JP2012060899A - Self-propelled pest control machine - Google Patents

Abstract

Disclosed is a self-propelled pest control machine capable of preventing the spraying of a medicine under an incorrect condition and capable of spraying the medicine appropriately according to the field condition or the type of crop.
A chemical liquid tank 5 provided on a traveling device (3, 4), a nozzle 11 for spraying the chemical liquid in the tank 5, and a chemical liquid path Y provided between the tank 5 and the nozzle 11 are sprayed. In a self-propelled control apparatus provided with a control apparatus having a chemical liquid amount setting switch 31 and a control device 100 having an automatic spraying function for automatically spraying a chemical liquid under conditions set when traveling is started, a chemical liquid path Y is composed of a spray path 60 and a bypass path 61 provided with a cock 63, and an open / close detection sensor 65 for the cock 63 is further provided. The control device 100 has an automatic spraying stop function for stopping the automatic spraying function and preventing the spraying from starting when the set amount of the chemical liquid and the spraying amount of the chemical liquid according to the open / close state of the cock 63 are different. This function can prevent the spraying of medicines under wrong conditions.
[Selection] Figure 5

Description

  The present invention relates to a self-propelled control machine provided with a control machine for spraying medicine and the like.

  2. Description of the Related Art Conventionally, there is known a configuration in which a zoom sprayer is attached to a passenger management machine and a medicine is dispersed. In such a riding management machine, a chemical spraying device for spreading a chemical solution on a crop by spreading a zoom sprayer with a spraying nozzle in the left-right and lateral directions is attached to the front or rear of the machine body. The zoom sprayer is configured to be stowable. For example, in a configuration in which a boom is attached to the front of the fuselage, the central boom fixed to the front of the fuselage and the left and right sides of the central boom are rotated around the front and rear axes to be stowed or leveled. What consists of a right-and-left division | segmentation boom comprised freely is known.

  Then, in the spraying of medicine, various spraying modes (spreading conditions) are set and stored in the control device in order to make the spraying amount, spraying mode, spraying timing, and the like appropriate in accordance with the field condition, crop type, and the like. Then, when an operator who has boarded the riding management machine selects an appropriate spraying mode, medicine spraying according to the field condition, crop type, and the like is performed.

  However, if the operator performs a spraying operation that is not based on conditions according to the field condition or type of crop, so-called erroneous operation, overspraying or underspraying of the drug may occur, affecting the crop or the soil, or expected effects. May not be obtained. Moreover, the operator who sprays the medicine also has to be careful about the spraying conditions, and the psychological burden is large.

  In particular, when the operator is not familiar with the control work, it is impossible to grasp whether the spraying conditions are appropriate for the field condition and the type of the crop. The burden is heavy. Further, when the spraying is not good according to the field condition or the type of crop, it is not preferable for the crop or the field to continue spraying as it is, and therefore, an operator is required to take appropriate action quickly.

  Therefore, Patent Document 1 discloses a spraying condition display means (display) for displaying a spraying condition selected from a plurality of predetermined spraying conditions, and a spraying condition displayed by the spraying condition display means (display). The spraying condition setting changing means (button, switch, etc.) for changing the liquid and a specific spraying condition selected from a plurality of predetermined spraying conditions are sequentially selected and sprayed automatically. The automatic spraying mode and spray conditions selected from a plurality of different spraying conditions determined in advance and other spraying conditions are sequentially selected manually by the spraying condition setting changing means and sprayed. Automatic / manual spraying mode setting switching means (automatic switch) for switching the manual spraying mode and automatic spraying that indicates that the automatic spraying mode is being set in the automatic spraying mode A work vehicle (self-propelled control machine) equipped with a control machine provided with a mode setting display means (pilot lamp), etc., and can be switched to an automatic spraying mode by an automatic / manual spraying mode setting switching means (automatic switch). And the structure which displays that it is in automatic spraying mode setting on a spraying condition display means (display) in a format different from an automatic spraying mode setting display means (pilot lamp) is disclosed.

  According to this configuration, when switching to the automatic spraying mode by the automatic / manual spraying mode setting switching means (automatic switch), the automatic spraying mode setting display means (pilot lamp) and the spraying condition display means (display) have different formats. Since this is displayed, the operator on board the work vehicle can check the spraying conditions such as automatic and manual in both display formats (pilot lamp and display) each time the medicine is sprayed. The spraying operation can be continued and the stress on the operator can be reduced.

JP 2008-182972 A

  According to the above-mentioned patent document 1, since the spraying conditions such as automatic and manual can be confirmed in both display formats (pilot lamp and display) each time the medicine spraying work is performed, the psychological burden on the operator can be reduced, but the actual display is performed. It is not possible to confirm whether or not the drug spraying work is being performed under different conditions and modes.

  Therefore, there may be a case where the medicine spraying operation is performed under an incorrect condition or an inappropriate condition in a manner in which the medicine spraying condition is different from the setting. If the actual chemical spraying is not good spraying according to the field condition or the type of crop, it is not preferable for the crop or the field to continue spraying the chemical as it is. Therefore, the spraying of the medicine under the wrong condition is prevented, and when the actual spraying condition of the medicine is different from the set condition, the operator quickly determines that the wrong condition is sprayed. There is a need to.

  Then, the subject of this invention is providing the self-propelled type | formula control machine provided with the control machine which can prevent that the spreading | diffusion of a chemical | medical agent is performed on incorrect conditions. Moreover, the subject of this invention is providing the self-propelled control machine provided with the control machine which can perform suitable chemical | medical agent spraying according to the field condition, the kind of crop, etc. Furthermore, the subject of this invention is providing the self-propelled control machine provided with the control machine which an operator can judge easily whether a chemical spray can be performed on normal conditions.

  The invention described in claim 1 includes a traveling device (3, 4), a chemical solution tank (5) for storing a chemical solution provided on the traveling device (3, 4), and a chemical solution in the chemical solution tank (5). A chemical solution spraying nozzle (11) for spraying, a chemical solution path (Y) provided between the chemical solution tank (5) and the chemical spraying nozzle (11), and a setting for setting the amount of the chemical solution to be sprayed When the travel is started by the switch (31) and the travel device (3, 4), the medicine spray nozzle is automatically passed from the chemical tank (5) via the chemical path (Y) under the conditions set by the setting switch (31). (11) In the self-propelled control machine provided with the control device provided with the control device (100) having an automatic spraying function for spraying the chemical liquid and spraying the chemical liquid, the chemical liquid path (Y) is a main path ( 60) and a branch path (61) provided with an opening / closing means (63) The opening / closing detection means (65) for detecting the opening / closing state by the opening / closing means (63) of the branch path (61) is provided, and the control device (100) sets the set amount of the chemical solution by the setting switch (31) and the A self-propelled control machine having an automatic spraying stop function that stops the automatic spraying function when the spraying amount of the chemical solution according to the open / closed state of the branch path (61) detected by the open / close detection means (65) is different. .

According to a second aspect of the present invention, the control device is provided with notification means (22, 51) that can be recognized by hearing or vision, and the control device (100) sets the amount of the chemical solution by the setting switch (31) and the 2. The device according to claim 1, further comprising a notification function for notifying by the notification means (22, 51) when the amount of sprayed chemical solution according to opening / closing of the branch path (61) detected by the opening / closing detection means (65) is different. It is a traveling type control machine.
The invention according to claim 3 is a flow rate detecting means (43) for detecting the flow rate of the chemical solution in the main path (60), and a speed detecting means (53) for detecting the traveling speed of the traveling device (3, 4). When the flow rate detected by the flow rate detection means (43) is below a predetermined value and the speed detected by the speed detection means (53) is zero, the control device (100) The self-propelled pest control machine according to claim 2, which has a notification stop function for stopping a notification function notified by means.
In the present specification, the “medicine” means a liquid material that may contain a solid material that needs to be applied to a crop such as a nutrient or an agricultural chemical. In addition, the drug may be referred to as a drug solution.

