JP6508232B2 - Scattering system - Google Patents

Description

  The present invention relates to a spraying system for spraying agricultural chemicals and fertilizers dissolved in a solution to crops in the field.

  The sprayer sprays a solution in which pesticides and fertilizers are dissolved from multiple nozzles of a sprayer boom extended to the left and right of the fuselage, but it is a sprayer that reciprocates the field because the width to be sprayed is wide. It is difficult for the operator who is operating the aircraft to check whether the spray is evenly distributed.

  For this reason, in the spraying work vehicle described in JP-A-2016-29947, the spraying work vehicle performs the control operation by traveling the field while spraying the drug from a large number of nozzles provided on a spraying boom extended from the vehicle body to the left and right. In the above, the receiving boom which receives the signal from the GPS satellite S is provided on the outermost left and right sides of the spreading boom, the movement locus of the receiving antenna is stored, the spreading is stopped at the end of the field and the redistribution is started after turning the machine. At this time, the left and right proper receiving antennas are positioned so as to be at or near the position of the receiving antenna stored at the end of the previous spreading, and the spreading travel is started.

JP, 2016-29947, A

  When stopping spraying at the end of the field and starting re-dispersion after turning the machine with the above-mentioned spraying work vehicle, the right and left appropriate receiving antennas will be at or near the position of the receiving antenna stored at the end of previous spraying. If the spray resume position is aligned with the previous spray end position to resume spraying, spraying is performed due to the unevenness or inclination of the weir scene, even if the spray boom end matches the previous spray end at the spray resume position. Along the way, the end of the spreading boom deviates from the previous spreading path and an undispersed field is generated.

  An object of the present invention is to notify a worker of a non-dispersed area out of a sprayed area sprayed by a spraying work vehicle and to appropriately perform additional spraying on the non-dispersed area.

  The object of the present invention is solved by the following technical means.

The invention according to claim 1 comprises an unmanned aerial vehicle (60) wirelessly steerable on a portable terminal (58), having a solution tank (65), an airborne dispersion nozzle (66) and a flight GPS antenna (68).
A plurality of scatter boom (5) which is disposed a ground application nozzle (4) performs a scatter operations stretched to the left and right of the vehicle body (1B), the position of the receiving antenna (50) provided in front Symbol spraying booms (5) The scatter movement locus is drawn on the field map with the position information from the GPS satellites (SG1, SG2), the field map and the unscattered area (11D) on the display / operation panel (11) near the driver's seat (6) In a spraying system provided with a spraying work vehicle (1 ) for identifying and displaying SE0) ,
Data of the non-dispersed area (SE0) from the spread work vehicle (1) is transmitted to the portable terminal (58) and displayed on the image display unit (59), and the non-dispersed area on the displayed field map The unmanned aerial vehicle (60) is steered based on SE0) to perform a spreading operation,
The height of the ground spray nozzle (4) of the spray work vehicle (1) and the height of the aerial spray nozzle (66) of the unmanned aerial vehicle (60) are determined by side information from the GPS satellites (SG1, SG2) It measures and carries out flight control so that the height of the said airborne dispersion nozzle (66) of the said unmanned aerial vehicle (60) corresponds with the height of the said ground spraying nozzle (4) of the said spraying operation vehicle (1) by additional spraying. And
The solution tank (65) is provided with a liquid amount sensor,
A return stand (102) for returning the unmanned aerial vehicle (60);
The unmanned aerial vehicle (60) is configured to return to the return stand (102) when the liquid level sensor detects that there is no solution.
The return platform (102) is open at the top, which can be connected to landing platforms (102a, 102b, 102c, 102d) for landing the unmanned aerial vehicle (60), and the supply and discharge ports of the solution tank (65). And a water supply and drainage pipe (103) .

In the invention according to claim 2, a telescopic hose (101) is provided at the lower part of the unmanned aerial vehicle (60),
The spraying system according to claim 1, characterized in that an aerial spraying nozzle (66) is provided at the lower end of the telescopic hose (101) .

The invention according to claim 3 comprises an unmanned aerial vehicle (60) wirelessly steerable on a portable terminal (58), having a solution tank (65), an aerial spray nozzle (66) and a flight GPS antenna (68).
The spreading boom (5) provided with a plurality of ground spreading nozzles (4) is extended to the left and right of the vehicle body (1B) to perform spreading work, and the position of the receiving antenna (50) provided on the spreading boom (5) is GPS The scatter movement locus is drawn on the field map with the position information from the satellites (SG1, SG2), and the non-scattered area (SE0) along with the field map on the display (11D) of the display / operation panel (11) near the driver's seat A sprayer vehicle (1) for identifying and displaying the
The data of the non-scattered area (SE0) transmitted from the spread work vehicle (1) to the mobile terminal (58) is displayed on the image display unit (59) of the mobile terminal (58), and the non-scattered area The unmanned aerial vehicle (60) performs the spreading operation based on the data of (SE0) ,
The height of the ground spray nozzle (4) of the spray work vehicle (1) and the height of the aerial spray nozzle (66) of the unmanned aerial vehicle (60) are determined by side information from the GPS satellites (SG1, SG2) The unmanned aerial vehicle (A) so that the height of the airborne spray nozzle (66) of the unmanned aerial vehicle (60) matches the height of the ground spray nozzle (4) of the spray vehicle (1) 60) the flight is controlled,
The solution tank (65) is provided with a liquid amount sensor,
A return stand (102) for returning the unmanned aerial vehicle (60);
The unmanned aerial vehicle (60) is configured to return to the return stand (102) when the liquid level sensor detects that there is no solution.
The return platform (102) is open at the top, which can be connected to landing platforms (102a, 102b, 102c, 102d) for landing the unmanned aerial vehicle (60), and the supply and discharge ports of the solution tank (65). And a water supply and drainage pipe (103) .

In the invention according to claim 4 , a telescopic hose (101) is provided at the lower part of the unmanned aerial vehicle (60),
The spraying system according to claim 3 , characterized in that an aerial spraying nozzle (66) is provided at the lower end of the telescopic hose (101) .

  In the invention according to claim 1, the worker who steers the spray work vehicle 1 clearly sees the non-dispersed area SE0 of the field by looking at the display portion 11D of the display / operation panel 11 at the end of the temporary spreading operation. And additional spraying can be done quickly.

In the invention according to claim 1 , after the spraying work by the spraying work vehicle 1 is finished, the undispersed area SE0 is confirmed by the image display unit 59 of the portable terminal 58, and the unmanned aerial vehicle 60 is set to the undispersed area SE0. By skipping and performing additional spraying, the non-dispersed area SE0 can be eliminated quickly and easily.

