to prevent hunting due to a sudden control force and to absorb vibration due to a sudden external force.

Next, a control device for controlling the amount of sprayed medicine of the control spraying apparatus 5 will be described with reference to FIG. On the input side of the control unit 20 having a built-in CPU, a spray amount setting switch 21, a display changeover switch 22, a spray width setting switch 23 for setting the spray width of the left and right booms 5a and 5b, and a reset switch via an input interface. 24, a spray amount increase adjustment switch 25, a spray amount decrease adjustment switch 26, an automatic / manual changeover switch 27, a medicine flow rate sensor (return) 28 for detecting a medicine return flow rate, and detecting a suction amount of a medicine to the pump 13. Flow sensor (inhalation) 18, pressure sensor 30 for detecting the discharge pressure of the medicine, vehicle speed sensor 12, 4WS switch 31 for switching to four-wheel steering, FWS switch 32 for switching to front-wheel steering, front wheel 3, rear wheel 4 The steering angle sensors 33 for detecting the steering angle are connected to each other.

On the output side of the control unit 20, a pressure control motor 34 for controlling the discharge pressure of the medicine via an output interface, a buzzer 35, and an independent clutch driving means 36 for turning on and off an independent clutch. , An FWS lamp 37 for displaying front wheel steering travel, a 4WS lamp 38 for displaying four wheel steering travel, and a driving means 39 for a four wheel steering travel valve are connected to each other.

FIG. 4 shows the control panel 40.
The control panel 40 is provided with a display unit 41, and the display unit 4
In 1, the amount of sprayed medicine per are, the cumulative amount of sprayed medicine, and the spraying pressure of the drug solution are sequentially displayed. When the display switch 22 on the right side is pressed, these displays are sequentially switched, and the pressure display lamp 42, the unit application amount display lamp 43, and the cumulative application amount display lamp 44 provided on the left side correspond to these displays. Flash each other.

On the lower side of the display section 41, from the left side, a spray width setting switch 45, a spray amount setting switch 21, an automatic / manual changeover switch 27, and a spray amount increasing adjustment switch 2
5. Spreading amount reduction adjustment switch 26, reset switch 2
4, and a display changeover switch 22 and a correction switch 46 are provided on the right side of the display unit 41.

Next, the spraying control of the above configuration will be described. In this control, the actual spraying amount in a predetermined area is compared with the set planned spraying amount, and the spraying pressure is corrected in accordance with the difference, thereby trying to optimize the spraying amount. At the start of the spraying operation, the operator sets the spray width setting switch 23.
To set the spray width to 8 m, for example, and then press the spray amount setting switch 21 to set, for example, 2 per 10 ares.
A medicine spray amount of 5 l is set, and the correction switch 46 is pressed.
Then, a target spray amount of 25 l per 10 ares per unit area is set.

When the passenger management machine 1 starts running, the medicine flow sensor (return) 28, the medicine flow sensor (inhalation) 18,
The detection information of the pressure sensor 30 and the detection information of the vehicle speed sensor 12 are respectively input to the control unit 20, and the spraying area of the medicine and the spraying amount of the medicine are sequentially calculated from the detection information by a predetermined calculation formula.

When the spraying of the medicine having a unit area of 10 R is completed, the actual spraying amount is calculated from the detection information, and then the set spraying amount per unit area is compared with the actual spraying amount. Differences are calculated. Then, FIG.
The correction pressure corresponding to the difference value is selected and determined from the correction graph shown in FIG. Next, the pressure of the pressure control device 15 is adjusted by adjusting the pressure control motor 34 according to a control command from the control unit 20, and a correction is made so that the actual spraying ability matches the set spraying ability. Therefore, after the correction, the actual spraying of the medicine corresponding to the set spraying amount is performed.

During the spray amount control, the detected pressure of the pressure sensor 30 is read at predetermined time intervals, and it is determined whether or not the detected pressure has exceeded a specified upper / lower limit.
If the lower limit value is not exceeded, the pressure control motor 34 can increase or decrease the pressure regulating device 15, but if the detected pressure exceeds the upper and lower limit values, the pressure regulating device 15 can be adjusted by the pressure control motor 34. May be controlled to stop the increase / decrease adjustment.
In this way, the spraying operation in the atomized state can be performed, and the spraying operation due to excessive pressure can be prevented.
FIG. 6 shows the control flow.

Next, a horizontal control device of the control spray device 5 will be described with reference to FIG. On the input side of the control unit 20 having a built-in CPU, a position adjustment lever 52, a horizontal automatic / manual changeover switch 51, a tilt adjustment dial 52 for setting tilts of the center boom 5a and the left and right booms 5a and 5b, via an input interface. , Horizontal / parallel switch 5
3. Lift arm sensor 54, inclination sensor (this machine) 55 for detecting the left-right inclination on the side of the riding management machine 1, stroke sensor (rear) 56 for detecting the extension / contraction state of a lift rod (not shown) at the rear of the machine, control spray An inclination sensor (boom) 57 for detecting an inclination of the device 5 from side to side;
Stroke sensor (boom) 5 for detecting expansion / contraction state of 9
8 are connected to each other.

