JP2018033345A - Scatter work vehicle - Google Patents

Abstract

Disclosed is a spray vehicle that recognizes the position of a machine body in a field and easily adjusts the spray width of a spray boom to perform spray work efficiently without waste. In a spreading work vehicle in which a spreading boom is spread to the left and right of a vehicle body, a plane terrain of a field, a position of the vehicle body in the planar terrain, and a spreading width of the spreading boom are displayed on a display / operation panel by a GPS processing device. A scatter work vehicle characterized by [Selection] Figure 15

Description

  The present invention relates to a spreading work vehicle for widely spreading agricultural chemicals and fertilizers dissolved in a solution to a field.

  The spreading work vehicle performs a wide range of spreading work by extending a spreading boom having spray nozzles disposed on the left and right sides of the machine body.

  For example, the spray work vehicle described in Patent Document 1 is a spray work vehicle that is autonomously driven by travel position control that employs a GPS device, and has a technology for controlling the positional relationship between the spray boom nozzle and the crop to be constant. Have been described.

JP 2004-8187 A

  When performing spraying work with a spraying vehicle, adjust the machine position in the field and adjust the width of the left and right spraying booms according to the field shape to start spraying. It is troublesome to adjust.

  The present invention, in a spreading work vehicle that spreads the spreading boom to the left and right of the machine body and performs the spreading work, recognizes the position of the machine body in the field and easily adjusts the spreading width of the spreading boom so that the spreading work can be performed efficiently without waste. The challenge is to do so.

  The problems of the present invention are solved by the following technical means.

  According to the first aspect of the present invention, in a spreading work vehicle that spreads the spreading boom 5 in which the nozzles 4 are arranged on the left and right of the vehicle body 1B and performs the spreading work, the control device 9 and the GPS processing device 10 use the plane topography of the field and the plane. A spray work vehicle is characterized in that the position of the vehicle body 1B on the terrain and the spray width of the spray boom 5 are displayed on the display / operation panel 11.

  The invention according to claim 2 is characterized in that the right and left spreading width by the nozzle 4 of the spreading boom 5 displayed on the display / operation panel 11 can be directly changed by the display / operation panel 11. This is a spraying vehicle.

  In the invention according to claim 3, the spraying boom 5 is composed of the central spraying boom 5C at the center, the left spraying boom 5L, and the right spraying boom 5R, and the left spraying boom 5L and the right spraying boom 5R are displayed on the display / operation panel 11. The spreading work vehicle according to claim 1, wherein expansion and contraction adjustment is possible.

  According to a fourth aspect of the present invention, the spraying width or the expansion / contraction width can be changed by contacting the spraying boom 5 displayed on the display / operation panel 11. It will be a spraying work vehicle.

  In the invention according to claim 1, an operator who has boarded the vehicle body 1 </ b> B can confirm the plane topography of the field, the position of the vehicle body 1 </ b> B, and the spray width of the spray boom 5 by looking at the display / operation panel 11. The width can be easily adjusted and steered.

  According to the second aspect of the present invention, in addition to the effect of the first aspect, it is possible to easily adjust the spreading width to the planar landform of the field while viewing the screen of the display / operation panel 11.

  In addition to the effect of claim 1, in the invention of claim 3, in addition to adjusting the spreading width of the spreading boom 5, the overhanging widths of the left spreading boom 5L and the right spreading boom 5R are adjusted, and buildings and trees around the field The spraying work can be done avoiding obstacles such as.

  In the invention according to claim 4, in addition to the effect of claim 2 or claim 3, it is easy to change the spreading width of the spreading boom 5 and the expansion / contraction width of the left spreading boom 5L and the right spreading boom 5R and to check visually. is there.

It is a side view of the prevention work machine concerning this embodiment. It is a top view of the prevention work machine concerning this embodiment. It is a front view which shows the attitude | position at the time of a control work machine spraying a chemical | medical agent. It is a front view which shows the attitude | position at the time of a control work machine spraying a chemical | medical agent. It is a block diagram which shows an example of the chemical | medical agent supply system which the prevention work machine concerning this embodiment has. It is a schematic diagram which shows the structural example of the control apparatus which the control work machine concerning this embodiment has. It is a schematic diagram which shows the structural example of the GPS receiving part which the control work machine concerning this embodiment has. It is a schematic diagram which shows an example of the operation panel which the control work machine concerning this embodiment has. It is a schematic diagram which shows the area | region which sprays a chemical | medical agent in the field which sprays a chemical | medical agent. It is a top view for demonstrating the spreading | spreading width | variety of the control work machine which concerns on this embodiment. It is a figure which shows the state which the control work machine concerning this embodiment sprays a chemical | medical agent in a farm field. It is a figure which shows the state which the control work machine concerning this embodiment sprays a chemical | medical agent in a farm field. It is a figure which shows the state which the control work machine concerning this embodiment sprays a chemical | medical agent in a farm field. It is a flowchart which shows the 1st adjustment example. It is a figure which shows the display of a display part.

  Hereinafter, the drug refers to a liquid such as a liquid in which fertilizers, agricultural chemicals and the like are dissolved in a solvent (for example, water) and a liquid (for example, water) containing solids such as fertilizers and agricultural chemicals.

  FIG. 1 is a side view of a control work machine according to the present embodiment. FIG. 2 is a plan view of the control work machine according to the present embodiment. The control work machine 1 is a working vehicle for spraying a medicine on a field, and includes a vehicle body 1B, an internal combustion engine (for example, a diesel engine or a gasoline engine) 2 as a power generation source mounted on the vehicle body 1B, and a power generation source. It includes front wheels 3FL, 3FR and rear wheels 3RL, 3RR for transmitting the generated power to the ground G and causing the control work machine 1 to travel. The output of the internal combustion engine 2 is input to the hydraulic pump 2P. The hydraulic pump 2P is driven by the internal combustion engine 2 and discharges hydraulic oil for driving the hydraulic equipment.

  The front wheels 3FL, 3FR and the rear wheels 3RL, 3RR are attached to and support the vehicle body 1B. A hydraulic motor 3M is attached to each of the front wheels 3FL, 3FR and the rear wheels 3RL, 3RR. Further, as will be described later, the front wheels 3FL and 3FR are steering wheels of the control work machine 1. Thus, the vehicle body 1B has a steering wheel and a drive wheel. The hydraulic motor 3M is rotated by the hydraulic oil discharged from the hydraulic pump 2P, and rotates the front wheels 3FL, 3FR and the rear wheels 3RL, 3RR. With such a structure, the power of the internal combustion engine 2 is transmitted to the ground G, and the control work machine 1 is caused to travel. 1 shows a state in which the hydraulic motor 3M is attached to the front wheel 3FL and the rear wheel 3RL, but the hydraulic motor 3M is similarly attached to the front wheel 3FR and the rear wheel 3RR.