In the invention according to claim 1 , if the flying height of the unmanned aerial vehicle 60 is matched with the height of the nozzle of the spraying work vehicle 1, the spraying concentration in the non spraying area SE0 can be made equal to the spraying concentration in the spraying area. Can eliminate the difference in crop growth caused by

In the invention according to claim 3 , even after the dispersion work by the dispersion work vehicle 1 is finished, the additional dispersion can be performed quickly even during the dispersion work by the dispersion work vehicle 1, and there is no undispersed area SE0. You can do it.

In the invention according to claim 3 , since the spray height is appropriately controlled promptly and automatically, the spray can be accurately performed and the non-dispersed area SE0 can be eliminated. The spray density can be made the same as the spray area SE with high accuracy.

It is a right side view of a spraying work vehicle. It is a top view of a scattering work vehicle. It is a front view which shows the 1st attitude | position at the time of a spraying operation vehicle spraying. It is a front view which shows the 2nd attitude | position at the time of a spraying operation vehicle spraying. It is a block diagram which shows an example of a solution supply system. It is a control block diagram of a solution distribution system. It is a control block diagram of a GPS receiving part. It is a front view of an operation panel. It is the figure which looked at the right scattering boom from the driver's seat side. It is a side sectional view of a right dispersion boom. It is a front view of the control panel at the time of dispersion | distribution operation | work. It is a scattering movement locus shown on the display unit of the operation panel. It is a figure which shows the control state of an unmanned aerial vehicle. It is a transmission / reception block diagram of an information signal. It is a field division registration figure in an unmanned aerial vehicle. It is a field division registration figure in an unmanned aerial vehicle. It is a perspective view of the unmanned aerial vehicle of another example. It is a perspective view of a return stand of an unmanned aerial vehicle. It is a sowing operation figure by the unmanned aerial vehicle in the meadow. It is a field recognition figure by an unmanned aerial vehicle. It is a pasture monitoring figure by an unmanned aerial vehicle.

  A mode (embodiment) for carrying out the present invention will be described in detail with reference to the drawings.

  In the following description, the left and right directions are referred to as the left and right respectively in the forward direction of the spread work vehicle, and the forward direction is referred to as the front and the reverse direction is referred to as the rear. In addition, a solution refers to a liquid in which a fertilizer, an agricultural chemical, or the like is dissolved in a solvent (for example, water), or a liquid such as a liquid (for example, water) containing solid content such as fertilizer or an agricultural chemical.

  FIG. 1 is a side view of a spray work vehicle according to the present embodiment. FIG. 2 is a plan view of the spray working vehicle according to the present embodiment. The spraying work vehicle 1 is a working vehicle that travels by power generated by a power generation source and sprays a solution to a field.

  The scattering work vehicle 1 transmits the power generated by the internal combustion engine 2 (for example, a diesel engine or a gasoline engine) 2 as a power generation source mounted on the vehicle body 1B and the vehicle body 1B to the ground G to perform dispersion work It includes front wheels 3FL, 3FR and rear wheels 3RL, 3RR for driving the vehicle 1. 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 a hydraulic device.

  The front wheels 3FL and 3FR and the rear wheels 3RL and 3RR are attached to and supported by the vehicle body 1B. A hydraulic motor 3M is attached to the front wheels 3FL and 3FR and the rear wheels 3RL and 3RR. Further, as described later, the front wheels 3FL and 3FR are steered wheels of the spread work vehicle 1. Thus, the vehicle body 1B has the steered wheels and the drive wheels. The hydraulic motor 3M is rotated by the hydraulic fluid discharged from the hydraulic pump 2P, and rotates the front wheels 3FL and 3FR and the rear wheels 3RL and 3RR. By such a structure, the power of the internal combustion engine 2 is transmitted to the ground G to cause the spray vehicle 1 to travel. Although FIG. 1 shows a state where the hydraulic motor 3M is attached to the right front wheel 3FL and the rear wheel 3RL, the hydraulic motor 3M is similarly attached to the left front wheel 3FR and the rear wheel 3RR. .

  In the present embodiment, the dispersion working vehicle 1 transmits the motive power of the internal combustion engine 2 to the front wheels 3FL and 3FR and the rear wheels 3RL and 3RR via the hydraulic pump 2P and the hydraulic motor 3M. , And may be transmitted to the front wheels 3FL and 3FR and the rear wheels 3RL and 3RR. In this case, a hydraulic stepless transmission HST (Hydro Static Transmission) 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 stepless transmission HST. The power output from the fixed hydraulic motor of the continuously variable transmission HST may be input to the transmission, and the power may be transmitted to the front wheels 3FL and 3FR and the rear wheels 3RL and 3RR via the auxiliary transmission in the transmission.

  The spray working vehicle 1 includes a plurality of ground spray nozzles 4 for spraying a solution and a plurality of left spray booms 5L and 5R as a pair of spray booms 5 to which the plurality of ground spray nozzles 4 are attached and support them. And a pre-dispersion boom 5C. The left spread boom 5L is disposed on the left side in the front-rear direction of the spread work vehicle 1, and the right spread boom 5R is disposed on the right side in the front-rear direction of the spread work vehicle 1. Thus, the left scatter boom 5L and the right scatter boom 5R are a pair of scatter booms 5 provided on both sides in the front-rear direction of the vehicle body 1B of the scatter truck 1, respectively.

  The front spread boom 5C is disposed in the traveling direction of the spread vehicle 1 and between the left spread boom 5L and the right spread boom 5R. The left spray boom 5L, the right spray boom 5R, and the front spray boom 5C each have a plurality of ground spray nozzles 4. In the present embodiment, in the plurality of ground spraying nozzles 4, the injection ports for dispersing the solution are directed to the ground G, but the direction of the injection ports is not limited to this, and It can be adjusted accordingly.

  The left spread boom 5L has a swing spread boom 5BL rotatably mounted on the spread work vehicle 1 and an extended spread boom 5SL telescopically supported by the swing spread boom 5BL.

  Similarly to the left spreader boom 5L, the right spreader boom 5R also includes a swing spreader boom 5BR pivotally mounted to the spreader vehicle 1 and an extended spreader boom 5SR telescopically supported by the swing spreader boom 5BR. As shown in FIG. 2, the left spray boom 5L and the right spray boom 5R are folded on both sides in the front-rear direction of the vehicle body 1B of the spray vehicle 1 when the solution is not sprayed in the field. A receiving antenna 50 is provided on the top end of the extended spray boom 5SL and the extended spray boom 5SR to receive radio waves transmitted from a plurality of GPS satellites SG1 and SG2. The GPS receiving unit 10 including the receiving antenna 50 will be described later.

