JP7563365B2 - Work vehicles - Google Patents

Description

The present invention relates to a work vehicle such as a self-propelled pest control machine.

Work vehicles such as self-propelled pest control machines that use a pesticide spraying device to spray pesticides while moving are known (see, for example, Patent Documents 1 and 2).

JP 2016-028611 A JP 2021-132617 A

However, for work vehicles such as the conventional self-propelled pest control machines described above, accurate vehicle speed determination has not always been achieved.

The present invention takes into consideration the above-mentioned problems with the conventional technology and aims to provide a work vehicle that can grasp vehicle speed more accurately.

The first aspect of the present invention is a work vehicle that sprays a chemical using a chemical spraying device (400) while traveling,
A navigation satellite receiving device (500) for receiving a satellite radio signal from a navigation satellite (1000);
a navigation vehicle speed detection unit (200) for detecting a vehicle speed based on an input signal from the navigation satellite receiving device (500);
A travel transmission sensor (600) for detecting the state of a travel transmission mechanism (102) of a vehicle body (101);
A vehicle speed detection unit (300) for detecting a vehicle speed based on an input signal from the vehicle speed sensor (600);
Equipped with
When there is no predetermined problem in the input signal from the navigation satellite receiving device (500) to the navigation vehicle speed detection unit (200), the vehicle speed detected by the navigation vehicle speed detection unit (200) is adopted;
When the predetermined inconvenience occurs in the input signal from the navigation satellite receiving device (500) to the navigation vehicle speed detection unit (200), the vehicle speed detected by the traveling transmission vehicle speed detection unit (300) is adopted,
This work vehicle is characterized in that the specified problem in the input signal from the navigation satellite receiving device (500) to the navigation vehicle speed detection unit (200) is caused by at least one of the following: an off state of the navigation satellite receiving device (500), a defective state of the navigation satellite receiving device (500), a defective state of the satellite radio signal, and a state in which the satellite radio signal is not corrected by a specified correction radio signal.
The second aspect of the present invention is a drug spraying pressure sensor (700) for detecting the drug spraying pressure of the drug spraying device (400),
The control of the pesticide spraying operation is performed based on the adopted vehicle speed and the detected pesticide spraying pressure,
The first work vehicle of the present invention is characterized in that when the adopted vehicle speed is outside a predetermined range of appropriate vehicle speeds for pesticide spraying work, an external alert is given.
The third aspect of the present invention is a boom extension/contraction amount sensor (811) for detecting the boom extension/contraction amount of the pesticide spraying boom (410) of the pesticide spraying device (400);
A most retracted boom position switch (812) provided at the most retracted boom position of the chemical spray boom (410);
Equipped with
This is the first or second work vehicle of the present invention, characterized in that when the minimum retracted boom position switch (812) is turned on, the detected boom extension amount is rewritten and recorded as the latest minimum retracted boom extension amount.
The fourth aspect of the present invention is a boom lifting amount sensor (820) for detecting a boom lifting amount of a pesticide spraying boom (410) of the pesticide spraying device (400);
A steering amount sensor (900) for detecting a steering amount of a vehicle body (101);
Equipped with
When the start of turning to the left or right side of the vehicle body is determined based on the detected steering amount, the boom lifting amount of the pesticide spraying boom (410) on the opposite side of the turning is recorded as a turning start boom lifting amount, and the pesticide spraying boom (410) on the opposite side of the turning is raised,
This is a first or second work vehicle of the present invention, characterized in that when the end of rotation is determined based on the detected steering wheel steering amount, the pesticide spraying boom (410) on the opposite side of the rotation is lowered until the boom lift amount of the pesticide spraying boom (410) on the opposite side of the rotation matches the recorded start-of-rotation boom lift amount.
The fifth aspect of the present invention is a boom lifting amount sensor (820) for detecting a boom lifting amount of a pesticide spraying boom (410) of the pesticide spraying device (400);
A boom vibration control device (420) that controls the boom vibration of the pesticide spray boom (410);
Equipped with
This is a first or second work vehicle of the present invention, characterized in that when the boom lifting/lowering of the pesticide spraying boom (410) is determined based on the detected boom lifting amount, the boom vibration control is paused.
A first invention related to the present invention is a work vehicle that sprays a chemical using a chemical spraying device (400) while traveling,
A navigation satellite receiving device (500) for receiving a satellite radio signal from a navigation satellite (1000);
a navigation vehicle speed detection unit (200) for detecting a vehicle speed based on an input signal from the navigation satellite receiving device (500);
A travel transmission sensor (600) for detecting the state of a travel transmission mechanism (102) of a vehicle body (101);
A vehicle speed detection unit (300) for detecting a vehicle speed based on an input signal from the vehicle speed sensor (600);
Equipped with
When there is no predetermined problem in the input signal from the navigation satellite receiving device (500) to the navigation vehicle speed detection unit (200), the vehicle speed detected by the navigation vehicle speed detection unit (200) is adopted;
This work vehicle is characterized in that when there is a specified problem in the input signal from the navigation satellite receiving device (500) to the navigation vehicle speed detection unit (200), the vehicle speed detected by the traveling transmission vehicle speed detection unit (300) is adopted.