On the output side of the control unit 20, via an output interface, a lifting / lowering valve (upper) driving means 59 for raising and lowering the boom support member 47, a boom support member 4
7, a vertical valve (right) driving means 61 for raising the right side of the boom support member 47, and a horizontal valve (left) driving means 62 for raising the left side of the boom support member 47. , Connected to each other.

Next, control contents of the horizontal control device of the control spray device 5 will be described. An inclination sensor (this machine) 55 for horizontal control of a rear working machine (not shown) connected to the rear of the body of the passenger management machine 1 so as to be able to move up and down is mounted on the body side of the passenger management machine 1 and attached to the central boom 5a. A tilt sensor (boom) 57 is attached, and the left and right tilt angles of the center boom 5a are calculated based on the detected values of the tilt sensor (this machine) 55 and the tilt sensor (boom) 57, and the center boom 5a and the left and right booms 5 are calculated.
a and 5b are controlled substantially parallel to the ground surface.

As a conventional horizontal control device for the boom of the control spraying apparatus, there is the invention of Japanese Patent Publication No. 155019. According to the present invention, a control spray device is attached to a rear part of a traveling machine body via a work machine mounting device, and the control spray device equipped with a tilt sensor is rotatably mounted on the traveling machine body via a rolling shaft. An actuator for correcting the left-right inclination is provided at a more distant position, and the control spray device is configured to be kept horizontal.

In the conventional device, when the control spray device is tilted in the left-right direction, the left-right tilt is corrected by the actuator. At this time, the left-right tilt of the traveling vehicle body is not considered.
In the case where the wheels of the traveling body are fitted into the recess and tilted to the left and right, if the wheels of the traveling body escape from the recess after correcting the left / right inclination, it is necessary to correct the left / right inclination again. Was complicated. Therefore, in this embodiment, an attempt is made to solve such a problem.

With the left and right booms 5b and 5c in the working state in which they are turned downward, the riding management machine 1 travels to start spraying the medicine. Then, the detection information of the inclination sensor (this unit) 55 and the inclination sensor (boom) 57 is input to the control unit 20, and then, the detection inclination of the inclination sensor (this unit) 55 is obtained from the detection inclination angle of the inclination sensor (boom) 57. By subtracting the angle, the relative inclination angle of the central boom 5a of the control spray device 5 is calculated. Next, a rolling control command for correcting the relative tilt angle and leveling the horizontal is issued from the control unit 20, the horizontal valve (right) or the horizontal valve (left) is adjusted, and the rolling for correcting the center boom 5a by the relative tilt angle is performed. Control is exercised.

Therefore, the central boom 5a of the control spray device 5
In controlling the horizontal movement of the left and right booms 5b and 5c,
Since the central boom 5a is corrected and rotated by a relative tilt angle obtained by subtracting the tilt angle of the passenger management machine 1 from the detected tilt angle of the central boom 5a, when the wheels of the passenger management machine 1 are fitted in the concave portions. In addition, the left-right inclination adjustment can be performed in anticipation of this, and the number of times of the inclination rotation control can be reduced, so that the control can be simplified.

[Brief description of the drawings]

FIG. 1 is an overall side view of a passenger management machine.

FIG. 2 is a side view of a main part.

FIG. 3 is a block diagram of a control device.

FIG. 4 is a front view of a main part.

FIG. 5 is a graph of pressure correction.

FIG. 6 is a flowchart.

FIG. 7 is a block diagram.

FIG. 8 is a front view of a main part.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 ... Riding management machine 2 ... Body 3 ... Front wheel 4 ... Rear wheel 5 ... Control sprayer 5a ... Central boom 5b ... Left boom 5c ... Right boom 6 ... Engine 7 ... Bonnet 8 ... Seat 9 ... Handlebar 10 ... Instrument panel 11 ... Chemical solution tank 12 ... Vehicle speed sensor 13 ... Pump 14 ... Water absorption pipe 15 ... Pressure regulating device 16 ... Return pipe 17 ... High pressure hose 18 ... Chemical flow rate sensor (inhalation) 19 ... Spray nozzle 20 ... Control unit 21 ... Spray amount setting switch 22 ... Display changeover switch 23 ... Spreading width setting switch 24 ... Reset switch 25 ... Spreading amount increase adjustment switch 26 ... Spreading amount decrease adjustment switch 27 ... Automatic / manual changeover switch 28 ... Drug flow sensor (inhalation) 30 ... Pressure sensor 34 ... Pressure control Motor 47 boom support member 48 lifting hydraulic cylinder 49 horizontal hydraulic cylinder 55 inclination sensor ) 57 ... tilt sensor (boom)

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Claims (1)

[Claims] 1. A control spray device 5 is rotatably and rotatably mounted on the body of a mobile agricultural machine equipped with a tilt sensor (this machine) 55, and a tilt sensor (boom) 57 is mounted on the control spray device 5. The relative left-right inclination angle of the control spraying apparatus 5 is calculated by subtracting the inclination on the moving agricultural machine side from the detected values of the inclination sensor (this machine) 55 and the inclination sensor (boom) 57 to correct the relative left-right inclination angle. A horizontal control device for a chemical spraying device, wherein the control spraying device 5 is subjected to rolling control.