  At the time of spraying the solution, the left spray boom 5L and the right spray boom 5R both pivot forward of the spray vehicle 1 to a position substantially parallel to the front spray boom 5C (indicated by arrow R in FIG. 2) direction). In FIG. 2, the left scatter boom 5 </ b> L and the right scatter boom 5 </ b> R pivot in the direction indicated by the arrow R in FIG. 2. In this position, the left spreading boom 5L and the right spreading boom 5R are fixed to the spreading work vehicle 1. Then, since the left spreading boom 5L, the right spreading boom 5R, and the front spreading boom 5C are arranged substantially in a straight line, the plurality of ground spreading nozzles 4 attached thereto are also arranged in a substantially straight line.

  In addition, the scattering work vehicle 1 has an independent angle between the left spreading boom 5L or the right spreading boom 5R and a reference plane (for example, a plane or a horizontal plane including the front wheels 3FL and 3FR and the rear wheels 3RL and 3RR). Can be adjusted. The spread work vehicle 1 can adjust the distance between the field and the left spread boom 5L or the right spread boom 5R by adjusting the angle between the left spread boom 5L or the right spread boom 5R and the reference surface, so The distance between the crop and the left spreading boom 5L or the right spreading boom 5R can also be adjusted.

  9 and 10 show the telescopic structure of the right spray boom 5R. The left spray boom 5L is symmetrical to the right spray boom 5R, so the description thereof is omitted.

  A right support guide 17R mounted with a right extension spray boom 5SR is slidably mounted on a plurality of upper rollers 19A and lower rollers 19B on a right swing spray boom 5BR whose base is pivotally supported by the vehicle body 1B. A sprocket 33S is fixed to the output shaft of the right slide motor 34R attached to a motor bracket 35R provided on the base of the right turning spray boom 5BR, a coupling chain 22C is wound around the sprocket 33S, and the upper portion of the right support guide 17R A connecting wire 22W connected to a connecting chain 22C is wound around a driven pulley 33P pivotally attached to a pulley bracket 18R2 provided on the front end side. That is, the driven pulley 33P and the sprocket 33S are connected in a loop shape to the connecting chain 22C and the connecting wire 22W.

  Therefore, when the right slide motor 34R is driven, the right extension spray boom 5SR slides and extends and contracts with respect to the right support guide 17R via the connection bracket 18R1 to which the connection wire 22W is attached.

  The right hose support 36R is stretched on the upper side of the connecting chain 22C on the right guide support columns 20R1 and 20R2 erected at the base and tip of the right support guide 17R, and the right flexible hose 23ER wound in a coil is suspended and supported There is.

  When an assist motor for driving the driven pulley 33P is provided on the pulley bracket 18R2, the slide of the right extension spray boom 5SR becomes smoother.

  The scattering work vehicle 1 includes a left upper and lower actuator 12L as a left dispersion boom height adjusting device and a right upper and lower actuator 12R as a right dispersion boom height adjusting device on both sides of the traveling direction side of the vehicle body 1B and the front and rear direction. And is mounted. In addition, the spreading work vehicle 1 is equipped with the left opening / closing actuator 13L as the left spreading boom opening / closing device and the right opening / closing actuator 13R as the right spreading boom opening / closing device on both sides with respect to the traveling direction side of the vehicle body 1B doing. The left upper and lower actuators 12L, the right upper and lower actuators 12R, the left open / close actuator 13L, and the right open / close actuator 13R are, for example, hydraulic cylinders or air cylinders.

  The spray working vehicle 1 has a horizontal valve 14 mounted on the front side of the vehicle body 1B. The horizontal valve 14 adjusts the angle between the left spray boom 5L, the right spray boom 5R and the front spray boom 5C and a predetermined plane of the vehicle body 1B (for example, a plane including front wheels 3FL and 3FR and rear wheels 3RL and 3RR) Device. For example, when the spray work vehicle 1 is inclined to the planting surface of the field (the surface of the part where the crop is planted in the field) when the spray work vehicle 1 is performing the spray operation in the field, the left The spray boom 5L, the right spray boom 5R and the front spray boom 5C may tilt relative to the field. In this case, the horizontal valve 14 adjusts the angle between the left spray boom 5L, the right spray boom 5R, the front spray boom 5C, and the predetermined plane of the vehicle body 1B to form the left spray boom 5L, the right spray boom 5R and the front spray boom. Make 5C parallel to the planting surface. In this way, even if the spray vehicle 1 inclines with respect to the cropping surface, the distance between the crop and the ground spray nozzle 4 can be maintained substantially constant.

  The spraying work vehicle 1 has a boom stroke sensor 95, a link angular velocity sensor 96, and a link inclination sensor 97 mounted on the front side of the vehicle body 1B. In addition, the scattering work vehicle 1 mounts the boom angle right sensor 98R and the boom angle left sensor 98L on the left and right sides on the front side of the vehicle body 1B, and further mounts the boom open / close right sensor 99R and the boom open / close left sensor 99L. .

  The boom stroke sensor 95 detects the lengths of the left scatter boom 5L and the right scatter boom 5R. The link angular velocity sensor 96 detects the angular velocity of the link that attaches the left scatter boom 5L, the right scatter boom 5R, and the front scatter boom 5C to the vehicle body 1B.

  The link tilt sensor 97 detects the tilt of the link for attaching the left spray boom 5L, the right spray boom 5R and the front spray boom 5C to the vehicle body 1B with respect to the horizontal plane. The boom angle right sensor 98R detects an inclination angle of the right dispersion boom 5R with respect to the reference plane, and the boom angle left sensor 98L detects an inclination angle of the left dispersion boom 5L with respect to the reference plane.

  The boom open / close right sensor 99R detects whether the right spread boom 5R is closed or open, and the boom open / close left sensor 99L detects whether the left spread boom 5L is closed or open. The boom stroke sensor 95, link angular velocity sensor 96, link inclination sensor 97, boom angle right sensor 98R, boom angle left sensor 98L, boom open / close right sensor 99R and boom open / close left sensor 99L are electrically connected to the control device 9 described later It is done. The control device 9 acquires the values detected by these sensors and uses them to control the spray vehicle 1.

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

  The control device 9 controls the spray work vehicle 1, for example, determines the entry position when the spray work vehicle 1 enters an area where the solution of the field is sprayed based on the information obtained from the GPS receiving unit 10, the ground spray nozzle It controls the amount of solution supplied from 4 and controls the internal combustion engine 2.