A second invention related to the present invention is a work vehicle of the first invention related to the present invention, characterized in that the specified problem in the input signal from the navigation satellite receiving device (500) to the navigation vehicle speed detection unit (200) is a problem caused by at least one of the following: an off state of the navigation satellite receiving device (500), a defective state of the navigation satellite receiving device (500), a defective state of the satellite radio signal, and a state in which the satellite radio signal is not corrected by a specified correction radio signal .

The third invention related to the present invention is provided with a drug spraying pressure sensor (700) that detects the drug spraying pressure of the drug spraying device (400),
The control of the pesticide spraying operation is performed based on the adopted vehicle speed and the detected pesticide spraying pressure,
This is a work vehicle of the first or second invention related to the present invention, characterized in that when the adopted vehicle speed is outside a specified range of appropriate vehicle speeds for pesticide spraying work, an external alert is given.

A fourth invention related to the present invention is a boom extension/contraction amount sensor (811) for detecting a boom extension/contraction amount of the pesticide spraying boom (410) of the pesticide spraying device (400);
A most retracted boom position switch (812) provided at the most retracted boom position of the chemical spray boom (410);
Equipped with
This is a work vehicle of any of the first to third inventions related to the present invention, characterized in that when the fully retracted boom position switch (812) is turned on, the detected boom extension amount is rewritten and updated and recorded as the latest fully retracted boom extension amount.

A fifth aspect of the present invention relates to a boom lifting amount sensor (820) for detecting a boom lifting amount of a pesticide spraying boom (410) of the pesticide spraying device (400);
A steering amount sensor (900) for detecting a steering amount of a vehicle body (101);
Equipped with
When the start of turning to the left or right side of the vehicle body is determined based on the detected steering amount, the boom lifting amount of the pesticide spraying boom (410) on the opposite side of the turning is recorded as a turning start boom lifting amount, and the pesticide spraying boom (410) on the opposite side of the turning is raised,
This is a work vehicle of any of the first to third inventions related to the present invention, characterized in that when the end of rotation is determined based on the detected steering wheel steering amount, the pesticide spraying boom (410) on the opposite side of the rotation is lowered until the boom lift amount of the pesticide spraying boom (410) on the opposite side of the rotation matches the recorded rotation start boom lift amount.

A sixth aspect of the present invention relates to a boom lifting amount sensor (820) for detecting a boom lifting amount of a pesticide spraying boom (410) of the pesticide spraying device (400);
A boom vibration control device (420) that controls the boom vibration of the pesticide spray boom (410);
Equipped with
This is a work vehicle of any of the first to third inventions related to the present invention , characterized in that when the boom raising and lowering of the pesticide spraying boom (410) is determined based on the detected boom raising and lowering amount, the boom vibration control is paused.

According to the present invention, it is possible to grasp the vehicle speed more accurately. In addition to the effects of the present invention described above, the present invention can improve the convenience in grasping the vehicle speed.
According to the first aspect of the present invention , it is possible to grasp the vehicle speed more accurately.

According to the second aspect of the present invention , in addition to the effect of the first aspect of the present invention , it is possible to improve the convenience in grasping the vehicle speed.

According to the third invention related to the present invention , in addition to the effects of the first or second invention related to the present invention , it is possible to perform more accurate control of drug dispersion.

The fourth invention related to the present invention makes it possible to perform pesticide spraying boom operation control with improved convenience in addition to the effects of any of the first to third inventions related to the present invention .

The fifth invention related to the present invention makes it possible to perform pesticide spraying boom operation control with improved convenience in addition to the effects of any of the first to third inventions related to the present invention .

The sixth invention related to the present invention makes it possible to perform pesticide spraying boom operation control with improved convenience in addition to the effects of any of the first to third inventions related to the present invention .

FIG. 1 is a perspective view of a self-propelled pest control machine according to an embodiment of the present invention; (a) A schematic partial plan view (part 1) of the vicinity of a pesticide spray boom of a self-propelled pest control machine according to an embodiment of the present invention; (b) A schematic partial plan view (part 2) of the vicinity of a pesticide spray boom of a self-propelled pest control machine according to an embodiment of the present invention Block diagram of a self-propelled pest control machine according to an embodiment of the present invention. FIG. 1 is a control diagram of a self-propelled pest control machine according to an embodiment of the present invention; FIG. 2 is a control diagram of the self-propelled pest control machine according to the embodiment of the present invention (part 2) FIG. 3 is a control diagram of the self-propelled pest control machine according to the embodiment of the present invention. FIG. 4 is a control diagram of the self-propelled pest control machine according to the embodiment of the present invention. FIG. 5 is a control diagram of the self-propelled pest control machine according to the embodiment of the present invention. FIG. 6 is a control diagram of the self-propelled pest control machine according to the embodiment of the present invention. FIG. 7 is a control diagram of the self-propelled pest control machine according to the embodiment of the present invention. FIG. 8 is a control diagram of the self-propelled pest control machine according to the embodiment of the present invention. FIG. 9 is a control diagram of the self-propelled pest control machine according to the embodiment of the present invention. FIG. 10 is a control diagram of a self-propelled pest control machine according to an embodiment of the present invention. FIG. 11 is a control diagram of the self-propelled pest control machine according to the embodiment of the present invention. FIG. 12 is a control diagram of the self-propelled pest control machine according to the embodiment of the present invention. FIG. 13 is a control diagram of the self-propelled pest control machine according to the embodiment of the present invention.