  In this embodiment, the control work machine 1 transmits the power of the internal combustion engine 2 to the front wheels 3FL, 3FR and the rear wheels 3RL, 3RR via the hydraulic pump 2P and the hydraulic motor 3M. May be transmitted to the front wheels 3FL, 3FR and the rear wheels 3RL, 3RR. In this case, a hydraulic continuously variable transmission (HST) is provided between the internal combustion engine 2 and the transmission, and the power from the internal combustion engine 2 is input to the variable hydraulic pump of the hydraulic continuously variable transmission (HST). Then, the power output from the fixed hydraulic motor of the hydraulic continuously variable transmission (HST) is input to the transmission, and the power is transmitted to the front wheels 3FL, 3FR and the rear wheels 3RL, 3RR via the auxiliary transmission in the transmission. May be.

  The control work machine 1 includes a plurality of nozzles 4 for spraying chemicals, and a left spraying boom 5L, a right spraying boom 5R, and a central spraying boom 5C as a pair of spraying booms to which the plurality of nozzles 4 are attached and support them. And have. The left spreading boom 5L is arranged on the left side in the front-rear direction of the control work machine 1, and the right spreading boom 5R is arranged on the right side in the front-rear direction of the control work machine 1. The front-rear direction of the control work machine 1 is a direction parallel to the direction from the driver's seat 6 mounted on the vehicle body 1B of the control work machine 1 toward the handle 7. Thus, the left spraying boom 5L and the right spraying boom 5R are a pair of spraying booms provided on both sides with respect to the front-rear direction of the vehicle body 1B of the control work machine 1. Thus, the pair of the left spraying boom 5L and the right spraying boom 5R are respectively provided on both sides with respect to the front-rear direction of the control work machine 1.

  The center spraying boom 5C is disposed between the traveling direction side of the control work machine 1 and between the left spraying boom 5L and the right spraying boom 5R. The traveling direction of the control work machine 1 is a direction from the driver's seat 6 mounted on the vehicle body 1B of the control work machine 1 toward the handle 7. The left spraying boom 5L, the right spraying boom 5R, and the center spraying boom 5C each have a plurality of nozzles 4. In the present embodiment, the plurality of nozzles 4 have spray ports for spraying the medicine facing the ground G, but the direction of the spray ports is not limited to this and depends on the spray target of the drug. It can be adjusted as appropriate.

  The left spraying boom 5L includes a swirl spraying boom 5BL that is pivotably attached to the control work machine 1, and a left extension spraying boom 5SL that is extendably supported by the swirl spraying boom 5BL. Make the stretchable width changeable.

  Similarly to the left spraying boom 5L, the right spraying boom 5R also has a swirling spraying boom 5BR that is pivotably attached to the control work machine 1, and an extended spraying boom 5SR that is supported by the swirl spraying boom 5BR in a telescopic manner. The expansion / contraction width can be changed by a hydraulic cylinder (not shown).

  As shown in FIG. 2, these left spraying boom 5L and right spraying boom 5R are folded on both sides with respect to the front-rear direction of the vehicle body 1B of the control work machine 1 when the medicine is not sprayed in the field.

  At the time of spraying the medicine, the left spraying boom 5L and the right spraying boom 5R are both abbreviated as the central spraying boom 5C toward the traveling direction side of the control work machine 1, that is, toward the front (direction indicated by the arrow R in FIG. 2). Turn to a parallel position. At this position, the left spraying boom 5L and the right spraying boom 5R are fixed to the control work machine 1. Then, since the left spraying boom 5L, the right spraying boom 5R, and the central spraying boom 5C are arranged in a substantially straight line, the plurality of nozzles 4 attached thereto are also arranged in a substantially straight line.

  In addition, the control work machine 1 is independent of the angle between the left spraying boom 5L or the right spraying boom 5R and a reference plane (for example, a plane or a horizontal plane including the axles of the front wheels 3FL, 3FR and the rear wheels 3RL, 3RR). Can be adjusted. Since the control work machine 1 can adjust the distance between the left spray boom 5L or the right spray boom 5R and the right spray boom 5R by adjusting the angle between the left spray boom 5L or the right spray boom 5R and the reference plane, The distance between the left crop and the left spray boom 5L or the right spray boom 5R can also be adjusted.

  The control work machine 1 includes a left vertical actuator 12L as a left spraying boom height adjusting device and a right vertical actuator 12R as a right spraying boom height adjusting device on both the traveling direction side and the front-rear direction of the vehicle body 1B. And equipped. Further, the control work machine 1 is equipped with a left opening / closing actuator 13L as a left spreading boom opening / closing device and a right opening / closing actuator 13R as a right spreading boom opening / closing device on both the traveling direction side and the front / rear direction of the vehicle body 1B. doing. The left up / down actuator 12L, the right up / down actuator 12R, the left opening / closing actuator 13L, and the right opening / closing actuator 13R are, for example, a hydraulic cylinder or an air cylinder.

  The control work machine 1 is equipped with a horizontal valve 14 on the traveling direction side of the vehicle body 1B. The horizontal valve 14 adjusts an angle formed by the left spraying boom 5L, the right spraying boom 5R, the central spraying boom 5C, and a predetermined plane of the vehicle body 1B (for example, a plane including the axles of the front wheels 3FL, 3FR and the rear wheels 3RL, 3RR). It is a device to do. For example, when the control work machine 1 is performing control work in the field, the left side when the control work machine 1 is inclined with respect to the planting surface of the field (the surface of the part where the crop is planted in the field). The spreading boom 5L, the right spreading boom 5R, and the central spreading boom 5C may be inclined with respect to the field. In this case, the horizontal valve 14 adjusts the angles formed by the left spraying boom 5L, the right spraying boom 5R, the central spraying boom 5C, and the predetermined plane of the vehicle body 1B, and thereby the left spraying boom 5L, the right spraying boom 5R, and the central spraying boom. 5C and the planting surface should be parallel. By doing in this way, even if the prevention work machine 1 inclines with respect to a planting surface, the distance of a crop and the nozzle 4 can be hold | maintained substantially constant.

  The control work machine 1 has a boom stroke sensor 95, a link angular velocity sensor 96, and a link inclination sensor 97 mounted on the traveling direction side of the vehicle body 1B. Further, the control work machine 1 is equipped with a boom angle right sensor 98R and a boom angle left sensor 98L on both the traveling direction side and the front-rear direction of the vehicle body 1B, and the boom opening / closing right sensor 99R and the boom opening / closing left side. The sensor 99L is mounted. The boom stroke sensor 95 detects the lengths of the left spreading boom 5L and the right spreading boom 5R. The link angular velocity sensor 96 detects the angular velocity of the link that attaches the left spraying boom 5L, the right spraying boom 5R, and the central spraying boom 5C to the vehicle body 1B. The link inclination sensor 97 detects the inclination with respect to the horizontal plane of the link that attaches the left spreading boom 5L, the right spreading boom 5R, and the central spreading boom 5C to the vehicle body 1B. The boom angle right sensor 98R detects the inclination angle of the right spreading boom 5R with respect to the reference plane, and the boom angle left sensor 98L detects the inclination angle of the left spreading boom 5L with respect to the reference plane. The boom open / close right sensor 99R detects whether the right spray boom 5R is closed or open, and the boom open / close left sensor 99L detects whether the left spray boom 5L is closed or open.