  The display and operation panel 11 receives an input from a worker, displays the operating conditions of the spray work vehicle 1, displays the state of the spray work vehicle 1, and displays the movement locus of the spray work vehicle 1. , The non-dispersed area from the movement trajectory of the spread work vehicle 1, or the like. The control device 9 and the display / operation panel 11 will be described later.

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

  The operator sits in the driver's seat 6 provided at the center of the vehicle body 1B and operates the steering wheel 7 for operation.

  FIG. 3 and FIG. 4 are front views showing the posture when the spray vehicle scatters the solution. FIG. 3 shows a state in which the extended spray booms 5SL, 5SR are not extended from the swing spray booms 5BL, 5BR shown in FIG. FIG. 4 shows a state in which extended spray booms 5SL and 5SR extend from the swing spray booms 5BL and 5BR. In any state, the spray working vehicle 1 on the ground G is configured to have the solution from the plurality of ground spray nozzles 4 in a state where the left spray boom 5L, the right spray boom 5R and the front spray boom 5C are arranged substantially in a straight line. Spray That is, the spray vehicle 1 sprays solutions from the plurality of ground spray nozzles 4 in a state where the left spray boom 5L and the right spray boom 5R are opened to the left and right. In the scattering vehicle 1, the left scatter boom 5L and the right scatter boom 5R respectively provided on both sides in the front-rear direction of the vehicle body 1B exist between the state stored in the vehicle body 1B and the state opened to the left and right. Also in the state, the solution can be sprayed from the plurality of ground spraying nozzles 4.

  As shown in FIG. 4, when the extended spray booms 5SL and 5SR extend from the swing 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 extended spray booms 5SL and 5SR. It will be larger than it does not grow. The distance between the base of left scattering boom 5L (the connection with front spreading boom 5C) and the tip and the distance between the base of right spreading boom 5R (the connection with front spreading boom 5C) and the tip is boom stroke sensor 95 To detect.

  As described above, the distance by which the extension spray booms 5SL and 5SR extend from the swing spray booms 5BL and 5BR can be adjusted steplessly or stepwise, and the swing spray booms 5BL and 5BR and the extension spray boom 5SL can be adjusted. , And 5SR are configured to be able to shut off the supply of the solution to the nozzles present on the side of the swing spray booms 5BL and 5BR. As such a configuration, for example, each nozzle of the turning and spreading booms 5BL and 5BR is provided with a switching cock, and a switching member for operating the opening and closing of the switching cock is disposed outside the machine, and the extended spreading boom 5SL and 5SR side Provide an operating piece on the With such a configuration, when the extension scattering booms 5SL and 5SR move forward and backward, the cock can be switched by contacting the switching cock. With such a structure, the spray vehicle 1 can adjust the width (dispersion width) to which the solution is dispersed (dispersion width) in accordance with the dispersion area of the solution in the field.

  In addition, the spraying work vehicle 1 can spray the solution by selecting the nozzles for spraying the solution from the plurality of ground spraying nozzles 4. In this way, the spray vehicle 1 can cope with various spray conditions of the solution by adjusting the spray width of the solution and the number and position of the nozzles that spray the solution.

  Next, the solution supply system 8 will be described.

  FIG. 5: is a block diagram which shows an example of the solution supply system which the dispersion | distribution operation | work vehicle which concerns on this embodiment has. The spraying work vehicle 1 has a solution supply system 8. The solution supply system 8 is a system for supplying a solution to the plurality of ground spray nozzles 4. The solution supply system 8 includes a control tank 20, a water supply hose 21, a water discharge hose 22, a dispersion hose 23, a stirring hose 24, a residual water hose 25, a water supply cock 26, a pump 27, and a filter 28. It includes a flow control valve 29, a branching device 30, a safety valve 31, a pressure sensor 92, a flow sensor 93, and a valve opening degree sensor 94.

  Below, "water" shall contain a solution.

  The control tank 20 stores a solution containing a chemical solution to be sprayed by the ground spray nozzle 4. The water supply hose 21 is a pipe for guiding the solution in the control tank 20 to the pump 27 from the control tank 20 through the filter 28.

  The water discharge hose 22 is a pipe for leading the solution from the pump 27 to the branching device 30. The spray hose 23 is a pipe for guiding the solution from the branching device 30 to the left spray boom 5L, the right spray boom 5R and the front spray boom 5C. The spray hoses 23 for guiding the solution to the plurality of ground spray nozzles 4 attached to the extended spray boom 5SL of the left spray boom 5L and the extended spray boom 5SR of the right spray boom 5R respectively have flexible hoses 23EL and 23ER. There is.

  With such a structure, the flexible hoses 23EL and 23ER allow the movement of the extension spray booms 5SL and 5SR even if they extend and contract. The stirring hose 24 is a pipe for flowing a solution having a predetermined flow rate into the control tank 20 at all times in order to stir the chemical solution in the control tank 20. The stirring hose 24 is branched from the water discharging hose 22 and connected to the control tank 20. The residual water hose 25 is a pipe for returning a solution not used for spraying and stirring into the control tank 20.

  The water feed cock 26 is provided between the control tank 20 and the filter 28, and is used when stopping water supply from the control tank 20 when replacing the filter 28, cleaning or the like. The filter 28 removes dirt and the like from the solution in the control tank 20. The pump 27 sucks the solution that has passed through the filter 28 and then pressurizes the solution, and discharges it toward the flow control valve 29 via the water discharge hose 22. The flow control valve 29 is a device for adjusting the flow rate of the solution flowing to the branching device 30, and is controlled by the control device 9 shown in FIG. 1 and FIG. The branching device 30 branches the solution sent from the flow control valve 29 into the three spray hoses 23 and has a plurality of ground spray nozzles which the left spray boom 5L, the right spray boom 5R and the front spray boom 5C have respectively Supply the solution to 4.

  At the outlet side of the branching device 30, a right scatter cock 32L, a left scatter cock 32R, and a third scatter cock 32C are provided. The right spreader cock 32L is disposed between the branch unit 30 and the ground spreader nozzle 4 of the left spreader boom 5L, and supplies and does not supply solution from the branch unit 30 to the ground spreader nozzle 4 of the left spreader boom 5L. Switch. The left spreader cock 32R is disposed between the branch unit 30 and the ground spreader nozzle 4 of the right spreader boom 5R, and supplies and does not supply solution from the branch unit 30 to the ground spreader nozzle 4 of the right spreader boom 5R. Switch. The third spray cock 32C is disposed between the branching device 30 and the ground spraying nozzle 4 of the front spraying boom 5C, and supply and non-supply of a solution from the branching device 30 to the ground spraying nozzle 4 of the front spraying boom 5C Switch.