  According to the first aspect of the present invention, when the spray amount according to the open / close state detected by the open / close detection means (65) of the branch path (61) and the set amount of the spray condition are different, the automatic spray stop function is used. By preventing automatic spraying, it is possible to prevent spraying of medicines under wrong conditions. In addition, when the actual spraying condition of the medicine is different from the set condition, the automatic spraying of the medicine is not performed, so that the operator can easily determine whether the proper medicine spraying is possible under normal conditions. In addition, it is possible to perform appropriate chemical spraying according to the field condition, crop type, and the like.

  According to the invention described in claim 2, in addition to the effect of the invention described in claim 1, the application amount and application according to the open / close state detected by the open / close detection means (65) of the branch path (61). When the set amount of the condition is different, not only the automatic spraying of the medicine is not performed, but the operator is surely and more quickly notified by notifying the operator of the wrong condition by the notification means (22, 51). It is possible to determine whether or not spraying can be performed under normal conditions. Therefore, an appropriate response according to the situation becomes possible at an early stage.

Furthermore, according to the invention of claim 3, in addition to the effect of the invention of claim 2, the flow rate of the chemical liquid detected by the flow rate detection means (43) of the main path (60) is a predetermined value, Moreover, when the vehicle speed detected by the vehicle speed detection means (53) is zero, an excessive warning can be prevented by not performing the notification by the notification means (22, 51) by the notification stop function.
For example, even if the spraying amount according to the open / closed state detected by the open / close detection means (65) and the set amount of spraying conditions are different, if the speed of the self-propelled control machine is zero, the pump is used for pumping water, etc. May drive. Therefore, it is not necessary to sound an alarm when pumping water with the speed of the self-propelled control machine limited to zero.

It is a side view of the self-propelled control machine by one embodiment of the present invention. It is a front view of the self-propelled pest control machine of FIG. 3A is a plan view of the control controller box of the control machine of the self-propelled control machine of FIG. 1, and FIG. 3B is a plan view of the controller panel of FIG. 3A. It is a piping system diagram of a control machine of a self-propelled control machine according to an embodiment of the present invention. FIG. 5 is an enlarged view of the vicinity of a flow control valve in the piping system diagram of FIG. 4. It is the block diagram which showed the structure of the control circuit of the control apparatus of the control apparatus of the self-propelled control apparatus of FIG. It is the figure which showed an example (flow) of control of the control apparatus of a control machine. It is the figure which showed an example (flow) of control of the control apparatus of a control machine. It is the figure which showed an example (flow) of control of the control apparatus of a control machine. It is the block diagram which showed another example of the structure of the control circuit of the control apparatus of a control apparatus. Fig.11 (a) is a figure at the time of providing a bypass cock motor in the piping system diagram of FIG. 5, FIG.11 (b) is a figure which showed an example (flow) of control of a control apparatus. It is the figure which showed an example (flow) of control of the control apparatus of a control machine. It is the figure which showed an example (flow) of control of the control apparatus of a control machine. It is the figure which showed an example (flow) of control of the control apparatus of a control machine. It is the figure which showed an example (flow) of control of the control apparatus of a control machine. It is the figure which showed an example (flow) of control of the control apparatus of a control machine. It is the figure which showed an example (flow) of control of the control apparatus of a control machine. It is the figure which showed an example (flow) of control of the control apparatus of a control machine. It is the figure which showed an example (flow) of control of the control apparatus of a control machine. It is an enlarged view at the time of providing a pump rotation speed sensor in the prevention pump of FIG. It is the figure which showed an example (flow) of control of the control apparatus of a control machine. It is the figure which showed an example (flow) of control of the control apparatus of a control machine. FIG. 23 (a) is a block diagram showing the configuration of the control circuit of the control device of the control machine and the work machine when the work machine is mounted on the rear part of the self-propelled control machine, and FIG. It is a top view of the operation box for horizontal control. It is the figure which showed an example (flow) of control of the control apparatus of a control machine and a working machine. It is the block diagram which showed the structure of the control circuit of the control apparatus of the conventional control machine of a self-propelled control machine, and a working machine.

A self-propelled control machine according to an embodiment of the present invention will be described with reference to the drawings.
FIG. 1 shows a side view of a self-propelled control machine according to an embodiment of the present invention, and FIG. 2 shows a front view of the self-propelled control machine of FIG. 3A is a plan view of the control controller box of the self-propelled control machine of FIG. 1, and FIG. 3B is a plan view of the controller panel 20 of FIG. 3A. FIG. 4 shows a piping system diagram of the control machine.

An engine E is mounted on the front portion of the vehicle body (body frame) 1, the rotational power of the engine E is transmitted to the transmission in the transmission case 2, and the rotational power decelerated by the transmission is transmitted to the front wheels 3 of the traveling device and the rear This is a configuration for transmitting to the wheel 4. A chemical solution tank 5 containing a drug (chemical solution) is installed at the rear of the machine body. A driver's seat 6 is provided above the chemical solution tank 5, and a steering handle 7 is provided in front of it. The chemical solution in the chemical solution tank 5 is ejected from the nozzle 11 of the spray hose 10 provided on the spray boom 9 by the control pump 8.
Boom storage support frames 13 and 13 for storing and supporting the spreading boom 9 are erected on both the left and right sides of the machine body, and are latched and held by a receiver 14.

Next, the configuration of the spreading boom 9 will be described.
The center spreading boom (center boom) 9C substantially matches the width of the airframe, and the left and right spreading booms (side booms) 9L and 9R connected to the left and right sides of the center boom are longer than the center boom 9C. The left and right side booms 9L and 9R are pivotally connected to the boom support frame 12, and can be rotated upward by the side boom upper and lower cylinders 15 so as to be held in the storage state or substantially parallel to the ground. It can be supported by rotating to a spraying work posture state. Then, when the spreading boom 9 is stored, the side booms 9L and 9R are stored in the lowering of the boom raising / lowering cylinder 17 after the side booms 9L and 9R are at the correct storage posture angle.

Next, a spray control device of a boom sprayer (chemical solution spray device) having a vehicle speed-linked spray system of a self-propelled control machine will be described.
A vehicle speed sensor 53 (FIG. 6) for detecting the rotation speed (rpm) of the drive shaft to the traveling wheel as a traveling speed (vehicle speed) is installed near the traveling mission case 2, and the detection by the vehicle speed sensor 53 is performed. The value is transmitted to the controller 100 (FIG. 6) of the controller 99.

  As shown in FIG. 3, the spray switch 16 for turning on and off the control pump 8 (FIG. 4), the water absorption switch 19 for water absorption, and the spray cocks C1, C2, C3 of the booms 9L, 9C, 9R that can be manually opened and closed. Etc. are installed on the side of the driver's seat 6. The spreading cocks C1, C2, C3 are opened and closed by operating the lever. The water absorption pump (jet pump) 18 (used for pumping) is driven by a water absorption switch 19 that turns the control pump 8 on and off.

  As shown in FIG. 3, the controller panel 20 displays a display unit such as a spray setting 23, a pressure 24, a flow rate 25, and a total flow rate 26 from the upper side on the left side of the display (display unit) 22 at the upper center. This is a configuration for displaying a plurality of different spraying conditions. The data content displayed on the display 22 is instructed by an indicator (triangular mark) 22 a that is lit at the left end of the display 22. A display switching button 28 for switching the display is provided on the right side of the display 22.

  Below these, an automatic switch 29 for setting an automatic medicine spraying mode for automatically spraying medicine based on spraying conditions is provided, and when automatic spraying control is performed by pressing this automatic switch 29 ( When the automatic switch 29 is on), the pump lamp 30 is lit. When the automatic switch 29 is pressed again in this state, the pump lamp 30 is turned off, and the mode is switched to the manual medicine spraying mode in which the medicine is manually sprayed. In manual spraying, the control pump 8 is turned on and off by turning the spray switch 16 on and off. In addition, in manual spraying, spraying can be performed even when the vehicle is stopped. Furthermore, a dispersion setting switch 31, increase / decrease button switches 32 and 33, a total reset switch 34, and the like are arranged.