  The boom stroke sensor 95, the link angular velocity sensor 96, the link tilt sensor 97, the boom angle right sensor 98R, the boom angle left sensor 98L, the boom open / close right sensor 99R, and the boom open / close left sensor 99L are electrically connected to a control device 9 described later. Has been. The control device 9 acquires values detected by these sensors and uses them to control the control work machine 1.

  The control work machine 1 includes a control device 9, a GPS processing device 10, a display / operation panel 11, a vehicle speed sensor 90 as speed detection means for detecting a speed (vehicle speed or vehicle speed) at which the control work machine 1 travels, And a steering angle sensor 91 as steering angle detection means for detecting the steering angle of the steering wheel.

  The control device 9 obtains an entry position when the control work machine 1 enters the region where the medicine on the field is sprayed based on the control of the control work machine 1, for example, information obtained from the GPS processing device 10, or the nozzle 4 The supply amount of the medicine sprayed from is controlled or the internal combustion engine 2 is controlled.

  The GPS processing device 10 receives radio waves transmitted from GPS satellites. The display / operation panel 11 receives input from an operator, displays the operating conditions of the control work machine 1, and displays the state of the control work machine 1. The control device 9, the GPS processing device 10, and the display / operation panel 11 will be described later.

  The vehicle speed sensor 90 detects the speed (vehicle speed) of the control work machine 1 from, for example, the rotational speed of the front wheels 3FL, 3FR, the rear wheels 3RL, 3RR or the rotation of gears in the transmission. The steering angle sensor 91 detects the steering angle of the front wheels 3FL and 3FR from the rotation angle of the handle 7. That is, in the control work machine 1, the front wheels 3FL and 3FR are the steering wheels.

  FIG. 3 and FIG. 4 are front views showing postures when the control work machine sprays the medicine. FIG. 3 shows a state where the left extension spraying booms 5SL and 5SR are not extended from the turning spraying booms 5BL and 5BR shown in FIG. FIG. 4 shows a state in which the left extension spraying booms 5SL and 5SR extend from the turning spraying booms 5BL and 5BR. In any state, the control machine 1 on the ground G sprays the medicine from the plurality of nozzles 4 with the left spraying boom 5L, the right spraying boom 5R, and the central spraying boom 5C arranged in a substantially straight line. To do. That is, the control work machine 1 sprays the medicine from the plurality of nozzles 4 with the left spraying boom 5L and the right spraying boom 5R opened to the left and right. In the control work machine 1, the left spraying boom 5 </ b> L and the right spraying boom 5 </ b> R respectively provided on both sides in the front-rear direction of the vehicle body 1 </ b> B exist between a state where it is housed in the vehicle body 1 </ b> B and a state where it is opened to the left and right. Even in the state, the medicine can be sprayed from the plurality of nozzles 4.

  As shown in FIG. 4, when the left extension spray booms 5SL and 5SR extend from the turning spray booms 5BL and 5BR, respectively, the distance between the tip of the left spray boom 5L and the tip of the right spray boom 5R is the left extension spray boom 5SL, It becomes larger than the case where 5SR does not extend. The boom stroke sensor 95 determines the distance between the base of the left spraying boom 5L (connecting portion with the central spraying boom 5C) and the tip and the distance between the base of the right spraying boom 5R (connecting portion with the central spraying boom 5C) and the tip. To detect.

  In the present embodiment, the distance that the left extension spray booms 5SL and 5SR extend from the swirl spray booms 5BL and 5BR can be adjusted steplessly or stepwise, and the left extension of the swirl spray booms 5BL and 5BR. It is comprised so that supply of the chemical | medical agent to the nozzle which exists in the turning spraying boom 5BL and 5BR side of the part which spraying boom 5SL and 5SR overlap can be interrupted | blocked. As such a configuration, for example, each of the nozzles of the swirling spray booms 5BL and 5BR is provided with a switching cock, and a switching member for operating switching of the switching cock is disposed outside the machine, and the left extension spraying booms 5SL and 5SR are provided. An operating piece is provided on the side. As such a configuration, the cock can be switched by contacting the switching cock when the left extension spraying booms 5SL and 5SR move back and forth.

  With such a structure, the control work machine 1 can adjust the width (spreading width) for spraying the drug according to the spraying area of the drug in the field. Further, the control work machine 1 can select a nozzle for spraying the drug from the plurality of nozzles 4 and spray the drug. Thus, the control work machine 1 can cope with various spraying conditions of the medicine by adjusting the spraying width of the medicine and the number and position of the nozzles for spraying the medicine.

  Next, the medicine supply system 8 will be described with reference to FIG.

  The control work machine 1 has a medicine supply system 8 which is a system for supplying medicine to a plurality of nozzles 4. The medicine supply system 8 includes a tank 20, a water supply hose 21, a water discharge hose 22, a spraying hose 23, a stirring hose 24, a surplus water hose 25, a water supply cock 26, a pump 27, a filter 28, and a flow rate. Control valve 29, branch device 30, safety valve 31, pressure sensor 92, flow rate sensor 93, and valve opening sensor 94 are included. In the following, “water” includes a drug.

  The tank 20 stores the chemical liquid sprayed by the nozzle 4. The water supply hose 21 is a pipe for guiding the medicine in the tank 20 from the tank 20 through the filter 28 to the pump 27. The water discharge hose 22 is a pipe for guiding the medicine from the pump 27 to the branch device 30. The spray hose 23 is a pipe for guiding the medicine from the branch device 30 to the left spray boom 5L, the right spray boom 5R, and the central spray boom 5C. The spray hose 23 for guiding the chemicals to the plurality of nozzles 4 attached to the left extended spray boom 5SL of the left spray boom 5L and the extended spray boom 5SR of the right spray boom 5R has flexible hoses 23EL and 23ER, respectively. . With such a structure, the flexible hoses 23EL and 23ER allow the movement even when the left extension spraying booms 5SL and 5SR expand and contract. The stirring hose 24 is a pipe for constantly flowing a chemical at a predetermined flow rate into the tank 20 in order to stir the chemical solution in the tank 20. The stirring hose 24 branches from the water discharge hose 22 and is connected to the tank 20. The spillage hose 25 is a pipe for returning the medicine that has not been used for spraying and stirring to the tank 20.