  The right spreader cock 32L, the left spreader cock 32R and the third spreader cock 32C may be directly opened and closed by an operator or may be opened and closed by an actuator. An open / close sensor for detecting these states (whether closed or open) is attached to the right spreader cock 32L, the left spreader cock 32R and the third spreader cock 32C, and the control device 9 is configured to The output of the sensor is acquired, and the states of the right scatter cock 32L, the left scatter cock 32R, and the third scatter cock 32C are grasped. The safety valve 31 is a device for returning the solution to the control tank 20 to suppress the pressure rise of the solution in the water discharge hose 22 when the pressure of the solution in the water discharge hose 22 is excessively increased.

  The flow sensor 93 is provided between the flow control valve 29 and the branching device 30. The flow rate sensor 93 detects the flow rate of the solution flowing into the branching device 30, that is, the flow rate of the solution sprayed from the ground spray nozzle 4, and transmits it to the control device 9 shown in FIGS. The pressure sensor 92 is provided in the branching device 30.

  The pressure sensor 92 detects the pressure of the solution sent to the spray hose 23 and transmits it to the control device 9 shown in FIGS. 1 and 2. The valve opening degree sensor 94 is provided in the flow control valve 29. The valve opening degree sensor 94 detects the opening degree of the flow control valve 29, and transmits it to the control device 9 shown in FIG. 1 and FIG. The controller 9 controls the pump 27 and the flow control valve 29 based on the information detected by the pressure sensor 92, the flow sensor 93 and the valve opening degree sensor 94 to adjust the flow rate of the solution to be dispersed.

  Next, the control device 9 will be described.

  FIG. 6 is a control block diagram of a control device of the spraying work vehicle 1 according to the present embodiment.

  The control device 9 includes a control processor 40, a storage unit 41, input interfaces 42a to 42q, an input / output interface 43, and output interfaces 44a to 44n. The control processor 40 is a computing device (hardware) that operates software in a computer, and has a function of interpreting and executing computer program instructions.

  The control processor 40 controls the whole of the spray work vehicle 1 by interpreting and executing instructions of a computer program for controlling the internal combustion engine 2 and the solution supply system 8 and the like that the spray work vehicle 1 has. In addition to this, the control processor 40 controls the elevation and opening and closing of the left spray boom 5L and the right spray boom 5R, and controls the inclination of the left spray boom 5L, the right spray boom 5R and the front spray boom 5C. It also functions as a control unit. In this case, the control processor 40 interprets and executes the instructions of the computer program in which the commands for realizing the control of the operation of the left spray boom 5L, the right spray boom 5R and the front spray boom 5C are described and executed. To realize the function of the control unit.

  The storage unit 41 includes a random access memory (RAM) 41A, a read only memory (ROM) 41B, and an electrically erasable programmable read only memory (EEPROM) 41C. The RAM 41A is a volatile memory that loses its stored content when the supply of power is cut off, and the ROM 41B and the EEPROM 41C are non-volatile memories that retain the stored content without supplying a power. The EEPROM 41C can electrically erase stored contents and can store new information. The storage unit 41 stores a computer program and data for realizing the control of the dispersion work vehicle 1, and a computer program and data for realizing the function as the dispersion control device.

  In the present embodiment, the ROM 41 B stores a computer program and the like, and the EEPROM 41 C stores data and the like obtained during the operation of the control device 9. The RAM 41A develops the computer program stored in the ROM 41B during the operation of the control device 9.

  The input interfaces 42a to 42q are respectively an expansion 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 degree sensor 94, a setting switch 82, a boom stroke sensor 95, a link The angular velocity sensor 96, the link inclination 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 connected. The input interfaces 42a to 42q convert the information input thereto into a form usable by the control processor 40 and input the information to the control processor 40.

  The transmission / reception circuit 56 of the GPS reception unit 10 is connected to the input / output interface 43. As described later, the GPS receiving unit 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 an instruction from the control processor 40 via the input / output interface 43. The input / output interface 43 is interposed between the GPS receiving unit 10 and the control processor 40 so that information can be exchanged between the two.

  The output interfaces 44a and 44c to 44m respectively include 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, It is connected to the right extension actuator 15R and the left extension actuator 15L. The output interface 44 n is connected to the overall lift 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 rotational direction of the flow control motor 29M into a motor rotational direction switching output RD and outputs it. The flow control motor 29M has its rotation direction switched by the motor rotation direction switching output RD.

  The output interfaces 44a to 44m are commands generated by the control processor 40 for controlling the flow control motor 29M, the pump 27, the right up-down actuator 12R, the left up-down actuator 12L, the whole lifting actuator 16 and the like. Convert to usable form and output.

  The spraying vehicle 1 interlocks with the vehicle speed to control the spraying amount of the solution. Such control is called vehicle-speed linked scatter control. The control processor 40 implements the vehicle speed-linked distribution control using an arithmetic expression using the flow rate (dispersion amount per unit time) of the solution distributed from all the ground distribution nozzles 4 as a parameter. That is, the control processor 40 disperses the solution in conjunction with the vehicle speed of the dispersion work vehicle 1 based on the solution dispersion conditions.

  The operator uses the display and operation panel 11 to determine the nozzle constant (spray amount L / min per nozzle at a spray pressure of 10 kgf / cm 2), the spray pressure (kgf / cm 2), and the target spray amount per 10 are (L Enter / 10a). The control processor 40 calculates the set pressure of the solution sent to the spray hose 23 shown in FIG. 5 using the vehicle speed of the spray vehicle 1, the target spray amount, and the like. Then, the control processor 40 adjusts the amount of solution supplied to the distribution hose 23 so as to obtain the calculated set pressure. The amount of solution is adjusted by the control processor 40 controlling the flow control valve 29 by driving the flow control motor 29M. Here, the vehicle speed of the spread work vehicle 1 is the vehicle speed of the spread work vehicle 1 generated by the GPS reception unit 10 or the vehicle speed of the spread work vehicle 1 detected by the vehicle speed sensor 90.

  Next, the GPS receiving unit 10 will be described.