When the automatic switch 29 is pressed by the operator and automatic control is selected (the automatic switch 29 is turned on), spraying is turned on and off by a signal from the vehicle speed sensor 53.
When the spread cocks C1 to C3 are opened by opening and closing the lever, and a traveling clutch (not shown) is inserted to advance the machine body, the control device (CPU) 100 (vehicle speed sensor) control pump 8 is automatically driven. Control work is started. The spray cocks C1 to C3 are cocks for selecting booms to be sprayed. In the case of automatic spraying, the presence or absence of spraying is determined by the vehicle speed sensor 53 even if the spray cocks C1 to C3 are always open. In the case of manual spraying, the spraying switch 16 determines the presence or absence of spraying.

The flow rate from the high-pressure water discharge path 37 is always detected by the flow rate sensor 43, and the signal from the flow rate sensor 43 is transmitted to the control device 100 of the controller 99 together with the signal from the vehicle speed sensor 53 that detects the traveling speed. Yes.
Therefore, in the control device 100, the target spray amount per unit area is input based on signals from the vehicle speed sensor 53 and the flow sensor 43 under the input of the predetermined discharge amount of each spray nozzle and the target spray amount per unit area. The flow rate of the chemical solution necessary for realizing the above is calculated, and the discharge amount of the control pump 8 is controlled so that the calculation result is realized.

  Further, as shown in FIG. 4, the chemical liquid suction / discharge path includes a low pressure water absorption path 35 between the chemical liquid tank 5 and the control pump 8, and a high pressure water discharge path 37 and a flow control valve 36 extending from the control pump 8 to the flow control valve 36. To the spraying hoses 10L, 10C, 10R and the spraying hoses 10L, 10C, 10R to the spraying booms 9L, 9C, 9R. The high-pressure water discharge path 37 is provided with a residual water return path 40 having a pressure control valve 38 for controlling the discharge amount of the control pump 8 so that the chemical solution can be reduced to the tank 5.

  Further, a stirring path 41 is communicated between the high-pressure water discharge path 37 and the bottom of the tank 5, and a part of the chemical solution in the high-pressure water discharge path 37 is constantly ejected and reduced into the tank 5. The chemical solution is being stirred. And the self-propelled control machine by this embodiment is providing the chemical | medical solution distribution path 60 which is a main path | route, and the bypass path | route 61 which is a branch path as the said chemical | medical solution path | route Y. FIG.

FIG. 5 shows an enlarged view of the vicinity of the flow control valve 36 in the piping system diagram of FIG.
In a small amount of spraying a relatively small amount of chemical solution, the chemical solution is allowed to flow only in the chemical solution spraying path 60, which is the main route, and a relatively small amount of chemical solution is sprayed onto the crop. On the other hand, in normal spraying that is normally performed, a chemical solution is allowed to flow through both the chemical solution spraying route 60 and the bypass route 61, which is a branch route, and a relatively large amount of the chemical solution is sprayed onto the crop. A bypass cock 63 is provided in the bypass path 61 and opens and closes manually by an operator. The bypass cock opening / closing sensor 65 detects whether the bypass cock 63 is opened or closed (opened or closed).

Further, a flow rate sensor 43 for detecting a flow rate is provided in the chemical solution spraying path 60.
And the pressure sensor 45 which detects the liquid pressure of the chemical | medical solution supplied to the spraying hoses 10L, 10C, and 10R from the chemical | medical solution spraying path | route 60 and the bypass path | route 61 is provided. An air chamber 39 is provided in the high-pressure water discharge path 37 between the flow control valve 36 and the pressure control valve 38, and a suction filter 44 is provided in the low-pressure water absorption path 35 between the chemical liquid tank 5 and the prevention pump 8. Is provided.

Normally, the water absorption pump 18 (jet pump) is connected to this machine by a one-touch coupler that can be connected to the coupler 46a of the water absorption hose 46 and the coupler 41a at the end of the stirring path (stirring hose) 41. A switching cock 47 exists in the coupler connection portion, and when the switching cock 47 is switched, the detection switch 48 detects the switching to the water absorption side. For example, a pressure value of 30 kg / cm ² ) higher than a predetermined value is fixed.

  In the illustrated example, the spray switch 16 is disposed on the left side of the spray cock C1, and the water absorption switch 19 is disposed on the rear side of the front spray switch 16, thereby making each operation easy to understand. When the spray switch 16 is turned on at the time of spraying, the control pump 8 is driven and the chemical liquid flows to the spray boom 9. Further, when the water absorption switch 19 is turned on at the time of water absorption, the prevention pump 8 is driven, and the water absorption pump 18 is driven by the water flow by the prevention pump 8. In addition, if the spray switch and the water absorption switch are of the dial type, the spray switch is turned on when the front is turned and the water switch is turned on when the rear is turned. The property is also good.

In FIG. 6, the block diagram which showed the structure of the control circuit of the spraying control apparatus of a control machine is shown.
As shown in FIG. 6, the control device 100 is provided with a memory 50 such as a RAM or an EEPROM that stores detection value data of various sensors for controlling an automatic medicine spraying process (automatic spraying function).

  The control device 100 includes an engine speed sensor 57 that detects the rotation speed (rpm) of the engine E, a vehicle speed sensor 53 that detects the vehicle speed from the traveling transmission device such as the transmission case 2, and a pressure that detects the fluid pressure of the medicine to be sprayed. Each detection value (detection signal) is input from the sensor 45 and the flow rate sensor 43 that detects the flow rate of the chemical solution spraying path 60, and the display switching button 28, the automatic switch 29, the spray setting switch 31, and the like disposed on the controller panel 20 or the like. Signals corresponding to various key operations are also input from operation switches such as the increase / decrease button switches 32 and 33 and the cumulative reset switch 34. Further, a signal from a valve opening sensor 42 including a potentiometer for detecting opening / closing of the spray switch 16 for operating the control pump 8 and the flow control valve 36 is also input. Note that power is supplied to the control device 100 from an external power supply device (not shown) by turning on the key switch for starting the machine.

  On the other hand, on the output side of the control device 100, the electromagnetic clutch relay 49 that turns on and off the transmission of the control pump 8, the flow control motor 52 that opens and closes the flow control valve 36, and the pump lamp 30 and the display 22 of the controller panel 20 are displayed. And an output signal based on various commands is received from the control device 100. Further, a memory 50 such as a rewritable nonvolatile memory or an EEPROM stores an application amount setting value, a valve opening detection value, and the like. The buzzer 51 is composed of a generator such as a speaker.

The control device 100 of the self-propelled pest control machine according to the present embodiment sequentially selects one of the spraying conditions based on the spraying conditions stored in the memory 50 in this manner, and sprays the medicine in conjunction with the vehicle speed. This is a configuration capable of automatic drug spraying control (automatic control).
The operator starts the operation by inputting, for example, each spraying pressure (kgf / cm ² ) and a target spraying amount per 10 ares (liters / 10 ares) corresponding to the small spraying and the normal spraying. In the automatic spraying mode in which automatic control is performed, the spraying pressure can be automatically adjusted so as to become the target spraying amount according to the vehicle speed detected by the vehicle speed sensor 53.

  When the automatic switch 29 is pressed by the operator and automatic control is selected, the control device 100 performs a process of switching the “spraying mode” display on the display 22 to the “automatic spraying mode” display simultaneously with the lighting of the pump lamp 30. . The display content is switched to the spray setting 23, the pressure 24, the flow rate 25, and the total flow rate 26 by the display changeover switch 28. In addition, the display of small amount spraying and normal spraying can be understood from the flow rate.

And the control apparatus 100 has an automatic spraying function which starts spraying of a chemical | medical agent, when automatic control is selected and the vehicle speed detected from the vehicle speed sensor 53 becomes more than predetermined value (it starts running).
In the initial state when the power supply is on, the pump lamp 30 is turned off, and the display on the display 22 is “manual spraying mode”. When the “manual spraying mode” is displayed, when the automatic switch 29 is pressed by the operator and automatic control is selected in the same manner as described above, the pump lamp 30 is turned on and the “manual spraying mode” display on the display 22 is changed to “automatic”. The display switches to “Spreading mode”.