  The water supply cock 26 is provided between the tank 20 and the filter 28 and is used to stop water supply from the tank 20 when the filter 28 is exchanged, cleaned, or the like. The filter 28 removes dust and the like from the medicine in the tank 20. The pump 27 pressurizes the medicine that has passed through the filter 28, pressurizes it, and discharges it toward the flow rate control valve 29 via the water discharge hose 22. The flow rate control valve 29 is a device that adjusts the flow rate of the medicine that flows to the branching device 30 and is controlled by the control device 9 shown in FIGS. 1 and 2. The branching device 30 branches the medicine sent from the flow rate control valve 29 to the three spraying hoses 23 to the plurality of nozzles 4 respectively included in the left spraying boom 5L, the right spraying boom 5R, and the central spraying boom 5C. Supply drugs.

  On the outlet side of the branching device 30, a left spray cock 32L, a right spray cock 32R, and a central spray cock 32C are provided. The left spray cock 32L is disposed between the branching device 30 and the nozzle 4 of the left spraying boom 5L, and switches between supply and non-supply of the medicine from the branching device 30 to the nozzle 4 of the left spraying boom 5L. The right spray cock 32R is disposed between the branch device 30 and the nozzle 4 of the right spray boom 5R, and switches between supply and non-supply of the medicine from the branch device 30 to the nozzle 4 of the right spray boom 5R. The central spray cock 32C is disposed between the branch device 30 and the nozzle 4 of the central spray boom 5C, and switches between supply and non-supply of the medicine from the branch device 30 to the nozzle 4 of the central spray boom 5C.

  The left spraying cock 32L, the right spraying cock 32R, and the central spraying cock 32C may be a system in which an operator directly opens and closes them, or a system in which an actuator opens and closes them. Opening sensors for detecting these states (closed or open) are attached to the left spraying cock 32L, the right spraying cock 32R, and the central spraying cock 32C, and the output of this opening / closing sensor is acquired. Then, the control device 9 grasps the states of the left spray cock 32L, the right spray cock 32R, and the center spray cock 32C. The safety valve 31 is a device for returning the medicine to the tank 20 and suppressing an increase in the pressure of the medicine in the water discharge hose 22 when the pressure of the medicine in the water discharge hose 22 increases excessively.

  The flow sensor 93 is provided between the flow control valve 29 and the branch device 30. The flow rate sensor 93 detects the flow rate of the medicine flowing into the branching device 30, that is, the flow rate of the medicine sprayed from the nozzle 4, and transmits the detected flow rate to the control device 9 shown in FIGS. The pressure sensor 92 is provided in the branch device 30, detects the pressure of the medicine sent to the spray hose 23, and transmits it to the control device 9 shown in FIGS. The valve opening sensor 94 is provided in the flow control valve 29. The valve opening sensor 94 detects the opening of the flow control valve 29 and transmits it to the control device 9 shown in FIGS. The control device 9 controls the pump 27 and the flow rate control valve 29 based on the information detected by the pressure sensor 92, the flow rate sensor 93, and the valve opening degree sensor 94 to adjust the flow rate of the sprayed medicine.

  Next, the control device 9 included in the control work machine according to the present embodiment will be described with reference to the control block diagram of FIG.

  The control device 9 includes a control processor 40, a storage unit 41, input interfaces 42a to 42r, an input / output interface 43, and output interfaces 44a to 44n. The control processor 40 is an arithmetic device (hardware) that operates software in a computer, and has a function of interpreting and executing instructions of a computer program. The control processor 40 controls the entire control work machine 1 by interpreting and executing instructions of a computer program for controlling the internal combustion engine 2 and the medicine supply system 8 and the like included in the control work machine 1.

  In addition, the control processor 40 controls the raising and lowering and opening / closing of the left spraying boom 5L and the right spraying boom 5R, controls the inclination of the left spraying boom 5L, the right spraying boom 5R, and the central spraying boom 5C, It also functions as a control unit that expands and contracts the left extension spraying boom 5SL and the right extension spraying boom 5SR. In this case, the control processor 40 interprets and executes the instructions of the computer program in which the instructions for realizing the control of the operations of the left spraying boom 5L, the right spraying boom 5R, and the central spraying boom 5C are executed, thereby The functions of the control unit are realized.

  The storage unit 41 includes a RAM (Random Access Memory) 41A, a ROM (Read Only Memory) 41B, and an EEPROM (Electrically Erasable Programmable Read Only Memory) 41C. The RAM 41A is a volatile memory whose stored contents are lost when the supply of power is cut off, and the ROM 41B and the EEPROM 41C are non-volatile memories that retain the stored contents without supplying power. The EEPROM 41C can electrically erase stored contents and store new information. The storage unit 41 stores a computer program and data for realizing control of the control work machine 1 and a computer program and data for realizing a function as a spraying control device. In the present embodiment, the ROM 41B stores a computer program and the like, and the EEPROM 41C stores data and the like obtained during the operation of the control device 9. The RAM 41A expands the computer program stored in the ROM 41B during the operation of the control device 9.

  The input interfaces 42a to 42r are a telescopic switch 88, a steering angle sensor 91, a pump switch 81, a vehicle speed sensor 90, a pressure sensor 92, a flow sensor 93, a valve opening sensor 94, a setting switch 82, a boom stroke sensor 95, and a link, respectively. An angular velocity sensor 96, a link tilt sensor 97, a boom angle right sensor 98R, a boom angle left sensor 98L, a boom opening / closing right sensor 99R, and a boom opening / closing left sensor 99L are connected, and positions from the external GPS receivers P1, P2, P3, and P4. Contains information. The input interfaces 42 a to 42 r convert information input to the input interface 42 a to 42 r into a form that can be used by the control processor 40 and input the converted information to the control processor 40. The input / output interface 43 is connected to the transmission / reception circuit 56 of the GPS processing device 10. As will be described later, the GPS processing device 10 generates a GPS vehicle speed Vg. The transmission / reception circuit 56 transmits the GPS vehicle speed Vg to the input / output interface 43, and receives a command from the control processor 40 via the input / output interface 43. The input / output interface 43 is interposed between the GPS processing device 10 and the control processor 40 so that information can be exchanged between them.

  The output interfaces 44a, 44c to 44m are respectively a flow control motor 29M, a pump 27, a buzzer 83, a display unit 11D, a horizontal valve 14, a right up / down actuator 12R, a left up / down actuator 12L, a right open / close actuator 13R, a left open / close actuator 13L, Connected to the right telescopic actuator 15R and the left telescopic actuator 15L. The output interface 44n is connected to the entire lifting / lowering actuator 16. The flow control motor 29M is a device for adjusting the valve opening degree of the flow control valve 29 shown in FIG. The output interface 44b converts the information generated by the control processor 40 for switching the rotation direction of the flow control motor 29M into a motor rotation direction switching output RD and outputs the motor rotation direction switching output RD. The rotation direction of the flow control motor 29M is switched by a motor rotation direction switching output RD. The output interfaces 44a to 44m provide commands for controlling the flow rate control motor 29M generated by the control processor 40, the pump 27, the right up / down actuator 12R, the left up / down actuator 12L, the entire up / down actuator 16 and the like. Convert to usable form and output.