  FIG. 7 is a schematic view showing an example of the configuration of the GPS reception unit of the dispersion work vehicle according to the present embodiment. The GPS receiving unit 10 outputs information (positioning information) on the planar positions and elevations of the receiving antenna 50 and the ground scattering nozzle 4 and the GPS vehicle speed Vg based on radio waves received from a plurality of GPS satellites SG1, SG2, and the like. The GPS receiving unit 10 is provided on the right of the driver's seat 6, and includes a receiving circuit 51, a signal processing circuit 52, a clock circuit 53, a memory 54, a GPS processor 55, and a transmitting / receiving circuit 56.

  The receiving antenna 50 is provided at the tip of the left and right extended spreading boom 5SL and the extended spreading boom 5SR of the spreading work vehicle 1, and receives radio waves transmitted by a plurality of GPS satellites SG1, SG2, and the like. The receiving circuit 51 is connected to the receiving antenna 50, and converts the 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 signal. The clock circuit 53 clocks time and inputs it to the GPS processor 55. The memory 54 stores data necessary for processing of the GPS processor 55, and develops a computer program necessary for processing of the GPS processor 55.

  The GPS processor 55 calculates information on the position of the receiving antenna 50 and the position of the vehicle body 1B based on the radio waves transmitted by the plurality of GPS satellites SG1, SG2, etc., and outputs the information to the transmitting / receiving circuit 56. Further, the GPS processor 55 calculates the speed of the GPS receiving unit 10 based on the information on the position of the GPS receiving unit 10 and outputs the speed to the transmitting and receiving circuit 56. Since the GPS receiving unit 10 is mounted on the spreading work vehicle 1, the information on the position of the GPS receiving unit 10 is information (position information) on the position of the spreading work vehicle 1. Further, the speed is the vehicle speed of the spread work vehicle 1 obtained based on the radio waves of the GPS satellites SG1 and SG2, which is the GPS vehicle speed Vg described above.

  The transmission / reception circuit 56 is connected to the control processor 40 of 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 controls the spread vehicle 1 or transmits a data change request to the GPS reception unit 10 using the position information. The GPS vehicle speed Vg may be obtained based on the position information obtained from the GPS reception unit 10 by the control processor 40 of the control device 9.

  FIG. 8 is a schematic view showing an example of the operation panel of the spread work vehicle according to the present embodiment.

  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 switching switch 85, an automatic switch 86, and an expansion / contraction switch 88. .

  The display unit 11D displays the entry position at which the spray work vehicle 1 enters the area for spraying the solution in the farmland, which is obtained by the control processor 40 shown in FIG. 6, or based on the positioning information measured by the GPS receiving unit 10. When the spraying work vehicle 1 is performing the spraying operation of the chemical solution in the field, the current position of the spraying work vehicle 1 and the movement locus of the spraying work vehicle 1 as shown in FIG. 12 are displayed.

  In FIG. 12, the movement path of the spread work vehicle 1 is shown on the display section 11D during the spreading operation, and the spread area SE spread by the left spread boom 5L, the front spread boom 5C and the right spread boom 5R is shown. At the boundary between the scatter and the return scatter, the undispersed area SE0 and the overlapping scatter area SE2 occur and are displayed.

  In addition, the display unit 11D displays information on the field where the spray vehicle 1 scatters the solution, information on the solution to be sprayed, information on the operation state of the spray vehicle 1, and the like. Information on fields includes, for example, the location and area of fields. The information on the latter includes, for example, the type of solution, the spray amount, the set value (set pressure) of the discharge pressure of the pump 27 shown in FIG. 5, the cumulative value of the sprayed solution, and the like.

  By doing this, the display unit 11D guides the operator's operation. For example, a liquid crystal display, an organic EL display, or the like can be used as the display unit 11D.

  The manual switch 80 is an input unit that is operated when the operator changes the spraying condition of the solution or adjusts the spraying width by the operation of the manual switch 80 when spraying the solution. When the manual switch 80 is operated, the control device 9 shown in FIG. 6 sets the setting switch 82 to receive 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 by operating the right spreader cock 32L, the left spreader cock 32R and the third spreader cock 32C to the open side, the spread of the solution is started.

  The setting switch 82 is an input unit for inputting the spraying conditions of the solution. The setting switch 82 determines the setting of the application amount setting switch 82A for setting the application amount of the solution, the pressure setting switch 82B for setting the discharge pressure of the pump 27, the increase / decrease switch 82C for increasing or decreasing the set value And a finalization switch 82D for setting. The cumulative reset switch 87 is an input unit used to reset the cumulative amount of the sprayed solution.

  The display switching switch 85 is an input unit used when switching information displayed on the display unit 11D. The automatic switch 86 is an input unit that is operated when the solution is automatically sprayed under the set spraying conditions in the solution spraying. When the machine is stopped and the automatic switch 86 is operated to be turned on, the pump 27 is driven (the pump switch 81 is turned off). Then, when the right spread cock 32L, the left spread cock 32R and the third spread cock 32C are operated to the open side, preparation for automatic spread is completed.

  Even when the right spread cock 32L, the left spread cock 32R and the third spread cock 32C are operated to the open side, the solution is not spread because the electromagnetic clutch integrated with the pump 27 is turned off. When the traveling state of the vehicle is detected from the vehicle speed sensor, the electromagnetic clutch integrated with the pump 27 is turned on, and the amount of dispersion is adjusted to be uniform based on the information from the vehicle speed sensor and is automatically dispersed. And in a run stop state, it will be a scattering stop automatically. The manual switch 80 may not be provided. In this case, when the automatic switch 80 is turned off, manual spraying is performed.

  The telescopic switch 88 is a switch for expanding and contracting the left scatter boom 5L and the right scatter boom 5R. The telescopic switch 88 includes a first telescopic switch 88L and a second telescopic switch 88R. The first telescopic switch 88L expands and contracts the left scatter boom 5L, and the second telescopic switch 88R expands and retract the right scatter boom 5R.

  FIG. 11 is a display in which the display unit 11D of the display / operation panel 11 is switched from the state shown in FIG. 8, and in the case where the same field is subjected to the spreading work by two spreading work vehicles A1 and B1, B1 shares information of the controlled farmland by the communication function.

  The spreading work vehicle A1 advances while making a U-turn from the left side, and the spreading work vehicle B1 advances while making a left U-turn from the right. When the right spreading work vehicle B1 moves from the spreading area BE1 to the spreading area BE2 and the left spreading work vehicle A1 moves from the spreading area AE1 to the spreading area AE2, the left spreading work vehicle A1 is in the upper right corner of the protected field AE1 ( Align the position of the right receiving antenna 50 with the position where the right receiving antenna 50 was located at the end of spraying, and place the left receiving antenna 50 on the left so that the position of the right receiving antenna 50 is in the upper left corner of the controlled field BE2 of the right spread work vehicle B1. The extension spray boom 5SL is expanded and contracted to determine the spray area AE2. The alignment of the right receiving antenna 50 is determined in consideration of the scattering area of the ground scattering nozzle 4.