The following describes in detail the embodiments of the present invention and the embodiments of inventions related to the present invention with reference to the drawings.

The same applies below, but some components may not be shown in the drawings or may be shown in perspective or in an omitted form.

(A) First, the configuration and operation of the self-propelled pest control machine 100 according to an embodiment of the present invention will be specifically described with reference to Figures 1 to 3.

Here, FIG. 1 is a perspective view of a self-propelled pest control machine 100 according to an embodiment of the present invention, FIGS. 2(a) and 2(b) are schematic partial plan views (parts 1 and 2) of the vicinity of a chemical spray boom 410 of the self-propelled pest control machine 100 according to an embodiment of the present invention, and FIG. 3 is a block diagram of the self-propelled pest control machine 100 according to an embodiment of the present invention.

While explaining the operation of the self-propelled pest control machine 100, we will also explain a work vehicle operation control method related to the present invention, which is realized by the controller 150 and the like.

The self-propelled pest control machine 100 is a self-propelled pest control machine that sprays pesticides in a field using a pesticide spraying device 400 while traveling on a traveling device 110 having a pair of left and right front wheels 111 and rear wheels 112 in response to the control of a controller 150 for manual or automatic operation of a steering device 120 of the vehicle body 101.

The self-propelled pest control machine 100 is a work vehicle that sprays pesticides using a pesticide spraying device 400 while traveling, and is an example of a work vehicle in the present invention.

The navigation satellite receiving device 500 is a device that receives satellite radio signals from the navigation satellite 1000.

The navigation vehicle speed detection unit 200 is a detection unit that detects the vehicle speed based on an input signal from the navigation satellite receiving device 500.

The driving transmission sensor 600 is a sensor that detects the state of the driving transmission mechanism 102 of the vehicle body 101.

The travel transmission vehicle speed detection unit 300 is a detection unit that detects the vehicle speed based on an input signal from the travel transmission sensor 600.

For example, in a work vehicle having a vehicle speed detection means such as a traveling transmission sensor 600, which is a satellite positioning or rotation sensor that detects the vehicle speed of the vehicle body 101, which is a traveling vehicle body, and a navigation satellite receiving device 500, which is a communication device with a navigation satellite 1000, which is a satellite such as GNSS, the vehicle speed detection means has a navigation vehicle speed detection unit 200, which is a first vehicle speed sensor that detects the vehicle speed based on the satellite positioning information, which is the distance/required time between two coordinate points, and a traveling transmission vehicle speed detection unit 300, which is a second vehicle speed sensor that detects the vehicle speed based on the rotation speed of the traveling transmission system.

The drug spray pressure sensor 700 is a sensor that detects the drug spray pressure of the drug spray device 400.

For example, a pesticide spraying device 400 having a pesticide tank and boom sprayer for spraying pesticide in a field, a pesticide spraying pressure sensor 700 which is a pressure sensor for detecting the spraying pressure of the pesticide spraying device 400, and a controller 150 which is a spraying control device for controlling the amount of pesticide sprayed based on the vehicle speed and pressure are used.

The boom extension sensor 811 is a sensor that detects the boom extension amount of the pesticide spraying boom 410 of the pesticide spraying device 400.

The fully retracted boom position switch 812 is a switch located at the fully retracted boom position of the pesticide spraying boom 410.

A chain 413c is wound around the sprocket 413s of the main drive motor 413, and a cable 414c is wound around the roller 414r of the auxiliary drive motor 414. The chain 413c and the cable 414c are connected to the slide body 416 via a plate 415, and as the slide body 416 slides, the telescopic boom 412 slides along the basic boom 411.

For example, the side boom configuration of the chemical spraying boom 410, which is the spraying boom of the chemical spraying device 400, employs a boom extendable configuration in which a slidable slide boom is attached to a fixed boom on the base side of the machine body, and the length can be adjusted within a predetermined range by moving a wire with a motor. A boom extension amount sensor 811, which is an extension sensor that detects the extension amount of the slide boom, and a minimum retracted boom position switch 812, which is an end detection switch at the maximum retracted position of the slide boom, are used.

The boom lift sensor 820 is a sensor that detects the amount of boom lift of the pesticide spray boom 410 of the pesticide spray device 400.

The steering wheel steering amount sensor 900 is a sensor that detects the amount of steering wheel turning of the vehicle body 101.

For example, a handle steering amount sensor 900, which is a potentiometer that detects the steering amount and steering direction of the steering handle that steers the vehicle body 101, which is the traveling vehicle body, and a boom lifting mechanism that raises and lowers the spray booms provided on both the left and right sides of the traveling vehicle body are used. The boom lifting mechanism is provided with a boom lift amount sensor 820, which is a boom angle sensor that detects the up and down movement angle of each spray boom.

The boom vibration control device 420 is a device that controls the boom vibration of the pesticide spraying boom 410.

For example, a boom vibration damping device 420 that absorbs the up and down vibrations of the chemical spraying boom 410, which is the spraying boom, is used in the lifting link mechanism that raises and lowers the spraying boom. The boom vibration damping device 420 has an accumulator and a vibration damping solenoid that changes the effectiveness of the accumulator.

(B) Next, the configuration and operation of the self-propelled pest control machine 100 according to an embodiment of the present invention will be described in more detail.