When the operator presses the spray setting switch 31 while the indicator 22a is displaying the spray setting, the small spray and the normal spray are switched by rotation, and the small spray and the chemical spray path for spraying the chemical to the crop by flowing only the chemical spray path 60. It is possible to set a normal spraying method in which a chemical solution is supplied to both the path 60 and the bypass path 61 and sprayed on the crop. When the indicator 22a is set to the spray setting by the display changeover switch 28, the current spray mode can be confirmed.
When the small amount spraying and the normal spraying are set by operating the spray setting switch 31, the control device 100 outputs a signal to the electromagnetic clutch relay 49 to drive the control pump 8 so that the set amount corresponds to each condition.

When the amount of crops in the field is small or when the amount of chemical solution is small depending on the type of crop, small amount spraying is performed by flowing the chemical solution only to the chemical solution spraying path 60 and spraying it on the crop. Normal spraying is performed in which a chemical solution is applied to both paths of the bypass path 61 and sprayed on the crop.
When the small amount spraying is selected by the spray setting switch 31, the bypass cock 63 is closed, and when the normal spraying is selected by the spray setting switch 31, the bypass cock 63 is opened.

  However, when the setting by the spray setting switch 31 is different from the open / closed state of the bypass cock 63, the control device 100 does not output a signal to the electromagnetic clutch relay 49 and cuts off the transmission of the control pump 8, thereby automatically spraying the chemical ( Prevent automatic spraying function). If the setting by the spray setting switch 31 and the open / close state of the bypass cock 63 in the bypass path 61 are different, the flow rate of the chemical solution supplied to the spray hoses 10L, 10C, 10R becomes inaccurate.

  Therefore, according to the self-propelled pest control machine of the present embodiment, the control device 100 has an automatic spray stop function for preventing the automatic spraying of the medicine when the spray amount of the chemical solution and the set amount of the spray condition are different. By having it, it is possible to prevent the spraying of medicines under wrong conditions. And if the actual spraying conditions of the drug are different from the set conditions, the operator can easily determine whether appropriate drug spraying is possible under normal conditions. Appropriate drug spraying.

  For example, when the spray setting by the spray setting switch 31 is a small amount spraying and the bypass cock 63 of the bypass path 61 is open, or when the spray setting by the spray setting switch 31 is normal spraying and the bypass cock 63 of the bypass path 61 is closed In such cases, automatic spraying cannot be performed by the automatic spraying stop function.

In FIG. 7, an example (flow) of control of the control apparatus 100 is shown.
When the operator presses the automatic switch 29, automatic control is selected, and when the pump lamp 30 is turned on, the setting mode (automatic spraying mode) is automatically set, the setting mode is displayed on the display 22, and the indicator 22a is spraying setting. Lights up at 23. When the operator presses the spray setting switch 31 while the indicator 22a displays the spray setting, the small spray or normal spray is set.

  Then, when the opening / closing state of the bypass cock 63 in the bypass path 61 is detected by the bypass cock opening / closing sensor 65, the control device 100 determines whether the spray setting matches the opening / closing state of the bypass cock 63. For example, when the spray setting by the spray setting switch 31 is a small amount spraying, when the bypass cock 63 is closed, spraying under normal conditions is performed, and when the bypass cock 63 is open, spraying under wrong conditions is performed. judge. When the spray setting by the spray setting switch 31 is normal spraying, spraying under normal conditions is performed when the bypass cock 63 is open, and spraying under incorrect conditions is performed when the bypass cock 63 is closed. judge.

  When it is determined by the control device 100 that spraying of an incorrect condition is performed, that is, according to the set amount of the chemical solution by the spray setting switch 31 and the open / closed state of the bypass path 61 detected by the bypass cock open / close sensor 65. When the spraying amount of the chemical solution is different, even when the self-propelled control machine starts traveling, the control pump 8 is not driven and automatic spraying is not performed. When it is determined that spraying under normal conditions is performed, when the self-propelled control machine starts traveling, the control pump 8 is turned on by the electromagnetic clutch relay 49 and automatic spraying is performed. The traveling of the self-propelled control machine is determined by the vehicle speed detected by the vehicle speed sensor 53.

  With this configuration, only by detecting the opening / closing of the bypass cock 63 of the bypass path 61 by the bypass cock opening / closing sensor 65, the difference between the spraying amount of the chemical liquid and the setting amount of the spraying condition is determined, and the spraying amount and the setting amount are different. By stopping the automatic spraying of drugs, it is possible to easily and easily prevent the spraying of drugs under wrong conditions. Therefore, by stopping the automatic spraying of medicines, the operator can easily and quickly determine whether spraying under normal conditions is possible. Therefore, appropriate medicine spraying according to the field condition, crop type, etc. can be performed. it can.

If the bypass cock 63 is open when the spray setting by the spray setting switch 31 is a small amount spray, the operator closes the bypass cock 63 and closes the bypass cock 63 when the spray setting by the spray setting switch 31 is normal spraying. Then, the operator opens the bypass cock 63 so that normal conditions can be sprayed at an early stage.
In addition, in the self-propelled pest control machine of the present embodiment, the case where there is one bypass path 61 is shown. The structure which can set spraying conditions may be sufficient.

  Further, when the spraying amount of the chemical solution according to the open / close state of the bypass path 61 and the setting amount of the spraying conditions are different, not only the automatic spraying of the medicine is stopped, but also the buzzer 51 is sounded, the sound is emitted, and the display 22 is displayed. It is good also as a structure (notification | reporting function) which alert | reports or warns that it is chemical | medical agent dispersion | distribution of an unsuitable condition for an operator by the alerting | reporting means which can be recognized by auditory sense or vision visually. When displaying on the display 22, it should just be visually recognizable with a picture, a figure, a character, a number, brightness, etc., for example. Further, a warning by sound such as a buzzer 51 may be used together.

FIG. 8 shows an example (flow) of control by the control device 100.
When the opening / closing state of the bypass cock 63 in the bypass path 61 is detected by the bypass cock opening / closing sensor 65, the control device 100 determines whether the spray setting matches the opening / closing state of the bypass cock 63. When the spray setting and the open / close state of the bypass cock 63 are different, for example, when the spray setting by the spray setting switch 31 is a small amount spraying, the bypass cock 63 is open, or when the spray setting by the spray setting switch 31 is normal spraying. If the bypass cock 63 is closed at the same time, it is determined that spraying of an incorrect condition is performed, and the buzzer 51 is turned on.

  With this configuration, by giving an alarm before the medicine is sprayed, the operator can determine whether normal spraying can be performed reliably and more quickly. Therefore, an appropriate response according to the situation becomes possible at an early stage.

  Further, when the spraying amount of the chemical liquid detected by the flow sensor 43 of the chemical liquid spraying path 60 is not more than a predetermined value and the vehicle speed of the self-propelled control machine detected by the vehicle speed sensor 53 is zero, the buzzer 51 or The notification by the display 22 may not be performed. That is, the control device 100 has a notification stop function that stops the notification function even when the spraying amount of the chemical solution and the set amount of the spraying conditions are different.

  For example, when the self-propelled control machine is not traveling (when the vehicle speed is zero and water is being pumped, etc.), the flow rate detected by the flow sensor 43 is less than a predetermined value (specifically, chemical solution spraying) If the flow rate is zero when no chemical solution is flowing through the path 60, the chemical solution may be pumped up from the chemical solution tank 5 by the water absorption pump 18. At this time, the spray cocks C1 to C3 are in a closed state, and are switched to the water absorption side by the switching cock 47. Therefore, almost no chemical liquid flows through the chemical liquid spraying path 60, and no chemical is sprayed when the control pump 8 is driven (manually) to pump up water. The piping system may be cleaned by diluting the chemical solution having a high concentration by pumping up water, or by pumping water into the chemical solution tank 5 at the end of the work and then spraying the water. Further, although the spray switch 16 and the water supply switch 19 are provided separately, both switches are for driving the control pump 8. If the control pump 8 is not driven, the water absorption pump 18 does not move, and the water is absorbed by the water flow by the control pump 8. The turbine of the pump 18 is rotated and driven.

