Pest control work vehicle

Abstract

To provide a self-traveling pest control work vehicle that can be used in both a plant cultivation facility and open-field culture by solving a problem that a conventional self-traveling pest control work vehicle that travels a furrow passage in a field is difficult to be used in work in a plant cultivation facility having no ridge although the conventional self-traveling pest control work vehicle has a stable traveling property without breaking a ridge wall and falling and a high-speed traveling property capable of reducing pest control time, as advantages.SOLUTION: A pest control work vehicle including a pest control arm 24 in a travel vehicle body 21 supported by traveling wheels 20 in a travelable manner. The pest control work vehicle is configured such that a detection part 26 is provided in one of right and left sides of the vehicle body 21, and a detection sensor 27 is actuated on the basis of detection of the detection part 26 to control rotation of right and left traveling wheels 20. The detection part 26 includes a vertical contact part 26a and a ridge detection part 26c.SELECTED DRAWING: Figure 3

Description

[Technical field]

[0001] The present invention relates to a pest control vehicle for carrying out pest control in plant cultivation facilities and open-field cultivation. [Background technology]

[0002] A self-propelled pest control machine is known which has a nozzle on the top that sprays chemical solution from a hose, and auxiliary wheels attached in a V-shape to the corners of a body frame which has drive wheels powered by a battery and a drive motor (see, for example, Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Publication No. 11-253088 Summary of the Invention [Problem to be solved by the invention]

[0004] According to Patent Document 1, a self-propelled pest control machine that travels along the passages between the rows in a farm field has the advantages of stable travel without tipping over or damaging the row walls, and high-speed travel to shorten pest control time.

[0005] However, working in a plant cultivation facility where there are no ridges is difficult.

[0006] In view of the above, an object of the present invention is to provide a self-propelled pest control vehicle that can be used both in plant cultivation facilities and in open-field cultivation. [Means for solving the problem]

[0007] In order to solve this problem, the invention described in claim 1 provides a pest control work vehicle having a pest control arm 24 on a running body 21 supported for running by running wheels 20, in which a detection unit 26 is provided on one of the left or right sides of the body 21.

[0008] The invention as set forth in claim 2 is the invention as set forth in claim 1, wherein the detection section 26 is configured with a vertical contact section 26a and a ridge detection section 26c.

[0009] The invention as recited in claim 3 is the invention as recited in claim 1 or 2, in which the sub-passage 9 formed in a creek shape can be entered from the main passage 4 via a slope 25.

[0010] The invention described in claim 4 is the invention described in claim 3, in which a chemical solution pipe 40 is arranged along the main passage 4, one end base portion of a flexible hose 42, 42 is configured to be connectable to the middle portion of the chemical solution pipe 40, and the other end tip side of the flexible hose 42, 42 is connected to a pest control arm 24, 24. Effect of the Invention

[0011] According to the invention described in claims 1 and 2, the robot can travel automatically by sensor detection using the ridges in the open field and the travel rails as facility equipment inside the facility.

[0012] According to the invention described in claim 3, in addition to the effects described in claims 1 and 2, travel is possible through passages within the cultivation facility.

[0013] According to the invention described in claim 4, in addition to the effect described in claim 3, the pest control tank, which is a heavy object within the facility, can be removed, thereby simplifying and reducing the weight of the vehicle body. [Brief description of the drawings]

[0014] [Figure 1] 1 is a schematic diagram of a plant cultivation facility according to an embodiment of the present invention. FIG. [Diagram 2] FIG. 2 is a side view showing an example of pest control operation of the plant cultivation facility according to the embodiment of the present invention. [Diagram 3] FIG. 2A is a perspective view of a pest control vehicle for a plant cultivation facility according to an embodiment of the present invention; FIG. 2B is a side view of a vehicle body turning means of the pest control vehicle for a plant cultivation facility according to an embodiment of the present invention. [Figure 4]FIG. 2A is an explanatory diagram showing a pest control operation in a plant cultivation facility according to an embodiment of the present invention; FIG. 2B is an explanatory diagram showing a pest control operation in open-field cultivation in a plant cultivation facility according to an embodiment of the present invention. [Diagram 5] FIG. 2 is a control block diagram of a pest control vehicle for a plant cultivation facility according to an embodiment of the present invention. [Figure 6] FIG. 2 is an explanatory diagram showing a drug refilling device of the plant cultivation facility according to the embodiment of the present invention. [Figure 7] FIG. 11 is a plan view showing a spraying vehicle as another example of the plant cultivation facility according to the embodiment of the present invention. [Figure 8] FIG. 11 is a side view showing a spraying vehicle as another example of the plant cultivation facility according to the embodiment of the present invention. [Figure 9] FIG. 1A is an explanatory diagram showing the movement of a spraying vehicle of another example of a plant cultivation equipment according to an embodiment of the present invention to the main passage; FIG. 1B is a side view showing the angle adjustment means of the detection sensor of the spraying vehicle of another example of a plant cultivation equipment according to an embodiment of the present invention. [Figure 10] FIG. 11 is a side view showing a spraying vehicle as another example of the plant cultivation facility according to the embodiment of the present invention. [Figure 11] FIG. 10 is an explanatory diagram showing a state in which a spraying vehicle of another example of the plant cultivation equipment according to the embodiment of the present invention detects entry into a work passage. [Figure 12] FIG. 2A is a side view showing a spraying vehicle as another example of the plant cultivation facility according to the embodiment of the present invention; FIG. 2B is a perspective view of a cover of the spraying vehicle as another example of the plant cultivation facility according to the embodiment of the present invention. [Figure 13] 13A and 13B are front views showing an example of an operation panel display of a spraying vehicle of another example of a plant cultivation facility according to an embodiment of the present invention. [Figure 14] FIG. 1 is an explanatory diagram of a battery-powered carrier for a plant cultivation facility according to an embodiment of the present invention. [Figure 15] FIG. 2 is a control block diagram of a battery transport vehicle for a plant cultivation facility according to an embodiment of the present invention. [Figure 16] 1 is an explanatory diagram showing a security system for a battery-powered transport vehicle for a plant cultivation facility according to an embodiment of the present invention; DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0015] A greenhouse system according to an embodiment of the present invention will be described below.