(B1) First, the following explanation will be given with primary reference to Figures 3 and 4 to 11.

Here, Figures 4 to 11 are control diagrams (parts 1 to 8) of the self-propelled pest control machine 100 according to an embodiment of the present invention.

When there are no specific problems in the input signal from the navigation satellite receiving device 500 to the navigation vehicle speed detection unit 200, the vehicle speed detected by the navigation vehicle speed detection unit 200 is used.

When there is a certain problem in the input signal from the navigation satellite receiving device 500 to the navigation vehicle speed detection unit 200, the vehicle speed detected by the travel transmission vehicle speed detection unit 300 is used.

For example, when communication with the satellite is on and communication is possible, other controls and screen displays are performed using the vehicle speed calculated by the navigation vehicle speed detection unit 200, which is the first vehicle speed sensor, and when communication with the satellite is off or on but communication is lost due to equipment failure or insufficient reception strength, the vehicle speed calculated by the travel transmission vehicle speed detection unit 300, which is the second vehicle speed sensor, is used.

By calculating the vehicle speed using the first vehicle speed sensor or the second vehicle speed sensor depending on the communication status with the satellite, the vehicle speed can be obtained using the second vehicle speed sensor even when satellite information is not used or when sufficient satellite information cannot be obtained, preventing the interruption of control using vehicle speed and the operator from being unable to grasp the vehicle speed.

When satellite information is available, the vehicle speed calculated by the first vehicle speed sensor based on the actual movement of the traveling vehicle can be used, enabling more accurate work driving.

As shown in GPS vehicle speed control acquisition control steps S1a to S3a in the control flow chart of Figure 4, when the GPS on/off setting is "on," the GPS vehicle speed from the CAN information from the antenna is sent to the vehicle speed information on the meter panel and displayed. When the setting is "off," the vehicle speed is calculated from the number of pulses from the vehicle speed sensor installed in this unit and transmitted to the meter via CAN to display the vehicle speed. The vehicle speed is indicated by the pulse input from the vehicle speed sensor installed in this unit. Control based on GPS vehicle speed becomes possible, achieving improved accuracy.

As shown in GPS vehicle speed control acquisition control steps S1b to S4b in the control flowchart of Figure 5, when the positioning status of the antenna's CAN information is "Receiving differentially corrected vehicle speed", the GPS vehicle speed is transmitted to the meter via CAN and the GPS vehicle speed is displayed. In other cases, the vehicle speed is automatically switched to a value calculated from the number of pulses of the vehicle speed sensor mounted on this unit, and the calculated vehicle speed is displayed on the meter. The vehicle speed is indicated by the pulse input of the vehicle speed sensor mounted on this unit. Automatic switching between GPS vehicle speed and calculated vehicle speed is possible.

As shown in the GPS vehicle speed control acquisition control steps S1c to S5c in the control flow chart of Figure 6, if the CAN information of the antenna is not received due to a disconnection or short circuit, the vehicle speed display on the meter panel will automatically change to the calculated vehicle speed and the GPS mark will not be displayed. Manual switching can be inefficient, but such problems can be improved.

As shown in the GPS vehicle speed control acquisition control steps S1d to S4d in the control flow chart of Figure 7, the set pressure for the automatic spray mode is calculated using the GPS vehicle speed when the GPS on/off setting is "on" and the positioning status information of the CAN communication is receiving "differential correction vehicle speed." Although control accuracy may be poor, such a problem can be improved.

As shown in the GPS vehicle speed control acquisition control steps S1e to S3e in the control flow chart of Figure 8, the set pressure for the automatic spraying mode is calculated automatically using the calculated vehicle speed when CAN communication with the antenna is not possible. Manual switching can be inefficient, but such problems can be improved.

As shown in the GPS vehicle speed interlocking range control table in FIG. 9 and the GPS vehicle speed display control table in FIG. 10, when the GPS on/off setting is "on" and differential correction vehicle speed is being received, control is performed using the GPS vehicle speed. When controlling using the calculated vehicle speed, accuracy may decrease, but it is possible to prevent control from being performed using a vehicle speed that is far removed from the actual work. Therefore, the above-mentioned problem can be improved.

When the GPS on/off setting is "on" and the differential correction vehicle speed has not been received, the system automatically switches from the GPS vehicle speed to the calculated vehicle speed for control. Manually switching to the calculated vehicle speed can be inconvenient as it interferes with other operations, but this problem can be improved. Also, since there is a possibility that the manual switch to the calculated vehicle speed will be forgotten or ignored by the operator, by automatically changing the speed, control is performed based on a vehicle speed that is far from the actual situation, preventing a shortage or overspraying of pesticide.

As shown in the GPS vehicle speed control acquisition control steps S1f to S4f in the control flow chart of FIG. 11, while the setting is "on" and the antenna positioning status is "differentially corrected vehicle speed not received," the GPS mark on the LCD flashes. If the GPS mark is simply hidden when the GPS vehicle speed has not been received, it can be difficult to tell whether the setting itself has not been made or the CAN information has not been received, but this problem will be improved.

(B2) Next, we will explain mainly with reference to Figure 3.

The specified problem in the input signal from the navigation satellite receiving device 500 to the navigation vehicle speed detection unit 200 is a problem caused by at least one of the following: the navigation satellite receiving device 500 being off, the navigation satellite receiving device 500 being in a defective state, the satellite radio signal being in a defective state, and the satellite radio signal not being corrected by a specified correction radio signal.