  Thus, it is not necessary to sound an alarm when pumping water with the speed of the self-propelled control machine limited to zero. Therefore, if an excessive warning is issued in such a case, the operator is uncomfortable, and it is better not to be notified by the buzzer 51 or the display 22.

FIG. 9 shows an example (flow) of control by the control device 100.
When the opening / closing state of the bypass cock 63 in the bypass path 61 is detected by the bypass cock opening / closing sensor 65, the control device 100 determines whether the spray setting matches the opening / closing state of the bypass cock 63. When the spray setting and the opening / closing state of the bypass cock 63 are different, the buzzer 51 is normally turned on as shown in FIG. 8, but even if the spray setting and the opening / closing state of the bypass cock 63 are different, the flow sensor 43 When the detected chemical flow rate is equal to or lower than the predetermined value and the vehicle speed detected by the vehicle speed sensor 53 is zero, the buzzer 51 is turned off. With this configuration, the operator is not uncomfortable by not excessively warning.

  FIG. 10 is a block diagram showing the configuration of the control circuit of FIG. 6 when a bypass cock motor 67 is provided. Further, FIG. 11A shows a diagram when the bypass cock motor 67 is provided in the piping system diagram of FIG. 5, and FIG. 11B shows an example (flow) of control of the control device 100. .

  An actuator (such as a valve or a motor) that can automatically open and close the bypass cock 63 of the bypass path 61 may be provided. When the operator manually opens and closes the bypass cock 63, the opening and closing of the bypass cock 63 must be confirmed when spraying a small amount and during normal spraying. Further, when the spray setting by the spray setting switch 31 and the opening / closing of the bypass cock 63 are different, there is a problem that normal medicine spraying cannot be performed and the flow sensor 43 is loaded. The flow rate sensor 43 has a detection limit value, and it is not preferable to apply a large flow rate with the bypass passage 61 closed, because a large load is applied.

  However, an actuator for a bypass cock that can automatically open and close the bypass cock 63 is provided, and is controlled by the control device 100 so that it opens when the spray setting by the spray setting switch 31 is normal spraying and closes when spraying a small amount. The operator can work without being conscious of opening and closing of the bypass cock 63 and can perform safe and accurate medicine spraying. As described above, when the setting by the spray setting switch 31 and the open / close state of the bypass cock 63 are different, the control pump 8 is not driven even when the traveling is started, but the control device 100 sets the spray setting by the spray setting switch 31. Is output, and a signal is output to a bypass cock motor 67 that opens and closes the bypass cock 63 so that the amount of spraying corresponds to the spraying setting. The bypass cock opening / closing sensor 65 is not shown in FIG. 11, but may be provided at the rotation fulcrum of the bypass cock 63.

  For example, as shown in FIG. 11B, when the spray setting is normal spray, the bypass cock 63 is opened regardless of automatic spraying or manual spraying, and the bypass cock 63 is closed when spraying a small amount. The motor 67 is controlled. According to this configuration, since the bypass cock 63 automatically opens and closes so as to achieve a spray amount corresponding to the spray setting, the burden on the operator is reduced, and safe and accurate medicine spraying can be performed.

  Further, in the self-propelled control machine of the present embodiment, when the spray setting and the open / close state of the bypass cock 63 of the bypass path 61 are different, that is, when it is determined that spraying under an incorrect condition is performed, the control device 100 controls the control pump 8. May be provided (although automatic spraying is not performed), a release switch 55 for canceling the automatic spraying stop function may be provided.

  Depending on the operator, there are cases where it is desired to carry out spraying work under conditions and operation methods depending on the individual, and there are cases where fine control is desired depending on conditions such as the field condition and crops. Therefore, by providing the release switch 55, it is possible to perform control according to individual conditions rather than uniform control, and to widen the range of spraying work. For example, the following control may be enabled by turning on the release switch 55.

  When the spray setting by the spray setting switch 31 is a small amount spray and the bypass cock 63 of the bypass path 61 is open, the control pump 8 is not driven unless the self-propelled control machine reaches a predetermined vehicle speed (spreading starts). The control device 100 may output the signal to the electromagnetic clutch relay 49 so that the transmission of the control pump 8 is turned off.

FIG. 12 shows an example (flow) of control by the control device 100.
In the automatic spraying mode, the control device 100 determines the spray setting by the spray setting switch 31 and the open / closed state of the bypass cock 63 of the bypass path 61 detected by the bypass cock open / close sensor 65. When the bypass cock 63 is open and the spray setting is a small amount spray, the self-propelled control machine starts traveling, and when the vehicle speed detected by the vehicle speed sensor 53 is less than a predetermined value, the control pump 8 However, when the vehicle speed detected by the vehicle speed sensor 53 is equal to or higher than a predetermined value, the control pump 8 is turned on.

  In this way, when the bypass cock 63 of the bypass path 61 is open and the spraying setting is a small amount spraying, and the self-propelled control machine is traveling at a low speed, the spraying of the medicine cannot be started. However, when the self-propelled control machine is traveling at high speed, the spraying of the medicine can be started, so that the spraying operation can be performed even when the spraying setting by the spraying setting switch 31 and the opening / closing of the bypass cock 63 are different. It can be carried out. When the bypass cock 63 of the bypass path 61 is open, normal spraying is possible, so there is no problem even if the spraying amount is small. That is, in this case, there is no problem that the pressure applied to the chemical solution spraying path 60 is increased and the load applied to the flow sensor 43 is increased.

  In addition, since the spraying amount of the medicine is linked to the vehicle speed, the spraying pressure increases and the flow rate increases when the vehicle speed of the self-propelled control machine exceeds the predetermined vehicle speed. Then, the control device 100 starts the spraying operation by turning on the electromagnetic clutch relay 49 and driving the control pump 8 when the spraying pressure reaches a flow rate that can be detected by the flow sensor 43.

Further, when the release switch 55 is on, the following control may be possible.
When the bypass cock opening / closing sensor 65 detects that the bypass cock 63 of the bypass path 61 is closed, even if the spray setting is normal spraying, the spray setting switch 31 is not automatically pressed and a small amount spraying is automatically performed. . When an actuator (motor, valve, etc.) such as a bypass cock motor 67 (FIG. 11) that can automatically open and close the bypass cock 63 of the bypass path 61 is provided, the operator does not manually open and close the bypass cock 63. It is preferable to automatically spray a small amount.
Even if it is set to normal spraying in the previous spraying work, the operability of the spraying work is improved by automatically setting a small amount spraying.

FIG. 13 shows an example (flow) of control by the control device 100.
When the bypass cock opening / closing sensor 65 detects that the bypass cock 63 of the bypass path 61 is closed, the spray setting is changed from a normal spray amount (for example, 100 liter / 10 are) to a small amount (for example, 25 liter / 10 are). ). At this time, it is displayed as shown in FIG. And actual spraying is also performed at 25 liters / 10 are. In the case of normal spraying, the spraying pressure is automatically set in conjunction with the vehicle speed and the spray amount is changed by controlling the flow control valve 36 in the automatic spraying so as to be 100 liters / 10 are. In manual spraying, the operator sets the spraying pressure.

  When the bypass cock 63 of the bypass path 61 is closed, the display 22 is automatically switched to the setting of the small amount spraying regardless of the automatic spraying or the manual spraying, so that the operator works under the condition of the small amount spraying. Can be easily recognized, so that the operability of the spraying work is improved. For example, when it is desired to perform the operation under the normal spraying condition but the small spraying is set, the fact that the condition is the small spraying is displayed on the display 22, so that the user immediately notices that the spraying condition is different. Therefore, the operator can quickly change to normal spraying by opening the bypass cock 63.