[0016] FIG. 1 shows an example of a cultivation facility, which includes a cultivation room 1, which is a greenhouse in which the indoor environment, such as temperature and humidity, is controlled by heaters and humidifiers, and a shipping room 2 adjacent to the cultivation room 1. In the center of the cultivation room 1, a main passage 4 is provided through which workers, mobile work vehicles (work trolleys) 3, pest control vehicles, etc. can pass, and this main passage 4 is a concrete passage with a concrete road surface. At both sides of the main passage 4, a cultivation space 6 for cultivating crops is formed by arranging a large number of cultivation beds 5, which serve as cultivation units, in rows. The cultivation beds 5 are cultivation beds made of rock wool, which serves as a culture medium, and nutrient solution is supplied to each cultivation bed 5 from a nutrient solution supplying device 7 in the shipping room 2.

[0017] In addition, entrances 8 to the cultivation room 1 equipped with opening and closing doors are provided at both ends of the main passage 4, and one of the entrances 8 can be used to access the adjacent shipping room 2. The other entrance 8 can be used to access the cultivation facility from the outside. The mobile work vehicle 3 can be moved from the main passage 4 to a sub-passage 9 between each cultivation bed 5, and various tasks can be performed on the plants being cultivated while moving the mobile work vehicle 3 along the cultivation beds 5 on the sub-passage 9. The sub-passage 9 is a passage formed in the front-rear direction between the left and right sides of each cultivation bed 5. The mobile work vehicle 3 has left and right pipes 13 laid on the sub-passage 9 to heat the entire greenhouse.

[0018] The shipping room 2 is provided with the nutrient solution supplying device 7 and a sorting device 10 that sorts the harvested crops (fruits) such as tomatoes by weight, size, or grade. The sorting device 10 is a pre-treatment device that processes the cultivated crops before shipping. The sorting device 10 is configured with a sorting conveyor 11 that transports and sorts the harvested crops, and harvested product storage sections 12 for each class provided on both sides of the sorting conveyor 11, and is configured to supply the harvested crops from the sorting conveyor 11 to each harvested product storage section 12 and sort them into each class. The sorting conveyor 11 is configured to be bent in an L-shape in a plan view. Each harvested product storage section 12 is provided with a storage box for storing the harvested crops, and the harvested crops are shipped by this storage box.

[0019] An attracting wire 15 is provided on the upper side of the cultivation bed 5 along the cultivation line, and the cultivated plant P is attracted by an attracting string 17 as an attracting member that hangs down from the attracting wire 15 via an attracting hook 16. The attracting hook 16 is configured to be hung from the attracting wire 15, and is configured to appropriately let the wrapped attracting string 17 hang down, as is well known. After the plant grows to a predetermined height (near the attracting hook 16), the attracting string 17 is sequentially shifted in the arrangement direction of the multiple cultivated plants, i.e., in the longitudinal direction of the cultivation bed 5, while letting out the attracting string 17 from the attracting hook 16, to lower the height of the plant, and the plant is continuously cultivated. Therefore, for example, when a tomato f is cultivated, the tomato stem c will extend from the cultivation bed 5 along the attracting string 17 (FIG. 3).

[0020] The mobile work vehicle 3 is a pest control vehicle as shown in Figures 2, 3 and 5. A running body 21 supported for running by front, rear, left and right running wheels 20 is provided with a pair of pest control arms 24 on the left and right, each of which has a chemical tank 22 and a plurality of chemical spray nozzles 23 arranged vertically.