For example, to improve the accuracy of satellite information acquired by the navigation satellite receiving device 500, which is a communication device, an information correction device such as a DGPS radio station or an RTK base station that transmits correction information, a correction communication device of the traveling vehicle body that communicates with the information correction device, and a display member such as a lamp or icon on the meter panel that indicates that the correction communication device is communicating with the information correction device are used. When the communication strength is sufficient, the vehicle speed calculated by the navigation satellite receiving device 500, which is the first vehicle speed sensor, is used, and when the communication strength is weak, the vehicle speed calculated by the traveling transmission vehicle speed detection unit 300, which is the second vehicle speed sensor, is used.

By using the vehicle speed calculated by the first vehicle speed sensor when communication with the satellite and the information correction device is stable, work can be performed based on an accurate vehicle speed, improving work accuracy.

(B3) Next, we will explain mainly with reference to Figure 3.

The pesticide spraying operation is controlled based on the vehicle speed adopted and the detected pesticide spray pressure.

If the vehicle speed adopted falls outside the range of appropriate vehicle speeds for pesticide spraying operations, an external alert will be issued.

For example, when the communication strength between the satellite or the satellite and the information assistance device is sufficient, the vehicle speed calculated by the navigation vehicle speed detection unit 200, which is the first vehicle speed sensor, is used, and when the communication strength is insufficient, the vehicle speed calculated by the travel transmission vehicle speed detection unit 300, which is the second vehicle speed sensor, is used.

If the detected vehicle speed exceeds the optimum vehicle speed for spraying, which is within the range of 0.85 to 6 km/h and changes in conjunction with the spray volume setting of 20 to 300 liters, a buzzer sounds and the screen display changes to notify the user. If the detected vehicle speed falls below the optimum vehicle speed, the screen display changes to a different color or other color than the above-mentioned screen display changes to notify the user.

When the vehicle speed exceeds the optimum speed for spraying pesticides, an audible alert is issued in addition to a visual display on the screen, thereby reducing the distance the vehicle travels without receiving sufficient pesticide, preventing poor growth and the outbreak of pests and diseases due to an insufficient supply of pesticides.

If the vehicle speed falls below the optimum speed for spraying pesticide, a warning will be displayed on the screen, limiting the distance over which more than the set amount of pesticide is supplied to the same location, preventing unnecessary consumption of pesticide and soil contamination due to oversupply.

(B4) Next, we will explain mainly with reference to Figures 1 to 3.

When the fully retracted boom position switch 812 is turned on, the detected boom extension amount is rewritten and updated and recorded as the latest fully retracted boom extension amount.

For example, when the end detection switch 812, which is the most retracted boom position switch, is turned on, the detection value of the boom extension amount sensor 811, which is an extension sensor, is recorded as the most retracted reference position; that is, the value in a non-volatile memory such as the memory of the controller 150 is rewritten.

By setting the position where the slide boom is most retracted as the most retracted reference position, even if behavior that could cause a false detection occurs when the slide boom slides due to slippage of the feed roller or telescopic wire, the detection value of the telescopic sensor is prevented from going outside a specified range, which is a position where physical sliding is not possible, and a decrease in the accuracy of telescopic control is prevented.

To set the left telescopic sensor reference value, a limit switch, the minimum retracted boom position switch 812, is provided at the leftmost retracted position of the boom, and when the switch is turned on, the minimum retracted reference for the left telescopic sensor in the non-volatile memory is automatically rewritten. When the boom is retracted during work, the roller and wire of the boom telescopic amount sensor 811, which is the telescopic sensor, may slip, causing the detection value to fall outside the appropriate range, making it impossible to control correctly and resulting in poor workability when set manually; however, this problem can be improved.

To set the right telescopic sensor reference value, a limit switch, the minimum retracted boom position switch 812, is provided at the rightmost retracted position of the boom, and when the switch is turned on, the minimum retracted reference for the right telescopic sensor in the non-volatile memory is automatically rewritten. When the boom is retracted during work, the roller and wire of the boom telescopic amount sensor 811, which is the telescopic sensor, may slip, causing the detection value to fall outside the appropriate range, making it impossible to control correctly and resulting in poor workability when set manually; however, this problem can be improved.

The telescopic sensor interrupt display will interrupt and notify you when the boom telescopic amount sensor 811, which is a telescopic sensor installed on the left and right, exceeds the control reference range. When the boom is telescopic during work, the roller and wire of the telescopic sensor may slip, causing the detection value to fall outside the appropriate range. This may require an interrupt display on the meter panel to prompt the user to adjust the sensor, but this type of problem will be improved. It will be possible to prompt the user to adjust the sensor.

(B5) Next, the following explanation will be given mainly with reference to Figures 1 to 3 and 12 to 15.

Here, Figures 12 to 15 are control diagrams (parts 9 to 12) of the self-propelled pest control machine 100 according to an embodiment of the present invention.

When the start of turning to the left or right side of the vehicle body is determined based on the detected steering wheel steering amount, the boom lift amount of the pesticide spray boom 410 on the opposite side of the turn is recorded as the turn start boom lift amount, and the pesticide spray boom 410 on the opposite side of the turn is raised.