Further, when the release switch 55 is on, the following control may be possible.
If the operator sets the spray setting to normal spray, but the bypass cock 63 of the bypass path 61 is closed (becomes a small spray), it is not switched to the small spray setting as shown in FIG. When the control machine is running and automatic spraying is under normal spraying conditions, the flow rate sensor 43 measures the flow rate of the chemical solution spraying path 60 and the measured value is larger than the detection limit value (maximum value) of the flow rate sensor 43. In addition, a notification or warning is provided by a notification means such as the buzzer 51 or the display 22, and the increase / decrease of the spray amount linked to the vehicle speed is further stopped to limit the spray pressure of the chemical solution spray path 60 with the detection limit value of the flow sensor 43. The configuration. In the automatic spraying mode in which automatic control is performed, the spraying pressure can be automatically adjusted so as to reach the target spraying amount according to the vehicle speed detected by the vehicle speed sensor 53, but this spraying pressure is limited by the detection limit value of the flow sensor 43. It is. That is, if the bypass cock 63 of the bypass path 61 is closed and a large flow rate is allowed to flow, a large load is applied to the flow rate sensor 43, so that it does not flow beyond the limit of the flow rate sensor 43.

In FIG. 14, an example (flow) of control of the control apparatus 100 is shown.
In the automatic spraying mode, when the spray setting by the spray setting switch 31 is normal spraying, the control device 100 determines the open / close state of the bypass cock 63 of the bypass path 61 detected by the bypass cock open / close sensor 65. Even when the bypass cock 63 is closed (small spray condition), automatic spraying is started under the normal spray condition. And the control apparatus 100 measures the flow volume (spreading amount) of a chemical | medical solution with the detected value from the flow sensor 43, and determines whether it is more than the preset maximum value. When the spraying amount of the chemical solution is equal to or greater than the maximum value, the spraying pressure corresponding to the flow rate is lowered and adjusted so as to reach the maximum value (the pressure at that time is P1). Further, when the spraying amount of the chemical solution is equal to or greater than the maximum value, the buzzer 51 is turned on and the operator is notified of that.

  Further, the spray pressure of the target spray amount corresponding to the vehicle speed detected by the vehicle speed sensor 53 is calculated, and when the calculated value is not P1 or less (when larger than P1), P1 is maintained, and when P1 or less Controls the spray pressure (calculated value) of the target spray amount according to the vehicle speed to turn off the buzzer 51.

  When the spray setting by the spray setting switch 31 is normal spray and the bypass cock 63 of the bypass path 61 is closed, the pressure applied to the chemical solution spray path 60 increases and the load applied to the flow sensor 43 increases. When the load applied to the flow sensor 43 is large, such as when the flow sensor 43 is a turbine type, a problem such as shortening the replacement life occurs. However, by limiting the pressure applied to the chemical solution spraying path 60 in this way, You can prevent problems.

  In the flow shown in FIG. 14, for example, when the bypass cock 63 of the bypass path 61 is closed and the spray setting is normal spray, an alarm is generated based on the detection limit value (for example, 40 liters / minute) of the flow sensor 43. And stop the linkage of the spraying pressure to the vehicle speed, and limit the spraying pressure to the pressure by the spraying pressure corresponding to the detection limit value (maximum flow rate) or a calculated value less than that (spraying pressure of the target spraying amount according to the vehicle speed). .

  Further, the pressure measurement value detected by the pressure sensor 45 when the spray cocks C1, C2, C3 are all closed and the control pump 8 is driven is set as the maximum pressure (upper limit value) of the pressure control of the pressure control valve 38. You may provide the function memorize | stored in the control apparatus 100. FIG.

FIG. 15 shows an example (flow) of control by the control device 100.
In the energized state, the spray cocks C1, C2, C3 are closed and the control pump 8 is driven to detect the liquid pressure of the chemical solution by the pressure sensor 45 and store it in the memory 50. Storage in the memory 50 is performed by a storage switch 56 provided separately. This configuration determines the pressure at which the pressure control valve 38 operates before work regardless of automatic spraying or manual spraying.

Then, the pressure measurement value detected by the pressure sensor 45 at that time is stored in the memory 50 by turning on the storage switch 56.
With this configuration, it is possible to determine whether or not the set pressure of the pressure control valve 38 is normal. Then, the pressure at which the pressure control valve 38 is activated is set, and by removing the pressure, the horsepower for driving the control pump 8 becomes unnecessary, and the power loss of the engine E can be prevented.

  And when the set pressure of the pressure regulation control valve 38 is smaller than the pressure measurement value (memory value) stored in the memory 50, the control device 100 may be controlled to perform spraying with the memory value. As described above, in automatic spraying, the pressure is automatically set, and in manual spraying, the operator arbitrarily sets the spraying pressure. This setting is made up to the pressure value stored in the memory 50. That is, this configuration prevents the spray setting pressure from being greater than the stored value.

FIG. 16 shows an example (flow) of control by the control device 100. FIG. 16 shows an example of control when the memory 50 stores pressure measurement values detected by the pressure sensor 45 when all of the spray cocks C1, C2, and C3 are closed, as shown in FIG. .
The control device 100 determines whether the automatic spraying mode or the manual spraying mode is set, and compares the magnitude of the spray setting pressure (P1) with the stored value (P2) in the case of the automatic spraying mode or the manual spraying mode. To do. When the spray set pressure is smaller than the stored value (P2> P1), the spray pressure is controlled to the pressure of the stored value (P2), that is, the spray set pressure is increased to perform the spraying operation.

  Since the set pressure of the pressure control valve 38 is low due to the power of the engine E, the spraying range on the high speed side of the self-propelled control machine can be expanded by increasing the set pressure as much as possible. That is, the original set value of the pressure control valve 38 is changed by the engine horsepower due to the design, and the set value at which the pressure control valve 38 operates when the engine horsepower is low is lowered. In some cases, it is desired to change the set value of the control valve 38. In such a case, the pressure control valve 38 is changed.

In the flow of FIG. 16, the case where the automatic spraying mode or the manual spraying mode is not set means a case where the spraying operation is not performed. As described above, when actually performing the operation with automatic spraying or manual spraying, since the spraying pressure is set, it is determined whether manual spraying or automatic spraying is performed.
And by this structure, the fall of spraying pressure can be prevented and appropriate chemical | medical solution spraying can be performed by making the setting upper limit value of spraying pressure at the time of automatic spraying mode or manual spraying mode into a memory value.

Furthermore, when spraying at the pressure of the stored value (P2) in the manual spraying mode, when the engine E speed decreases, the spraying pressure is lowered to the set pressure (P1), the buzzer 51 is sounded, or a sound is emitted. Alternatively, a notification or warning may be provided by a notification means such as displaying on the display 22.
In the case of the automatic spraying mode, the vehicle speed of the self-propelled control machine and the spraying pressure are linked, so that when the speed of the engine E decreases, the vehicle speed of the self-propelled control machine decreases and the spraying pressure also decreases. However, since the vehicle speed of the self-propelled control machine and the spraying pressure are not linked in the manual spraying mode, the spraying pressure does not decrease even when the engine E is rotated, and the engine E is overloaded.

  However, with this configuration, when the rotational speed of the engine E decreases during the manual spraying mode, the engine E can be prevented from being overloaded by reducing the spraying pressure. Further, in that case, the operator can easily recognize that the spraying pressure has dropped from the stored value (P2) to the set pressure (P1) by notifying or warning the operator by the notification means. Despite the fact that the load is applied to the traveling system of the self-propelled control machine and the rotational speed of the engine E is decreasing, if the spraying is continued at a high pressure, the control pump 8 is driven, so that the engine E is further loaded. This can be prevented by acting and stalling.

FIG. 17 shows an example (flow) of control by the control device 100. FIG. 17 shows a flow when the spraying pressure is controlled to the pressure of the stored value (P2) in FIG. 16, and the spraying setting by the spraying setting switch 31 is the manual spraying mode.
When the spraying pressure is set to a stored value (P2, for example, 2 MPa) and the rotational speed detected by the engine rotational speed sensor 57 is decreased and is reduced from the normal working rotational speed by a predetermined rotational speed (for example, 200 rpm), Is reduced to the spray set pressure (P1) and the buzzer 51 is sounded.