  When the right spreader vehicle B1 reaches the end of the field, the left spreader vehicle A1 spreads the remaining fields, and thus ends the spread operation.

  Since the spray work vehicle 1 of the present embodiment is capable of performing additional spraying on the unsprayed area using the unmanned aerial vehicle 60 shown in FIG. 13, additional spraying by the unmanned aerial vehicle 60 will be described below.

  The unmanned aerial vehicle 60 transmits and receives signals by communication with a portable terminal 58 such as a tablet. The portable terminal 58 is also configured to be communicable with the dispersion work vehicle 1, and also has a function as a controller for remotely operating the unmanned aerial vehicle 60 by the operation sticks 58L, 58R and the like.

  In addition, the portable terminal 58 reads the scatter locus stored in the control device 9 into the portable terminal 58 by bluetooth communication with the control device 9 of the spread work vehicle 1, and displays the non-dispersed area on the image display unit 59.

  An image display unit 59 is provided at the center of the portable terminal 58, and an image captured by a camera 61 of the unmanned aircraft 60 described later, a control button of the unmanned aircraft 60, and the like are displayed.

  The attitude of the unmanned aerial vehicle 60 is controlled by the output balance of the plurality of motors 63 equipped with the prober 62, and movement and hovering by flight can be freely performed. In the attitude control of the aircraft, control by an operation signal transmitted from the portable terminal 58 and automatic control by an incorporated acceleration sensor or the like are simultaneously performed.

  At the lower part of the unmanned aerial vehicle 60, landing legs 64, a camera 61 for photographing the lower side, and a solution tank 65 for mounting a solution for dispersion are mounted. It is provided and configured to fly in a balanced manner. A spray shutter 67 is provided in the air spray nozzle 66, and while watching the image of the camera 61 displayed on the image display unit 59 of the portable terminal 58, it is possible to interrupt the spray at any timing. In addition, a flight GPS antenna 68 is mounted on the upper part of the unmanned aerial vehicle 60.

  FIG. 14 is a control block diagram of the solution distribution system. The spread work vehicle 1 is equipped with a vehicle ECU (ElCtroniC Control Unit) 70 as a control unit that controls the traveling of the vehicle and a position information processing ECU 79 that processes positioning information obtained by the on-vehicle reception antenna 50.

  In the vehicle ECU 70, a signal from a vehicle speed sensor 71 for detecting a traveling vehicle speed, a signal from a steering sensor 72 for detecting steering angles of the front wheels 3FL and 3FR, a signal from a shift sensor 73 for detecting a shift position, and control A signal from a solution remaining amount sensor 74 for detecting the solution remaining amount in the tank 20 is input. From the vehicle ECU 70, a signal for controlling the output of the engine E, an operation signal for the steering motor 75 for controlling the steering angle of the steering wheel 7, a shift operation signal for the transmission 76, and a brake for stopping the traveling of the vehicle And a brake operation signal to the brake cylinder 77 is output.

  The position information processing ECU 79 and the vehicle ECU 70 can transmit and receive information to each other by wired communication, and can execute various controls in accordance with the position of the vehicle. The vehicle ECU 79 can transmit and receive information to and from the portable terminal 58 by wireless communication, and can also display the state of the vehicle and the work status on the image display unit 59 of the portable terminal 58.

  The portable terminal 58 can also transmit and receive information by wireless communication with the unmanned aerial vehicle (UAVUnmAned AeriAl VehiCle) ECU 100 mounted on the unmanned aerial vehicle 60. The unmanned aircraft ECU 100 outputs the position information signal from the flight GPS antenna 68, the video signal from the camera 61, and the attitude information from the acceleration sensor 69 to the portable terminal 58, and the portable terminal 58 to the unmanned aircraft ECU 100 transmits the scatter shutter 67 And an output control signal of the motor 63 are output.

  The worker finishes the spraying operation with the spraying work vehicle 1, and flies the unmanned aerial vehicle 60 to the non-dispersed area SE0 sent from the control device 9 of the spraying operation vehicle 1 and displayed on the image display unit 59 of the portable terminal 58. By opening the spray shutter 67 and performing additional spraying, it is possible to eliminate the spray leak. In this additional spraying, the altitude of the spray shutter 67 of the unmanned aerial vehicle 60 is made the same as the altitude of the ground spray nozzle 4 of the spray boom 5, and the unmanned aerial vehicle 60 is made to fly to obtain the same spray concentration as the spray area SE. I can do it.

  In addition, the unmanned aerial vehicle 60 automatically determines the flight course to the non-dispersed area SEO based on the data of the non-dispersed area SEO transmitted from the control device 9 of the spread work vehicle 1 to the portable terminal 58, The configuration may be such that the scattering region SEO is automatically flying and the scattering shutter 67 is automatically opened and closed. In this configuration, the data of the undispersed area SEO transmitted from the control device 9 of the spread work vehicle 1 to the portable terminal 58 is displayed on the image display unit 59 of the portable terminal 58 and the flight trajectory of the unmanned aircraft 60 is overlapped. By displaying it, the worker can judge whether the additional spraying is properly performed.

  In addition, by automatically causing the elevation of the scattering shutter 67 of the unmanned aerial vehicle 60 to be the same as the elevation of the ground spreading nozzle 4 of the spreading boom 5, the rapid additional spreading and the automatic control of the spreading height are properly performed. As a result, additional scattering can be accurately performed, and the non-dispersed area SE0 can be eliminated. The spray density can be made the same as the spray area SE with high accuracy.

  A marker may be attached to the spray boom 5 so that the unmanned aerial vehicle 60 automatically carries out additional spraying while following the flight at a constant altitude at the time of the spraying operation of the spraying work vehicle 1 to eliminate the spray leakage.

  The solution tank 65 may be provided with a liquid amount sensor for detecting the weight by a strain gauge or the like, and the unmanned aerial vehicle 60 may be automatically returned to the position of the return stand 102 shown in FIG. The return stand 102 is provided with landing stands 102 a, 102 b, 102 c, 102 d for landing the unmanned aerial vehicle 60, and opens upward a water supply / drainage pipe 103 connected to the supply / discharge port of the solution tank 65. The supply and discharge ports of the solution tank 65 are provided at the center or the periphery.