When the end of rotation is determined based on the detected steering amount, the pesticide spray boom 410 on the opposite side of the rotation is lowered until the boom lift amount of the pesticide spray boom 410 on the opposite side of the rotation matches the recorded boom lift amount at the start of the rotation.

For example, when the handle steering amount sensor 900, which is a potentiometer, detects a steering amount that can be regarded as a turn, the current tilt angle detected by the boom lift amount sensor 820, which is a boom angle sensor, is recorded, and the boom lift mechanism on the outer side of the turning direction, which is opposite to the recorded turning direction, is operated and raised to a predetermined height. When the potentiometer detects a steering amount that can be regarded as the end of a turn, the spraying boom is lowered until it reaches the tilt angle recorded by the boom angle sensor before it is raised.

By adopting a configuration in which the spray boom on the side opposite the rotation direction is raised when a rotation operation is performed, walls or slopes near the rotation position can be reliably avoided and damage to the spray boom is prevented. When the rotation is ended by operating the handle, the spray boom is automatically lowered to the working height before the rotation, eliminating the need to return the working height of the spray boom to its pre-rotation height after the rotation is completed, improving operability and work efficiency.

As shown in steps S1g to S5g of the boom lift control during rotation in the control flowchart of Figure 12, when it is determined that a rotation has started, the boom lift relay on the side opposite the rotation direction is turned on. When the rotation direction is determined to be a left rotation, the boom lift target value is set to the upper right and lower right corner sensor storage reference value, and lift output is performed for the right boom. When the rotation direction is determined to be a left rotation, if lift output is performed for the right boom for a specified period of time, the boom position after lift may vary depending on the boom position before the lift started, but this problem can be improved.

As shown in boom lift control steps S1h to S5h during rotation in the control flowchart of Figure 13, when it is determined that a rotation has started, the boom lift relay on the side opposite the rotation direction is turned on. When the rotation direction is determined to be a right rotation, the boom lift target value is set to the left up/down angle sensor storage reference value, and lift output for the left boom is performed. When the rotation direction is determined to be a right rotation, if lift output for the left boom is performed for a specified period of time, the boom position after lift may vary depending on the boom position before the lift started, but this problem can be improved.

As shown in steps S1i to S5i of boom lift control during rotation in the control flowchart of Figure 14, in the boom lift control during rotation in the control flowchart of Figure 12, when it is determined that the rotation is finished, the right boom lowering relay that was raised at the rotation start determination is turned on to the sensor angle at the start of the lift. When it is determined that the rotation is finished, the control of turning on the boom lowering relay on the side that was raised at the rotation start determination becomes complicated, and the position of the lowered boom may not return to its original position with high accuracy, but such a problem can be improved.

As shown in boom lift control steps S1j to S5j in the control flowchart of Figure 15, in the boom lift control during rotation in the control flowchart of Figure 13, when it is determined that the rotation is finished, the left boom lowering relay that was raised at the rotation start determination is turned on to the sensor angle at the start of the lift. When it is determined that the rotation is finished, the control to turn on the boom lowering relay on the side that was raised at the rotation start determination becomes complicated, and the position of the lowered boom may not return to its original position with high accuracy, but such a problem can be improved.

(B6) Next, we will explain mainly with reference to Figures 1 to 3 and 16.

Here, FIG. 16 is a control explanatory diagram (part 13) of the self-propelled pest control machine 100 according to an embodiment of the present invention.

When the boom lift of the pesticide spray boom 410 is determined based on the detected boom lift amount, boom vibration control is paused.

For example, the vibration damping solenoid is turned on when the boom vibration damping device 420, which is the control device, is turned on, and the vibration damping solenoid is stopped within a predetermined range while the pesticide spraying boom 410, which is the spraying boom, is rising or falling.

The boom vibration control device 420 ensures that the spray boom, which is raised and lowered, hardly moves up and down due to inertia, causing damage to various parts of the machine, and prevents the spray boom from bouncing up and down during spraying, causing inconsistencies in the spray position of the pesticide. By not allowing the accumulator to exert its vibration control effect while the spray boom is being raised and lowered, hunting and other problems during the raising and lowering process are prevented, shortening the time required for the raising and lowering operation and preventing the application of a large load to the spray boom.

As shown in the vibration control timing chart of Figure 16, the vibration damping solenoid of the boom vibration damping device 420 is turned on when power is turned on to the controller 150, and the solenoid is turned off for a specified time when the up switch of the entire lifting/lowering cylinder is turned on. When the boom is raised with the solenoid on due to the accumulator drive solenoid (vibration damping solenoid) connected to the entire lifting/lowering cylinder being turned on and off mechanically, the timing of lifting may feel slow, but this problem can be improved.

When the power to the controller 150 is turned on, the vibration damping solenoid of the boom vibration damping device 420 is turned on, and while the right open/close sensor detection value ≦ right open/close sensor storage reference value + A (10° (A/D value: 93)) is detected, the vibration damping solenoid is turned off. When the accumulator drive solenoid (vibration damping solenoid) connected to the entire lifting cylinder is turned on and off mechanically, if the solenoid is left on, a load may be placed on the right boom and right boom receiver in the boom storage state, but this type of problem can be improved.