  The control work machine 1 controls the spraying amount of the medicine in conjunction with the vehicle speed. Such control is referred to as vehicle speed-linked spray control. The control processor 40 implements vehicle speed-linked spraying control using an arithmetic expression using the flow rate (spraying amount per unit time) of the medicine sprayed from all the nozzles 4 as a parameter. That is, the control processor 40 sprays the drug in conjunction with the vehicle speed of the control work machine 1 based on the drug spraying conditions. From the display / operation panel 11, the operator uses the nozzle constant (spray amount L / min per nozzle at a spray pressure of 10 kgf / cm 2), spray pressure (kgf / cm 2), and target spray amount per 10 ares (L / 10a).

  The processor 40 for control calculates the setting pressure of the chemical | medical agent sent to the spraying hose 23 shown in FIG. 5 using the vehicle speed of the control work machine 1, the said target spraying quantity, etc. And the processor 40 for control adjusts the quantity of the chemical | medical agent supplied to the distribution hose 23 so that it may become the calculated setting pressure. The amount of the medicine is adjusted by the control processor 40 driving the flow control motor 29M to adjust the opening degree of the flow control valve 29. Here, the vehicle speed of the control work machine 1 is the vehicle speed of the control work machine 1 generated by the GPS processing device 10 or the vehicle speed of the control work machine 1 detected by the vehicle speed sensor 90.

  Further, the control processor 40 generates a scatter area AW for the field FW based on the position information sent from the external GPS receivers P 1, P 2, P 3, and P 4 and stores it in the storage unit 41.

  Next, the GPS processing device 10 will be described.

  FIG. 7 is a schematic diagram illustrating a configuration example of the GPS processing device 10 included in the control work machine according to the present embodiment. The GPS processing device 10 outputs information on the position of the control work machine 1 (position information), the GPS vehicle speed Vg, and the like based on radio waves received from a plurality of GPS satellites SG1, SG2, and the like. The GPS processing device 10 includes a reception antenna 50, a reception circuit 51, a signal processing circuit 52, a clock circuit 53, a memory 54, a GPS processor 55, and a transmission / reception circuit 56.

  The receiving antenna 50 receives radio waves transmitted from a plurality of GPS satellites SG1, SG2, and the like.

  The receiving circuit 51 is connected to the receiving antenna 50, and converts radio waves transmitted by the GPS satellites SG1, SG2, etc. received by the receiving antenna 50 into electrical signals. The signal processing circuit 52 converts the electrical signal output from the receiving circuit 51 into a form that can be used by the GPS processor 55 and outputs the converted signal. The clock circuit 53 measures the time and inputs it to the GPS processor 55. The memory 54 stores data necessary for the processing of the GPS processor 55 and develops a computer program necessary for the processing of the GPS processor 55.

  The GPS processor 55 calculates information about the position of the GPS processing device 10 based on radio waves transmitted from a plurality of GPS satellites SG 1, SG 2, etc., and outputs the information to the transmission / reception circuit 56. Further, the GPS processor 55 calculates the speed of the GPS processing device 10 based on the information about the position of the GPS processing device 10, and outputs it to the transmission / reception circuit 56. Since the GPS processing device 10 is mounted on the control work machine 1, information on the position of the GPS processing device 10 is information (position information) regarding the position of the control work machine 1. Moreover, the said speed is the vehicle speed of the control work machine 1 obtained based on the radio wave of GPS satellite SG1, SG2, and this is the above-mentioned GPS vehicle speed Vg.

  The transmission / reception circuit 56 is connected to the control processor 40 included in the control device 9 via the input / output interface 43 of the control device 9. The transmission / reception circuit 56 outputs the position information obtained by the GPS processor 55 to the control processor 40 via the input / output interface 43 of the control device 9. The control processor 40 uses the position information to control the control work machine 1 or to send a data change request to the GPS processing device 10. The GPS vehicle speed Vg may be obtained based on the position information obtained from the GPS processing device 10 by the control processor 40 of the control device 9.

  FIG. 8 is a schematic diagram illustrating an example of the display / operation panel 11 included in the control work machine according to the present embodiment. The display / operation panel 11 includes a display unit 11D, a manual switch 80, a pump switch 81, a setting switch 82, a cumulative reset switch 87, a display changeover switch 85, an automatic switch 86, and a telescopic switch 88. .

  The display unit 11D displays the entry position obtained by the control processor 40 shown in FIG. 6 where the control work machine 1 enters the region where the medicine on the field is sprayed. In addition, the display unit 11D displays information on the field where the control work machine 1 sprays the medicine, information about the medicine to be sprayed, information about the operation state of the control work machine 1, and the like. Examples of the information on the field include the position of the field, a planar topographic map, and an area. Information on the latter includes, for example, the type of medicine, the amount of application, the set value (set pressure) of the discharge pressure of the pump 27 shown in FIG. Further, the display unit 11D displays an index of the current position and the entry position of the control work machine 1 when the control work machine 1 is performing a chemical solution spraying work in the field. By doing in this way, display part 11D guides an operator's operation. As the display unit 11D, for example, a liquid crystal display, an organic EL display, or the like can be used.

  The manual switch 80 is an input means that is operated when the operator changes the spraying condition of the medicine or adjusts the spraying width in the spraying of the medicine. When the manual switch 80 is operated, the control device 9 shown in FIG. 6 sets the setting switch 82 to accept the change of the spraying condition or the adjustment of the spraying width. The pump switch 81 is an input means for starting the pump 27 shown in FIG. When the pump switch 81 is operated, the pump 27 is activated, and the drug spraying is started by operating the left spray cock 32L, the right spray cock 32R, and the central spray cock 32C to the open side. The setting switch 82 is an input means for inputting the spraying conditions of the medicine. The setting switch 82 is a spray amount setting switch 82A for setting the spray amount of the medicine, a pressure setting switch 82B for setting the discharge pressure of the pump 27, an increase / decrease switch 82C for increasing / decreasing the set value, and confirming the setting. Setting switch 82D. The cumulative reset switch 87 is an input unit used when resetting the cumulative amount of the spread medicine. The display changeover switch 85 is an input unit used when switching information displayed on the display unit 11D. The automatic switch 86 is an input means that is operated when the medicine is automatically sprayed under the set spraying conditions in the spraying of the medicine. When the automatic switch 86 is operated so as to be turned on while the airframe is stopped, the pump 27 is driven (pump switch 81 is turned off). When the left spray cock 32L, the right spray cock 32R, and the central spray cock 32C are operated to the open side, preparation for automatic spraying is completed. Even if the left spray cock 32L, the right spray cock 32R, and the central spray cock 32C are operated to the open side, the electromagnetic clutch integrated with the pump 27 is OFF, so that no medicine is sprayed. When the traveling state of the airframe is detected from the vehicle speed sensor, the electromagnetic clutch integrated with the pump 27 is turned on, and the spray amount is adjusted to be uniform based on the information from the vehicle speed sensor and automatically sprayed. In the traveling stop state, the spraying is automatically stopped. The manual switch 80 may not be provided. In this case, manual spraying is performed when the automatic switch 80 is turned off.