  In this way, when in the manual spraying mode and when the rotation speed of the engine E decreases, the spraying pressure is lowered to prevent the engine E from being overloaded. It can be easily recognized that the pressure has decreased from (P2) to the set pressure (P1). Despite the fact that the load is applied to the traveling system of the self-propelled control machine and the rotational speed of the engine E is decreasing, if the spraying is continued at a high pressure, the control pump 8 is driven, so that the engine E is further loaded. This can be prevented by acting and stalling.

  In addition, when the automatic spraying mode or the manual spraying mode is set at the time of setting before work and the bypass cock 63 of the bypass path 61 is open, normal spraying is performed. However, when the spraying setting is changed, the normal spraying mode is set. It is good also as a structure from which the kind of nozzle changes within the range. That is, when the bypass cock 63 is open, the spray setting can be set only within the range of the normal nozzle only.

  For example, every time the spraying setting switch 31 is pressed, “100 (normal nozzle), 100J (nozzle for exclusive use of weeding), 100L (nozzle for low drift)” is switched in order. Although the spraying amount does not change, the type of the nozzle 11 can be changed. These nozzles 11 are complicatedly different in nozzle diameter, hole shape, hole direction, and the like.

FIG. 18 shows an example (flow) of control by the control device 100.
It is determined whether or not the automatic spraying mode or the manual spraying mode is set by operating the spraying setting switch 31. If the automatic spraying mode or the manual spraying mode is selected, the bypass cock of the bypass path 61 detected by the bypass cock opening / closing sensor 65 is detected. The open / close state of 63 is determined. When the bypass cock 63 is open, normal spraying is performed, and the display 22 displays the type of nozzle and the counter spray spray setting amount at the previous work. Therefore, when the scatter setting switch 31 is pressed, the display changes within the range of the normal scatter type.

  For example, when there are three types of nozzles for normal spraying: a normal nozzle, a nozzle for exclusive use of weeding, and a nozzle for low drift, when the spraying setting switch 31 is pressed, 100 (normal nozzle) → 100J (nozzle for weeding) The display 22 switches in the order of 100L (low drift nozzle) → 100. As described above, the display 22 displays only within the range of the type of normal spraying, and can be selected therein. Note that the nozzle 11 is replaced manually, but display switching must be performed separately.

  Therefore, in the case of normal spraying where the bypass cock 63 is open, the type of the small amount spraying is not displayed (the signal from the bypass cock opening / closing sensor 65 is input to the control device 100, so the small amount spraying is not displayed). Improves. That is, every time the spray setting switch 31 is pressed, the display is switched in the order of 100, 100J, and 100L. However, if a numerical value such as a small amount spray that is not relevant at that time is displayed, the switching operation becomes troublesome. However, according to this structure, since it is displayed only within the range of the type of normal spraying, operability is improved.

  When it is desired to change the setting to a small amount spraying, the operator immediately notices that the bypass cock 63 needs to be closed. Therefore, even if the operation is started without checking the open / close state of the bypass cock 63, the open / close state (spraying condition) of the bypass cock 63 can be easily understood, so that it can be quickly adapted to the field condition, crop type, and the like. Appropriate drug spraying.

  On the other hand, when the automatic spraying mode or the manual spraying mode is set by the operation of the spraying setting switch 31 and the bypass cock 63 of the bypass path 61 is closed, a small amount of spraying is performed. In that case, the drive duty ratio (when the motor is on / when the motor is off) of the flow control motor 52 that opens and closes the flow control valve 36 may be made smaller than that during normal spraying.

FIG. 19 shows an example (flow) of control by the control device 100.
It is determined whether or not the automatic spraying mode or the manual spraying mode is set by operating the spraying setting switch 31. If the automatic spraying mode or the manual spraying mode is selected, the bypass cock of the bypass path 61 detected by the bypass cock opening / closing sensor 65 is detected. The open / close state of 63 is determined. When the bypass cock 63 is closed, a small amount of spraying is performed, and the control device 100 outputs a signal that makes the drive duty ratio of the flow control motor 52 (motor on / motor off) smaller than that during normal spraying.

  The operation amount of the flow control valve 36 is also influenced by a slight change in the driving force of the flow control motor 52. In the case of a small amount of spraying, the amount of spraying is smaller than in the case of normal spraying. Therefore, if the drive duty ratio of the flow control motor 52 is large, that is, in the same way as in the case of normal spraying, the change in spraying pressure increases and The accuracy of pressure control will deteriorate. However, with this configuration, the accuracy of controlling the spraying pressure in the case of small amount spraying is improved by making the drive duty ratio at the time of small amount spraying smaller than the drive duty ratio at the time of normal spraying.

FIG. 20 shows an enlarged view in the case where a pump rotational speed sensor 70 for detecting the rotational speed (rpm) is provided in the control pump 8 of FIG. The power from the engine E is transmitted to the pulley 75 of the motor shaft of the control pump 8 through the pulley 72, so that the control pump 8 is driven. The pump rotation speed sensor 70 is a sensor that detects the rotation speed of the pulley 75 of the motor shaft.
Then, the pump rotational speed sensor 70 that detects the rotational speed (rpm) of the control pump 8 at the time of spraying the medicine determines whether the discharge amount of the chemical liquid is high or low (if the bypass cock 63 is closed, the discharge amount is low). It is good also as a structure which displays on the display 22 that it is a high discharge amount when the bypass cock 63 is open.

FIG. 21 shows an example (flow) of control by the control device 100.
When the pump rotation speed sensor 70 that detects the rotation speed of the control pump 8 is driven, the control device 100 determines that spraying is being performed, and the rotation speed detected from the pump rotation speed sensor 70 is greater than a predetermined value. When it is high, it is displayed on the display 22 that it is “high discharge amount”, and when it is below a predetermined value, it is displayed on the display 22 that it is “low discharge amount”. This display may be displayed at a predetermined time by pressing a display changeover switch (not shown).

  For example, a display that allows the discharge amount to be visually recognized by a picture, a chart, characters, numbers, brightness, or the like may be used. When the discharge rate is high, normal spraying is performed, and when the discharge rate is low, spraying is small. Can be prevented.

  Further, when the rotational speed of the control pump 8 detected by the pump rotational speed sensor 70 is low, it is inappropriate for the operator by a notification means such as sounding the buzzer 51, making a sound, or displaying on the display 22. It is good also as a structure which alert | reports or warns that it is spraying of the chemical | medical agent of conditions.

FIG. 22 shows an example (flow) of control by the control device 100.
The control device 100 determines that spraying is being performed when the pump rotational speed sensor 70 that detects the rotational speed of the control pump 8 is driven, and if the setting by the spray setting switch 31 is normal spraying, the bypass cock Opening / closing of the bypass cock 63 is detected by the opening / closing sensor 65. The buzzer 51 is turned on when the rotation speed detected from the pump rotation speed sensor 70 is equal to or less than a predetermined value.

  With this configuration, the validity of the setting by the spray setting switch 31 and the rotation speed detected from the pump rotation speed sensor 70 can be confirmed. Since it is noticed, it is possible to quickly perform appropriate chemical spraying according to the field condition, crop type, and the like.

  By combining the above control examples of the control device 100 so as not to contradict each other, a variety of spraying control can be performed. For example, the flow of FIG. 13 and FIG. 14 is different from the configuration of “cock closed?”, But FIG. 14 is a countermeasure when a normal spray is set when the bypass cock 63 is closed. Is another embodiment when the bypass cock 63 is closed, and forcibly sprays a small amount.

  In addition, when a working machine (for example, a weeding machine) is mounted on the rear part of the self-propelled control machine of the present embodiment, the operation information of the operation box for horizontal control is obtained from the controller of the machine (rear working machine and vehicle body). The operation box may be shared by the rear working machine and the control machine by transmitting from the main body control 103 to the control machine controller 99 via the CAN line 77.

FIG. 23 (a) is a block diagram showing the configuration of the control circuit of the control device and the control device for the work implement when a work implement (not shown) is attached to the rear. FIG. 23B is a plan view of an operation box for horizontal control.
When the body of the self-propelled control machine is tilted, it is necessary to keep the rear working machine and the spraying boom 9 of the control machine horizontal (absolute level).