When the power to the controller 150 is turned on, the vibration damping solenoid of the boom vibration damping device 420 is turned on, and while the left opening/closing sensor detection value ≦ left opening/closing sensor storage reference value + A (10° (A/D value: 93)) is detected, the vibration damping solenoid is turned off. When the accumulator drive solenoid (vibration damping solenoid) connected to the entire lifting cylinder is turned on and off mechanically, if the solenoid is left on, a load may be placed on the left boom and left boom support in the boom storage state, but this type of problem can be improved.

When the power to the controller 150 is turned on, the vibration damping solenoid of the boom vibration damping device 420 is turned on, and the vibration damping solenoid is turned off while the left and right booms are being deployed or stowed. As the accumulator drive solenoid (vibration damping solenoid) connected to the overall lifting cylinder is mechanically turned on and off, boom hunting may occur while the left and right booms are being deployed or stowed, but this problem can be improved.

(C) Next, the configuration and operation of the self-propelled pest control machine 100 according to an embodiment of the invention related to the present invention will be specifically described.

<Horizontal control of pest control machine and work machine (1)>
When the pest control tank is mounted, the tank and the vehicle body are connected with a tank coupler (not shown), and when the pest control tank is removed, this tank coupler is disconnected. At this time, the configuration is such that it is determined whether the tank is absent (open judgment) or present (short judgment) based on whether the coupler is connected or disconnected. When the pest control tank mounting judgment is an open judgment, the boom horizontal control is disabled, and when it is a short judgment, the boom horizontal control is enabled.

As a result, even if a boom horizontal control unit (e.g., VBS-C-Box, etc.) is attached to the vehicle body and remains attached to the vehicle body regardless of whether the pest control tank is attached or detached, the boom horizontal control is no longer performed when the pest control tank is removed. This eliminates the need to correct the boom position and prevents the boom from coming into contact with an obstacle and being damaged.

<Horizontal control of pest control machine and work machine (2)>
When the pest control tank attachment determination indicates that the tank is not attached (open determination), manual operation of the boom may be enabled by a special operation, for example, by switching the boom horizontal setting to manual and pressing the manual lower or raise switch while pressing the left storage switch. Even if the pest control tank is removed and the boom horizontal control is turned off, the boom tilt angle can be manually adjusted by a special operation when it is desired to make the boom horizontal or tilt it according to the growth of the field or crops.

<Deployment and storage control display>
During boom deployment and storage control, an interrupt display is shown on the meter panel even if other displays are in progress in order to alert the operator. This ensures that the operator is informed that control is being performed, preventing the operator from performing unnecessary operations while the boom is deployed or stored.

<Display after one-shot storage>
When the left and right simultaneous stowing control is completed, an interrupt display is performed for a specified period of time and a buzzer sounds intermittently. When the boom is stowing in one shot, the boom receiver is not stowing completely, so it is necessary to alert the operator, and since right or left stowing control is often performed while work is in progress, performing the above control while right or left stowing control can cause inconvenience, but this problem is improved.

<Boom Night Lighting (1)>
Night lighting is provided at the tip of the left and right booms. It is linked to the combination switch. Without lighting, night work with the boom deployed can be dangerous due to poor visibility of the boom tip, and it can be impossible to work. This problem will be improved.

<Boom Night Lighting (2)>
Multiple lights are provided on the left and right booms. They are linked to a combination switch. Without lights, nighttime work with the boom deployed can be dangerous due to poor visibility of the boom tip, making it impossible to work. This problem will be improved.

<Boom extension amount display>
When the spray cock switch (left) is on (spraying), the boom bar graph lights up according to the amount of extension and retraction of the left boom. When the switch is off (not spraying), all of the left boom bar graphs are turned off. The same is true for the right boom. In the conventional configuration, the display switches to match the amount of boom extension and retraction according to manual operation, and spray width data is collected, but if the amount of manual operation is incomplete due to mechanical lock or the operator's misperception, spraying may be displayed even when no spraying is occurring. This can cause problems such as reduced workability and accuracy, but this problem will be improved.

<PTO lever position improper display>
While the predetermined conditions are met, the "PTO lever position is not appropriate" message is displayed to notify the user. When working in low volume spray mode with the PTO speed set to high, this can result in unnecessary fuel consumption and insufficient horsepower, but this problem can be improved.

"Predetermined conditions" are, for example, settings where the amount of pesticide sprayed is small and the PTO is set to a high speed rotation of the PTO lever, and where unnecessary rotation of the PTO shaft can lead to increased fuel consumption or insufficient power output to other work equipment.

<Steering change indication>
When the buzzer sounding conditions are met when switching steering modes, the direction of steering wheel turning is displayed and notified while the sounding conditions are met. If the direction of steering wheel turning cannot be determined by the buzzer sound alone, the operator must determine the direction of steering wheel turning by looking at the direction of tires, but this problem is improved.

<Conditions for ending the deployment/storage control manual switch>
When a predetermined condition occurs, the control ends. If all manual operation switches are pressed during deployment and storage control, the control ends. In actual operation, for example, if you want to operate the left boom during right deployment, the right deployment control may end. This problem will be improved.

The program of the invention related to the present invention is a program for causing a computer to execute all or part of the steps (or processes, operations, actions, etc.) of the work vehicle operation control method of the invention related to the present invention described above, and is a program that operates in cooperation with a computer.