  The telescopic switch 88 is a switch for expanding and contracting the left spraying boom 5L and the right spraying boom 5R. The expansion / contraction switch 88 includes a first expansion / contraction switch 88L and a second expansion / contraction switch 88R. The first telescopic switch 88L extends and contracts the left spraying boom 5L, and the second telescopic switch 88R extends and contracts the right spraying boom 5R.

In FIG. 15, the display on the display unit 11D is switched to the schematic display of the spray boom 5 by the display changeover switch 85, and the center spray boom 5C, the left spray boom 5L, and the right spray boom 5R are displayed at the center of the screen. A split display unit corresponding to the nozzle 4 of the spraying width adjustable portion of the left spraying boom 5L and the right spraying boom 5R is provided, and when touched with a finger, the tip part or the part traced from the tip to the center is turned off. The corresponding nozzle is closed and no injection is performed, or the left extension spraying boom 5SL and the right extension spraying boom 5SR are shortened and shortened. At this time, since the spreading width is changed, the changed spreading width is displayed, and the number of contracted nozzles is also displayed.
In addition, the spray state of the nozzle 4 can be not only the lighting of the divided display unit corresponding to the nozzle 4 but also a color display that is conspicuous such as blue lighting.

  In addition, nozzle opening / closing switches 5CS, 5LS, and 5RS are provided below the display portions of the central spraying boom 5C, the left spraying boom 5L, and the right spraying boom 5R. Further, when the nozzle opening / closing switches 5CS, 5LS, and 5RS are contact-operated, the center spray cock 32C, the left spray cock 32L, and the right spray cock 32R are opened (electromagnetic valve cock) and spraying is started. At this time, the display is middle ON, left ON, and right ON.

  When the nozzle opening / closing switches 5CS, 5LS, and 5RS are contacted again, the center spray cock 32C, the left spray cock 32L, and the right spray cock 32R are closed to stop spraying. At this time, the display is middle OFF, left OFF, and right OFF.

  The nozzle opening / closing switches 5CS, 5LS, and 5RS can be turned on and off independently depending on the field conditions.

  In addition, the display unit 11D displays a vehicle speed and a spread width large, and displays a spread set value, a pressure, a flow rate, a total spread amount, a tank usage amount, a work distance, a work area, and the like. As an example of display, spray setting: 100L / 10a (10 ares), flow rate: 39.2L / min, working distance: 100m, pressure: 1.68MPa, total spraying amount: 258L, tank usage: 425L, working area : 53.9a (53.9a). When the chemical in the tank runs out and a new operation is started, the tank reset switch is turned on. Further, when the lead-eye switch is turned on and operated, the positional relationship between the field map and the machine body as shown in FIG. 11 is shown, and the route to be scattered from now on is shown. The operator can perform highly accurate spraying by operating the handle along the displayed route. That is, it is possible to prevent double spraying and to prevent spray leakage.

  It should be noted that the information on the display unit 11D can be sent to the portable terminal held by the worker so that the working speed, the completed work area, etc. can be seen, or the setting change command such as changing the spraying amount can be sent from the portable terminal to the control device Or you can do it.

  FIG. 9 is a schematic diagram showing a region where a medicine is sprayed in a field where the medicine is sprayed. In the example shown in FIG. 9, the X axis indicates a line parallel to the latitude line, and the Y axis indicates a line parallel to the meridian. A region where the control work machine 1 shown in FIGS. 1 and 2 sprays the medicine onto the field FW is referred to as a medicine spraying region AW.

  In this example, the medicine spraying area AW is a rectangular area defined by the external GPS receivers P1 (X1, Y1), P2 (X2, Y2), P3 (X3, Y3), P4 (X4, Y4). . The medicine spraying area AW and the other areas are partitioned by boundaries B1, B2, B3, and B4. The shape of the medicine spraying area AW is not limited to a rectangle, and there are various shapes such as a trapezoid, a parallelogram, a pentagon, a hexagon, a circle, and an ellipse. Each of the external GPS receivers P1, P2, P3, and P4 receives radio waves from the GPS satellites SG1 and SG2, measures the latitude and longitude, and transmits them to the control device 9, so that the control device 9 can detect the plane of the field. Recognize the topography. Note that the planar terrain recognizing means may be extracted from the map information stored in the storage unit 41 of the control device 9.

  In this embodiment, when the control work machine 1 sprays the medicine on the medicine spraying area AW of the field FW, the control device 9 shown in FIG. 6 includes the position information (spreading area position information) of the medicine spraying area AW of the field FW. The approach position when the control work machine 1 enters the medicine spraying area AW of the field FW is determined using at least the spraying width of the medicine. The control device 9 may display the obtained approach position on the display unit 11D shown in FIG. Since the medicine spraying area AW is defined by the external GPS receivers P1 (X1, Y1), P2 (X2, Y2), P3 (X3, Y3), P4 (X4, Y4) described above, these are defined as the spraying area positions. Information.

  If the entry position to the farm FW is limited, a schematic diagram of the spray boom 5 of FIG. 15 may be displayed on the display unit 11D to adjust the spray width.

  The external GPS receivers P1 (X1, Y1), P2 (X2, Y2), P3 (X3, Y3), and P4 (X4, Y4) are positions in the field FW determined by the X coordinate and the Y coordinate. . Since the X axis indicates a line parallel to the latitude line, and the Y axis indicates a line parallel to the meridian, the X coordinate indicates latitude and the Y coordinate indicates longitude. In obtaining the external GPS receivers P1 (X1, Y1), P2 (X2, Y2), P3 (X3, Y3), P4 (X4, Y4), first, as external GPS receivers at the four corners of the drug spraying area AW Install and transmit to the control device 9. And the latitude and longitude obtained from the GPS receiver at each position are the latitudes of P1 (X1, Y1), P2 (X2, Y2), P3 (X3, Y3), P4 (X4, Y4), respectively. And longitude.

  P1 (X1, Y1), P2 (X2, Y2), P3 (X3, Y3), and P4 (X4, Y4) obtained in this way are set as the spray region position information. 8 is stored in the storage unit 41 of the control device 9 shown in FIG. 6, more specifically, at least one of the RAM 41A and the EEPROM 41C from the display / operation panel 11 shown in FIG. The control processor 40 can obtain the shape and area of the medicine spraying area AW, the lengths and the boundaries of the boundaries B1, B2, B3, and B4 from the spraying area position information stored in the storage unit 41.