  In addition, it is also possible to perform the liquid residual amount measurement of the solution tank 65 by detecting the load of the motor 63 which drives the prober 62.

  In addition, the take-up positioning rope can be suspended from the unmanned aerial vehicle 60, and the height to the crop can be measured to set the flight height.

  Moreover, two cameras 61 can be provided in the unmanned aerial vehicle 60, and the altitude of the ground spreading nozzle 4 of the spreading work vehicle 1 can also be calculated.

  In the embodiment of the unmanned aerial vehicle 60 shown in FIG. 17, an aerial spray nozzle 66 is provided at the lower end of the telescopic hose 101 so that the solution can be sprayed near the crop. In this configuration, it is preferable to provide a second camera together with the air dispersion nozzle 66, and to reflect growth condition of the crop, weed growth condition and leaf color of the crop on the image display unit 59 of the portable terminal 58 for use in growth management. With this configuration, it is possible to record a field map of chemical application and fertilizer application and to refer to later crop growth.

  FIGS. 15 and 16 are schematic diagrams when registering the field shape before the start of spraying. When the field position information and shape information are measured using the unmanned aerial vehicle 60 and registered in the portable terminal 58, the unmanned aerial vehicle 60 is used as shown in FIG. While checking the image captured by the camera 61 with the image display unit 59, manually fly the unmanned aerial vehicle 60 above the corner KA of the field to be measured and adjust the position of the unmanned aerial vehicle 60 based on the marker 37 When the position setting button 39 is tapped, the position of the unmanned aerial vehicle 60 at that time is stored as a point. The coordinates at that time are displayed on the coordinate display unit 38.

  Similarly, the corner KB and the corner KC are registered, and after the last corner is registered in the sky above the corner KD as shown in FIG. 16, the field shape is determined when the setting end button 45 is tapped.

  In the above-described spraying operation using the unmanned aerial vehicle 60, as shown in FIG. 19, the areas where there are few grasses are confirmed in the pasture and sowing is carried out with the seeder 78. As shown in FIG. Measuring and recording the moisture content can also be useful for pasture management.

1 Scattering Vehicle 1B Body 4 Ground Scattering Nozzle 5 Scattering Boom 6 Driver's Seat 11 Display / Operation Panel 11D Display 50 Reception Antenna 58 Portable Terminal 59 Image Display 60 Unmanned Aerial Vehicle 66 Aerial Scattering Nozzle SG1, SG2 GPS Satellite SE0 Undispersed Area

Claims (4)

An unmanned aerial vehicle (60) wirelessly steerable with a hand-held device (58), having a solution tank (65), an aerial spray nozzle (66) and a flight GPS antenna (68);
A plurality of scatter boom (5) which is disposed a ground application nozzle (4) performs a scatter operations stretched to the left and right of the vehicle body (1B), the position of the receiving antenna (50) provided in front Symbol spraying booms (5) The scatter movement locus is drawn on the field map with the position information from the GPS satellites (SG1, SG2), the field map and the unscattered area (11D) on the display / operation panel (11) near the driver's seat (6) In a spraying system provided with a spraying work vehicle (1 ) for identifying and displaying SE0) ,
Data of the non-dispersed area (SE0) from the spread work vehicle (1) is transmitted to the portable terminal (58) and displayed on the image display unit (59), and the non-dispersed area on the displayed field map The unmanned aerial vehicle (60) is steered based on SE0) to perform a spreading operation,
The height of the ground spray nozzle (4) of the spray work vehicle (1) and the height of the aerial spray nozzle (66) of the unmanned aerial vehicle (60) are determined by side information from the GPS satellites (SG1, SG2) It measures and carries out flight control so that the height of the said airborne dispersion nozzle (66) of the said unmanned aerial vehicle (60) corresponds with the height of the said ground spraying nozzle (4) of the said spraying operation vehicle (1) by additional spraying. And
The solution tank (65) is provided with a liquid amount sensor,
A return stand (102) for returning the unmanned aerial vehicle (60);
The unmanned aerial vehicle (60) is configured to return to the return stand (102) when the liquid level sensor detects that there is no solution.
The return platform (102) is open at the top, which can be connected to landing platforms (102a, 102b, 102c, 102d) for landing the unmanned aerial vehicle (60), and the supply and discharge ports of the solution tank (65). And a water supply and drainage pipe (103) . A telescopic hose (101) is provided at the bottom of the unmanned aerial vehicle (60),
A spraying system according to claim 1, characterized in that an aerial spraying nozzle (66) is provided at the lower end of the telescopic hose (101) . An unmanned aerial vehicle (60) wirelessly steerable with a hand-held device (58), having a solution tank (65), an aerial spray nozzle (66) and a flight GPS antenna (68);
The spreading boom (5) provided with a plurality of ground spreading nozzles (4) is extended to the left and right of the vehicle body (1B) to perform spreading work, and the position of the receiving antenna (50) provided on the spreading boom (5) is GPS The scatter movement locus is drawn on the field map with the position information from the satellites (SG1, SG2), and the non-scattered area (SE0) along with the field map on the display unit (11D) of the display / operation panel (11) near the driver's seat (6). A sprayer vehicle (1) for identifying and displaying the
The data of the non-scattered area (SE0) transmitted from the spread work vehicle (1) to the mobile terminal (58) is displayed on the image display unit (59) of the mobile terminal (58), and the non-scattered area The unmanned aerial vehicle (60) performs the spreading operation based on the data of (SE0) ,
The height of the ground spray nozzle (4) of the spray work vehicle (1) and the height of the aerial spray nozzle (66) of the unmanned aerial vehicle (60) are determined by side information from the GPS satellites (SG1, SG2) The unmanned aerial vehicle (A) so that the height of the airborne spray nozzle (66) of the unmanned aerial vehicle (60) matches the height of the ground spray nozzle (4) of the spray vehicle (1) 60) the flight is controlled,
The solution tank (65) is provided with a liquid amount sensor,
A return stand (102) for returning the unmanned aerial vehicle (60);
The unmanned aerial vehicle (60) is configured to return to the return stand (102) when the liquid level sensor detects that there is no solution.
The return platform (102) is open at the top, which can be connected to landing platforms (102a, 102b, 102c, 102d) for landing the unmanned aerial vehicle (60), and the supply and discharge ports of the solution tank (65). And a water supply and drainage pipe (103) . A telescopic hose (101) is provided at the bottom of the unmanned aerial vehicle (60),
  A spraying system according to claim 3, characterized in that an aerial spraying nozzle (66) is provided at the lower end of the telescopic hose (101).

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