The recording medium of the invention related to the present invention is a recording medium on which a program is recorded for causing a computer to execute all or part of the steps (or processes, operations, actions, etc.) of the work vehicle operation control method of the invention related to the present invention described above, and is a computer-readable recording medium in which the read program is used in cooperation with a computer.

Note that "some steps (or processes, operations, actions, etc.)" mentioned above means one or some of those multiple steps.

In addition, the above-mentioned "operation of a step (or process, operation, action, etc.)" means the operation of all or part of the above-mentioned step.

In addition, one mode of use of the program of the invention related to the present invention may be a mode in which it is transmitted through a transmission medium such as the Internet, light, radio waves, or sound waves, read by a computer, and operates in cooperation with the computer.

In addition, recording media include ROM (Read Only Memory) and the like.

In addition, a computer is not limited to pure hardware such as a CPU (Central Processing Unit), but may also include firmware, an OS (Operating System), and even peripheral devices.

As mentioned above, the configuration of the present invention may be realized in either software or hardware.

The work vehicle of the present invention is able to grasp vehicle speed more accurately, and is useful for use in work vehicles such as self-propelled pest control machines.

LIST OF SYMBOLS 100 Self-propelled pest control machine 101 Vehicle body 102 Travel transmission mechanism 110 Travel device 111 Front wheel 112 Rear wheel 120 Steering device 150 Controller 200 Navigation vehicle speed detection unit 300 Travel transmission vehicle speed detection unit 400 Pesticide spraying device 410 Pesticide spraying boom 411 Basic boom 412 Telescopic boom 413 Main drive motor 413s Sprocket 413c Chain 414 Auxiliary drive motor 414r Roller 414c Cable 415 Plate 416 Slide body 420 Boom vibration control device 500 Navigation satellite receiving device 600 Travel transmission sensor 700 Pesticide spraying injection pressure sensor 811 Boom extension/contraction amount sensor 812 Minimum retracted boom position switch 820 Boom lift amount sensor 900 Steering wheel steering sensor 1000 Navigation satellite

Claims (5)

A work vehicle that sprays a chemical using a chemical spraying device (400) while traveling,
A navigation satellite receiving device (500) for receiving a satellite radio signal from a navigation satellite (1000);
a navigation vehicle speed detection unit (200) for detecting a vehicle speed based on an input signal from the navigation satellite receiving device (500);
A travel transmission sensor (600) for detecting the state of a travel transmission mechanism (102) of a vehicle body (101);
A vehicle speed detection unit (300) for detecting a vehicle speed based on an input signal from the vehicle speed sensor (600);
Equipped with
When there is no predetermined problem in the input signal from the navigation satellite receiving device (500) to the navigation vehicle speed detection unit (200), the vehicle speed detected by the navigation vehicle speed detection unit (200) is adopted;
When the input signal from the navigation satellite receiving device (500) to the navigation vehicle speed detection unit (200) has the predetermined problem, the vehicle speed detected by the traveling transmission vehicle speed detection unit (300) is adopted;
The work vehicle is characterized in that the specified problem in the input signal from the navigation satellite receiving device (500) to the navigation vehicle speed detection unit (200) is a problem caused by at least one of the following: an off state of the navigation satellite receiving device (500), a faulty state of the navigation satellite receiving device (500), a faulty state of the satellite radio signal, and a state in which the satellite radio signal is not corrected by a specified correction radio signal. A drug spraying pressure sensor (700) is provided to detect the drug spraying pressure of the drug spraying device (400),
The control of the pesticide spraying operation is performed based on the adopted vehicle speed and the detected pesticide spraying pressure,
2. The work vehicle according to claim 1, wherein an external alert is provided when the adopted vehicle speed is outside a predetermined range of appropriate vehicle speeds for pesticide spraying work. A boom extension/retraction amount sensor (811) for detecting the boom extension/retraction amount of the pesticide spraying boom (410) of the pesticide spraying device (400);
A most retracted boom position switch (812) provided at the most retracted boom position of the chemical spray boom (410);
Equipped with
3. The work vehicle according to claim 1, wherein when the fully retracted boom position switch (812) is turned on, the detected boom extension amount is rewritten and recorded as the latest fully retracted boom extension amount. A boom lifting amount sensor (820) for detecting the amount of lifting of the pesticide spraying boom (410) of the pesticide spraying device (400);
A steering amount sensor (900) for detecting a steering amount of a vehicle body (101);
Equipped with
When the start of turning to the left or right side of the vehicle body is determined based on the detected steering amount, the boom lifting amount of the pesticide spraying boom (410) on the opposite side of the turning is recorded as a turning start boom lifting amount, and the pesticide spraying boom (410) on the opposite side of the turning is raised,
A work vehicle as described in claim 1 or 2, characterized in that when the end of rotation is determined based on the detected steering amount, the pesticide spraying boom (410) on the opposite side of the rotation is lowered until the boom lift amount of the pesticide spraying boom (410) on the opposite side of the rotation matches the recorded start- of -rotation boom lift amount. A boom lifting amount sensor (820) for detecting the amount of lifting of the pesticide spraying boom (410) of the pesticide spraying device (400);
A boom vibration control device (420) that controls the boom vibration of the pesticide spray boom (410);
Equipped with
A work vehicle as described in claim 1 or 2, characterized in that the boom vibration control is paused when the boom lifting/lowering of the pesticide spraying boom (410) is determined based on the detected boom lifting amount.