FIG. 10 is a plan view for explaining the spreading width of the control work machine according to the present embodiment. The direction orthogonal to the traveling direction of the control work machine 1 is the width direction of the control work machine 1. The total spraying width Wsa of the medicine is a distance (shortest distance) between the pair of nozzles 4 and 4 existing on the outermost side in the width direction among the nozzles 4 included in the left spraying boom 5L and the right spraying boom 5R of the control work machine 1. is there. In the spraying of the medicine, the left spraying boom 5L and the right spraying boom 5R are usually the same length.
Therefore, from the width direction center CL of the control work machine 1 to the nozzle 4 existing on the outermost side in the width direction of the left spraying boom 5L (hereinafter referred to as the left spraying width) W1 and the width direction center CL of the control work machine 1 The distance to the nozzle 4 existing on the outermost side in the width direction of the right spreading boom 5R (hereinafter referred to as the right spreading width) W2 is all Wsa / 2. The left spreading width W1 is the spreading width on the left side in the traveling direction of the control work machine 1, and the right spreading width W2 is the spreading width on the right side in the traveling direction of the control work machine 1. During the spraying of the medicine, the left spray width W1 and the right spray width W2 may be different. In the present embodiment, the spreading width is a width when the control work machine 1 spreads the medicine on the field FW, and is a concept including the total spreading width Wsa, the left spreading width W1, and the right spreading width W2. .

  FIG. 11 to FIG. 13 are views showing a state in which the control work machine according to the present embodiment sprays the medicine in the field. The size (field width) in the X direction of the medicine spraying area AW of the field PW is W.

  In the example shown in FIG. 11, the control work machine 1 that has entered the medicine spraying area AW of the field PW advances in the X direction from the approach position S in the vicinity of P1 (X1, Y1), and is in the vicinity of P2 (X2, Y2). After changing the traveling direction by 90 degrees at the medicine spraying start position A, the medicine is sprayed in the Y direction. In spraying the medicine, it is preferable to extend the left spraying boom 5L and the right spraying boom 5R to the maximum length and spray the medicine with the maximum spraying width Wm. At this time, the length from the center in the width direction of the control work machine 1 to the tip nozzle of the left spray boom 5L and the length from the center in the width direction of the control work machine 1 to the tip nozzle of the right spray boom 5R are respectively Wm. / 2. The control processor 40 of the control device 9 shown in FIG. 6 obtains the medicine spraying start position A based on the maximum spraying width Wm. Since the position information of the medicine spraying area AW is known in advance by measurement or the like, for example, the medicine spraying start position A in the X direction subtracts Wm / 2 from the position outside the medicine spraying area AW1 where the medicine is sprayed first. It will be in the position.

  Reference numeral AW1 indicates a region where the medicine is first sprayed in the medicine spraying region AW. When the drug is sprayed over the entire drug spray area AW1, the control work machine 1 sprays the drug in the drug spray area AW2 adjacent to the drug spray area AW1 in the X-axis direction. For this reason, the control work machine 1 completes the spraying of the medicine on the medicine spraying area AW1 at the turning start position (spreading end position) B and changes its direction. Then, the medicine enters the medicine spraying area AW2, and starts spraying medicine from the turning end position (spreading start position) C. The distance (adjacent spray area distance) between the adjacent drug spray areas AW1 and AW2 is Wa. When entering the next medicine spraying area AW2 from the medicine spraying area AW1, for example, when the worker of the control work machine 1 enters the wrong position, the control processor 40 of the control device 9 shown in FIG. If necessary, at least one of the left spraying boom 5L and the right spraying boom 5R is expanded and contracted to adjust the drug spraying width Ws. In this case, the control processor 40 sets the medicine application width Ws based on the adjacent application area distance Wa and the position information of the control work machine 1 obtained from the GPS processor 55 of the GPS processing device 10 shown in FIG. Based on this, at least one of the left spraying boom 5L and the right spraying boom 5R is expanded and contracted. In this way, the control processor 40 obtains the entry position where the control work machine 1 enters the next medicine spraying area in the field based on the position information of the medicine spraying area and the medicine spraying width, and the GPS processing device 10. If it is determined from the position information of the control work machine 1 acquired from the above, the length of at least one of the left spray boom 5L and the right spray boom 5R is set in the drug spray area. Adjust based on width and spray start position. By doing in this way, a chemical | medical agent can be reliably sprayed with respect to chemical | medical agent dispersion | distribution area | region AW1. In addition, since the operator does not need to adjust the length of the left spraying boom 5L and the like, the burden on the operator can be reduced and the operator can concentrate on the operation of the control work machine 1.

  FIG. 12 shows a case where the control work machine 1 enters a position different from the medicine spraying start position A. When the control work machine 1 enters the medicine spraying area AW1 where the medicine is first sprayed, for example, when the operator of the control work machine 1 enters the wrong position, the control device 9 shown in FIG. The processor 40 adjusts the spraying width Ws of the medicine by expanding and contracting at least one of the left spraying boom 5L and the right spraying boom 5R as necessary. In this case, the control processor 40 is based on the adjacent scattering area distance Wa and information on the position (entry position) Ar of the control work machine 1 acquired from the GPS processor 55 of the GPS processing device 10 shown in FIG. A difference (entry position deviation amount) α between the medicine spraying start position A and the actual approach position Ar is obtained.

  In the medicine spraying area AW1 where the medicine is first sprayed, the medicine spraying is started with the maximum spraying width Wm. However, as shown in FIG. 12, when the actual entry position Ar is shifted to the outside of the medicine spraying area AW1, the right side It is necessary to adjust the length of the spreading boom 5R. The control processor 40 sets the size (Wm / 2−α) obtained by subtracting the approach position deviation amount α obtained from the position information of the approach position Ar from Wm / 2 as the length of the right spray boom 5R. The control processor 40 extends and contracts at least one of the right spreading boom 5R so that the length of the right spreading boom 5R becomes (Wm / 2−α). By doing in this way, a chemical | medical agent can be reliably sprayed with respect to chemical | medical agent dispersion | distribution area | region AW1. In addition, since the operator does not need to adjust the length of the left spraying boom 5L and the like, the burden on the operator can be reduced and the operator can concentrate on the operation of the control work machine 1.

  The control work machine 1 enters the medicine spraying area AW1 with the right spraying boom 5R having the maximum length. For this reason, when the actual entry position Ar is shifted to the inside (P1 (X1, Y1) side) of the medicine spraying area AW1, the right spraying boom 5R cannot be extended. In this case, the control processor 40 determines the control work machine from the position information of the control work machine 1 acquired from the GPS processor 55 of the GPS processing apparatus 10 shown in FIG. 7 or the detected value of the steering angle sensor 91 shown in FIG. When 1 is about to enter before the medicine spraying start position A, the operator of the control work machine 1 is warned by sounding the buzzer 83 shown in FIG. By doing in this way, the possibility that the control work machine 1 will enter before the medicine spraying start position A can be reduced.