  The operation mode selection switch 81 of the operation box 80 for horizontal control is a switch for selecting an automatic mode or a manual mode of horizontal control. The rear working machine and the spraying boom 9 of the control machine are automatically leveled. When the operation mode selection switch 81 is further pressed, the automatic parallel control mode is set. The automatic parallel control mode is a mode that is automatically horizontal, that is, parallel to the body of the self-propelled control machine (based on the vehicle body frame 1), and is different from absolute horizontal. Further, when the operation mode selection switch 81 is pressed, the manual mode is set, and the operator can operate the manual switch 83 to adjust the level of the work implement and the spreading boom 9 (hereinafter referred to as a work implement or the like).

  The operation mode selection switch 81 may be a dial type, and is configured to adjust the dial to automatic, parallel, and horizontal positions. The manual switch 83 has a toggle switch shape in the illustrated example. When the manual switch 83 is tilted to the right, the work implements etc. are tilted to the right. Hold the state. The left side can be operated in the same way. That is, while the manual switch 83 is moving, the work implement and the like remain tilted to the right, and when the hand is released from the manual switch 83 at the position where it is desired to stop, the manual switch 83 automatically returns to the neutral position.

  The manual switch 83 can be used in either the automatic horizontal control mode or the automatic parallel control mode. In this case, while the manual switch 83 is tilted to the right, the work implement or the like is tilted to the right. For example, this is used when it is desired to avoid an obstacle while traveling.

  The tilt adjustment dial 85 is used when the operation mode selection switch 81 is in the automatic horizontal control mode or the automatic parallel control mode. In the automatic horizontal control mode, the work machine is controlled to be absolutely horizontal, but can be changed by dialing when it is desired to use the right tilt reference or the left tilt reference rather than the absolute horizontal. At this time, a manual element is inserted, but the manual element is only when the reference for control is changed from absolute horizontal, and after that, automatic control (control to maintain the tilted angle) is performed. Further, in the automatic parallel control mode, it is used when it is desired to hold a work machine or the like that is tilted together with the machine body to the right or to the left.

Conventionally, as shown in FIG. 25, the horizontal operation box 80 is shared between the controller 103 side of the machine and the controller 99 side of the control machine using the branch harness 78, but this is costly and the harness is complicated. There were many wrong connections.
However, with this configuration, by removing the branch harness and connecting the CAN line 77 to the controller 103 of this machine and the controller 99 of the control machine, incorrect connection can be prevented and cost reduction can be achieved.

When the CAN line 77 becomes unable to communicate, the spraying boom 9 is set to the automatic horizontal control mode (horizontal reference) when the spraying work is being performed, and the spraying boom 9 is set to the automatic parallel control mode when the spraying work is not being performed. .
In FIG. 24, an example (flow) of control of the control apparatus of a control machine and a working machine is shown.
It is determined whether or not the CAN line 77 is normal by the controller 103 of this machine. If it is determined that the CAN line 77 is abnormal, it is determined whether or not the chemical solution is being sprayed (when the signal cannot be exchanged). When the chemical solution is being sprayed, the automatic horizontal control mode is set without pressing the operation mode selection switch 81, and when the chemical solution is not being sprayed, the automatic parallel control mode is set.

  In the case of connection using the conventional branch harness 78, in the automatic horizontal control mode and the automatic parallel control mode, it is impossible to tilt the spreading boom 9 in the manual mode, and the spreading boom 9 cannot be stored. The function is the same whether the branch harness 78 or the CAN line 77 is used. When the CAN line 77 becomes incapable of communication, the spray boom 9 can be tilted to the left and right in the manual mode as well as automatically. Disappear.

  The body frame 1 and the spreading boom 9 must be parallel when the spreading boom 9 is stored, but the spreading boom 9 is set to the automatic horizontal control mode (horizontal reference) during the spreading work so that the spreading boom can be used even during the spreading work. 9 horizontal (absolute horizontal) can be maintained, spraying can continue. When the spraying boom 9 is not sprayed, the spraying boom 9 is set to the automatic parallel control mode, and the spraying boom 9 can be accommodated by making the vehicle body frame 1 and the spraying boom 9 parallel.

  The present invention can be used for a self-propelled control machine that sprays other fertilizers and the like, regardless of a self-propelled control machine that sprays drugs and the like.

DESCRIPTION OF SYMBOLS 1 Body frame 2 Mission case 3 Front wheel 4 Rear wheel 5 Chemical tank 6 Driver's seat 7 Steering handle 8 Pump 9 Spreading boom 9C Center boom 9L, 9R Side boom 10 Spreading hose 11 Nozzle 12 Boom support frame 13 Support frame 14 Receiving tool 15 Side Boom upper / lower cylinder 16 Spreading switch 17 Boom lifting / lowering cylinder 18 Water absorption pump 19 Water absorption switch 20 Controller panel 22 Display 22a Indicator 23 Spraying setting display 24 Pressure display 25 Flow rate display 26 Flow rate cumulative display 28 Display switch button 29 Automatic switch 30 Pump lamp 31 Spraying Setting switches 32, 33 Increase / decrease button switch 34 Cumulative reset switch 35 Low pressure water intake path 36 Flow control valve 37 High pressure water discharge path 38 Pressure control valve 39 Air chamber 40 Water return path 41 Stirring path 42 Valve opening sensor 41a, 46a Coupler 43 Flow sensor 44 Suction filter 45 Pressure sensor 46 Water absorption hose 47 Switching cock 48 Detection switch 49 Electromagnetic clutch relay 50 Memory 51 Buzzer 52 Flow control motor 53 Vehicle speed sensor 55 Release Switch 56 Memory switch 57 Engine speed sensor 60 Chemical solution distribution path 61 Bypass path 63 Bypass cock 65 Bypass cock open / close sensor 67 Bypass cock motor 70 Pump speed detection sensor 72, 75 Pulley 77 CAN line 78 Branch harness 80 Operation box 81 Operation mode Selection switch 83 Manual switch 85 Tilt adjustment dial 99 Controller of control machine 100 Control device (CPU)
103 Controller of work implement E Engine Y Chemical solution path

Claims (3)

Traveling device (3, 4);
A chemical solution tank (5) for storing a chemical solution provided on the traveling device (3, 4), a chemical solution spray nozzle (11) for spraying the chemical solution in the chemical solution tank (5), and the chemical solution tank (5 ) And the chemical spray nozzle (11), the chemical liquid path (Y), the setting switch (31) for setting the amount of chemical liquid to be sprayed, and the traveling device (3, 4) When it starts, it has an automatic spraying function that automatically feeds the chemical liquid from the chemical liquid tank (5) to the chemical spray nozzle (11) via the chemical liquid path (Y) under the conditions set by the setting switch (31). In a self-propelled control machine provided with a control machine provided with a control device (100),
The chemical solution path (Y) is composed of a main path (60) and a branch path (61) provided with an opening / closing means (63).
An open / close detection means (65) for detecting an open / close state of the branch path (61) by the open / close means (63);
The control device (100) is configured so that the amount of the chemical solution applied according to the set amount of the chemical solution by the setting switch (31) and the open / closed state of the branch path (61) detected by the open / close detection means (65) are different. A self-propelled control machine having an automatic spraying stop function for stopping the automatic spraying function. An informing means (22, 51) recognizable by hearing or sight is provided in the control machine,
The control device (100), when the set amount of the chemical solution by the setting switch (31) and the spraying amount of the chemical solution according to the opening and closing of the branch path (61) detected by the open / close detection means (65) are different, The self-propelled pest control machine according to claim 1, further comprising a notifying function for notifying by the notifying means (22, 51). Flow rate detection means (43) for detecting the flow rate of the chemical solution in the main path (60);
A speed detecting means (53) for detecting a traveling speed of the traveling device (3, 4);
When the flow rate detected by the flow rate detection means (43) is less than a predetermined value and the speed detected by the speed detection means (53) is zero, the control device (100) notifies the notification means by the notification means. The self-propelled pest control machine according to claim 2, further comprising a notification stop function for stopping the notification function.

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