[0021] As shown in FIG. 4(A), the pest control vehicle 3 can enter the sub-passage 9 formed in a creek shape from the main passage 4 via a slope 25. The pest control vehicle 3 on the sub-passage 9 is equipped with a detection unit 26 on one of the left and right sides. The detection unit 26 is composed of a vertical contact part 26a and a swing arm part 26b that connects the contact part 26a so that it can swing left and right relative to the vehicle body and is biased outward. A detection sensor 27 that is provided at the base of the swing arm part 26b and can detect the movement of the swing arm part 26b controls the rotation of the wheel 20 so that the contact part 26a contacts the laid pipe 13. That is, the left and right wheels 20 are equipped with separate drive motors 28L, 28R for independently controlling the rotation speed, and the control unit C outputs different rotation command signals to the travel drive motors 28L, 28R so that the detection value of the detection sensor 27 becomes a preset value when the vehicle body approaches or moves away from the pipe 13 more than a predetermined value based on the detection result of the detection sensor 27, thereby controlling the traveling direction. When the detection sensor 27 detects the set detection value, it outputs a signal of the same rotation speed to the left and right travel drive motors 28L, 28R.

[0022] In this way, in greenhouse cultivation, by providing a detection unit 26 that uses the laid pipe 13 as the detection target, appropriate pest control work can be performed while adjusting the direction of the pest control work vehicle 3.

[0023] On the other hand, the use of the pest control vehicle 3 in open-field cultivation in normal fields will be described. Vegetables are usually cultivated by forming ridges 29, and a ridge detection unit 26c is provided at the tip of a swing arm unit 26b provided on the vehicle body. This ridge detection unit 26c is provided as an extension on the tip side of the swing arm unit 26b, and is configured to control the rotation speed of the travel drive motors 28L, 28R that drive the wheels 20 so that the vehicle body travels in sliding contact with the side of the ridge. In this way, by providing both the vertical contact unit 26a and the ridge detection unit 26c in the detection unit 26, it is possible to accommodate both greenhouse cultivation and open-field cultivation. In addition, as shown in FIG. 4(B), in the case of a vehicle body that travels between ridges 29, it is preferable to provide the ridge detection unit 26c and the swing arm unit 26b on the left and right sides of the vehicle body. In addition, in the case of a work vehicle that travels between ridges, the ridge detection unit 26c may be provided on both the left and right sides as shown in FIG. 4(B).

[0024] To provide further explanation about the pest control work vehicle 3 in Figure 3, a pump 30 and a flow rate sensor 31 are provided between the chemical tank 22 and the pest control arm 24, and the operation of the pump 30 is controlled so that the appropriate flow rate of chemical is always supplied to the pest control arm 24. An opening / closing lid 32 is provided at the chemical supply port provided on the upper surface of the chemical tank 22, and is configured to open and close in conjunction with an opening / closing control motor 33, and an opening / closing command is issued by an opening / closing output to the opening / closing control motor 33.

[0025] A vehicle body swivel section 34 consisting of an upper and lower cylinder mechanism 34a and a ground plate 34b is configured below the center of the vehicle body of the pest control work vehicle 3. In detail, the upper end of a base shaft 34d that holds a cylinder part 34c of the upper and lower cylinder mechanism 34a is supported via a bearing 34e on the underside of the vehicle body, and the ground plate 34b is fixed to a piston part 34f of the upper and lower cylinder mechanism 34a. Furthermore, a means 34g for changing the relative phase angle between the upper and lower cylinder mechanism 34a and the vehicle body is provided. In this embodiment, as the relative phase angle changing means 34g, an endless belt drive mechanism is used that connects a pulley 34h provided on the base shaft 34d and a pulley 34j provided on a support shaft 34i provided in a protruding manner below the vehicle body with a belt 34k. Therefore, when the vehicle body is stopped at a predetermined position and hydraulic oil is supplied to the upper and lower cylinder mechanism 34a to extend it, the ground plate 34b touches the ground, the vehicle body rises, and all the wheels 20 are in a non-grounded state. Next, when the relative phase angle changing means 34g using the endless belt drive mechanism is operated, the vehicle body rotates while the ground plate 34b maintains its grounded state. When the desired turning state is achieved, the endless belt drive mechanism is stopped and the hydraulic oil in the up-down cylinder mechanism 34a is discharged and the vehicle body is contracted. The ground plate 34b rises and the wheels 20 touch the ground, completing the desired turning operation. By configuring the vehicle body turning section 34 in this way, it is not necessary to provide a wheel turning means, and no space is required for turning.

[0026] Furthermore, a front sensor 35 and a rear sensor 36 are provided at the front and rear of the vehicle body, respectively, enabling the vehicle to detect obstacles and facility walls, thereby enabling the vehicle to be configured for automatic driving.