  FIG. 13 shows a state in which the control work machine 1 sprays the medicine on the last medicine spraying area AWn. In the X direction, the control work machine 1 that has sprayed the drug to the drug spraying area AWn-1 adjacent to the last drug spraying area AWn has a drug for the drug spraying area AWn-1 at the spraying end position (turning start position) N-1. As soon as you finish spraying, change direction. Then, the medicine enters the last medicine spraying area AWn and starts spraying medicine from a spraying start position (also referred to as a turning end position or a final approach position) N. The distance (adjacent spray area distance) between the adjacent drug spray areas AWn-1 and AWn is Wa. In the last medicine spraying area AWn, the control processor 40 of the control device 9 shown in FIG. 6 has the adjacent spraying area distance Wa and the control work machine 1 obtained from the GPS processor 55 of the GPS processing device 10 shown in FIG. Based on the position information, in the last medicine spraying area AWn, the medicine spraying width Ws is obtained, and based on this, at least one of the left spraying boom 5L and the right spraying boom 5R is expanded and contracted. As described above, the control processor 40 obtains the final entry position at which the control work machine 1 enters the area where the medicine is finally sprayed in the field based on the position information of the medicine spray area and the spread width of the medicine. Further, the control processor 40 acquires the position information of the control work machine 1 from the GPS processing device 10, and before the control work machine 1 reaches the final entry position, the control processor 40 sets the left spray boom 5L and the right spray boom 5R. The length of at least one (for example, the outer side in the turning direction) is adjusted based on the width of the medicine spraying region and the final entry position. By doing in this way, a chemical | medical agent can be reliably sprayed to the whole last chemical | medical agent distribution area | region AWn. In addition, since the operator does not need to adjust the length of the left spraying boom 5L and the like, the burden on the operator can be reduced and the operator can concentrate on the operation of the control work machine 1. Next, an example of adjusting the length of the left spraying boom 5L and the like when the control work machine 1 sprays the medicine will be described.

  FIG. 14 is a flowchart illustrating an adjustment example. In step S101, the control processor 40 of the control device 9 shown in FIG. 6 acquires the position information (GPS data) of the control work machine 1 from the GPS processor 55 of the GPS processing device 10 shown in FIG. Next, in step S <b> 102, the control processor 40 determines a field where the control work machine 1 spreads the medicine from the acquired position information. For example, information on a plurality of fields is stored in the storage unit 41 of the control device 9 in advance, and the control processor 40 compares the field information with the position information of the control work machine 1 acquired in step S101. Then, the control field machine 1 determines the field where the medicine is sprayed.

  Next, in step S103, the processor 40 for control acquires the field width W from the data of the field where the control work machine 1 spreads a chemical | medical agent. Next, in step S104, the control processor 40 sets the maximum spreading width Wm and temporarily stores it in the RAM 41A of the storage unit 41, for example. The maximum spreading width Wm is a spreading width when the left spreading boom 5L and the right spreading boom 5R of the control work machine 1 are extended to the maximum length.

  Next, proceeding to step S105, the control processor 40 calculates the medicine spraying start position A. The method of obtaining the position of the medicine spraying start position A in the X direction is as described above. Since the position information of the medicine spraying area AW is known in advance by measurement or the like, the medicine spraying start position A in the Y direction is set to La in FIG. 11 on the outer side in the Y direction of the medicine spraying area AW1 where the medicine is sprayed first. It becomes the position added to the position.

  When the medicine spraying start position A is obtained, in step S106, the control processor 40 sets the medicine spraying start position A and temporarily stores it in the RAM 41A of the storage unit 41, for example. Next, in step S107, the control processor 40 displays the medicine spraying start position A on the display unit 11D shown in FIG. 8, and in step S108, displays the medicine spraying path. Step S107 and step S108 may not be executed. Next, proceeding to step S109, the control processor 40 displays the current position of the control work machine 1 on the display unit 11D. This position is, for example, the approach position S shown in FIG. After step S109, the control work machine 1 starts running and spraying medicine.

  Next, proceeding to step S110, the control processor 40 acquires the position information (GPS data) of the control work machine 1 from the GPS processor 55 of the GPS processing device 10, and in step S111, the control unit 40 controls the display unit 11D at the current control. The position of the work machine 1 is displayed. Next, it progresses to step S112 and the processor 40 for control determines whether the control work machine 1 arrived at the chemical | medical agent spraying start position A. FIG.

  When the control work machine 1 has not reached the medicine spraying start position A (step S112, No), the control processor 40 repeats steps S110 to S112 until the control work machine 1 reaches the medicine spraying start position A. . When the control work machine 1 reaches the medicine spraying start position A (step S112, Yes), the process proceeds to step S113, and the control processor 40 adjusts at least one of the left spraying boom 5L and the right spraying boom 5R as necessary. Adjust the length. For example, when the control work machine 1 is traveling with the left spray boom 5L and the right spray boom 5R shortened, when the control work machine 1 reaches the chemical spray start position A, the control processor 40 sets the left spray boom 5L and Each right spreading boom 5R is extended to the maximum length. By doing in this way, the control work machine 1 can spray the medicine in the medicine spraying area AW1 with the maximum spraying width Wm immediately after reaching the medicine spraying start position A. As described above, when the control processor 40 determines from the position information of the control work machine 1 acquired from the GPS processing device 10 that the control work machine 1 has reached the medicine spray start position A, the pair of spray booms. That is, the length of at least one of the left spraying boom 5L and the right spraying boom 5R is adjusted based on the medicine spraying start position A. By doing in this way, while being able to distribute a chemical | medical agent to the chemical | medical agent spraying area | region AW1 reliably, the burden of an operator can be reduced.

1B Car body 5 Scattering boom 5C Center spraying boom 5L Left spraying boom 5R Right spraying boom 10 GPS processor 11 Display / operation panel

Claims (4)

  In a spreading work vehicle that spreads a spreading boom (5) in which nozzles (4) are arranged on the left and right of a vehicle body (1B) and performs a spraying operation, the control device (9) and the GPS processing device (10) A spray work vehicle characterized in that the position of the vehicle body (1B) and the spray width of the spray boom (5) in a planar terrain are displayed on a display / operation panel (11).   2. The right and left spraying width by the nozzle (4) of the spraying boom (5) displayed on the display / operation panel (11) can be directly changed by the display / operation panel (11). Scatter working vehicle as described in   The spraying boom (5) includes a central spraying boom (5C), a left spraying boom (5L), and a right spraying boom (5R), and the left spraying boom (5L) is displayed on the display / operation panel (11). The spreading work vehicle according to claim 1, wherein the right spreading boom (5R) is adjustable.   The spraying work vehicle according to claim 2 or 3, wherein the spraying width or expansion / contraction width can be changed by contacting the spraying boom (5) displayed on the display / operation panel (11). .