[0027] As shown in FIG. 6, a cultivation facility or a field is provided with a chemical supplying equipment 37 having a tank that stores chemicals for refilling. When a remaining amount detection sensor 38 in the chemical tank 22 of the spraying vehicle 3 detects that the remaining amount is less than a predetermined amount, the control unit C outputs a spraying operation interruption command signal, stops the pump 30, and stops driving the wheels 20 in the automatic driving state. Then, the position of the chemical supplying equipment 37 is confirmed, and a travel route 39 for refilling is calculated, and the vehicle automatically travels to the chemical supplying equipment 37. When the vehicle reaches the chemical supplying equipment 37, the opening / closing lid 32 of the chemical tank 22 is opened by the opening / closing control motor 33, and when the predetermined supply of chemicals is received, the opening / closing lid 32 is closed. When the automatic travel command signal is received again, the vehicle automatically travels along the reverse route 39 to the work interruption point.

[0028] Next, an improved configuration for pest control work in a cultivation facility will be described with reference to FIG. 7. A chemical liquid pipe 40 is arranged along the main passage 4, and a chemical liquid is supplied from a supply tank (not shown) at a constant pressure. A connection part using branch pipes 41, 41 is provided in the middle of this chemical liquid pipe 40, and is configured to be connectable to one end side base parts of flexible hoses 42, 42 together with the connection part at the end. The other end tip side of the flexible hoses 42, 42 is connected to the pest control arms 24, 24 of the spraying work vehicle 3, 3. The connection part is equipped with pumps 43, 43, which can be switched to supply or cut off the chemical liquid. With this configuration, the pest control work vehicle 3 can perform pest control work while moving along the sub-passage 9 by supplying chemicals from the flexible hoses 42, 42 provided at a predetermined length. Therefore, there is no need to carry the heavy chemical tank 22 on the vehicle body, and the configuration of the work vehicle 3 can be simplified.

[0029] The entrances to the sub-passages 9, 9... are provided with reels 44, 44... for guiding the flexible hoses 42, 42, allowing the flexible hoses 42, 42 to be pulled smoothly. When a long hose is pulled, it will bend at the corners, but to deal with this, a rotating body using the reels 44 can be provided near the corners of the running rails in the facility to prevent bending.

[0030] Next, an improved configuration of the automatically traveling work vehicle 3 will be described with reference to Fig. 8. Elastic bodies 45, 45 are interposed between the support members of the traveling wheels 20 and the vehicle body. This configuration prevents the vehicle body from floating up on the passages 4, 9, reduces the effect on detection by various sensors, and allows accurate control of automatic traveling, etc.

[0031] The vehicle body is also equipped with a main passage recognition sensor 46 that detects when the vehicle has moved from the sub-passage 9 to the main passage 4, such as an ultrasonic sensor that can detect distance or a camera sensor that recognizes images (Fig. 9(A)). The support structure for this detection sensor 46 is such that a stay 47 that supports the sensor 46 is provided so as to be freely rotatable about a horizontal shaft 48, and an angle adjustment bolt 49 is set on the opposite side of the horizontal shaft 48 from the side where the sensor 46 is located (Fig. 9(B)). With this configuration, it is possible to easily adjust the angle of the sensor, and the set distance at which it can be confirmed that the vehicle has entered the main passage 4 can be easily set for each facility.

[0032] Furthermore, a rotary encoder 50 is provided to detect the axial rotation of the wheels 20 (Fig. 10), and the number of pulses once traveled to the back of the sub-passage 9 is detected and stored, so that the robot travels in the sub-passage 9 the number of times equal to the stored data the next time. This allows the robot to travel accurately to the back of the sub-passage 9, and also makes it possible to control plants at the back. Note that by measuring the time together with the detection by the rotary encoder 50, the robot can travel to the back of the sub-passage 9 more accurately.

[0033] Next, a method of detecting the entrance to the sub-passage 9 while traveling in the main passage 4 will be described with reference to Fig. 11. Rail detection sensors 51L, 51R are provided on both sides of the lower front of the vehicle body, and if neither of the sensors 51L, 51R is ON (Fig. 11(b)), it is determined that the object is a pillar or an obstacle in the facility, and the vehicle continues traveling in the main passage 4 while ignoring it. Then, if one of the sensors 51R turns ON and the other sensor 51L turns ON, and then immediately thereafter the other sensor 51R turns OFF (Fig. 11(c)), the vehicle recognizes the object as a pipe 13 and also determines that the object is the entrance to the sub-passage 9, so it stops and moves towards the sub-passage 9. This allows the vehicle to accurately recognize the entrance to the sub-passage 9.

[0034] In Fig. 12, a vehicle body lifting cylinder mechanism 55 is provided at a position symmetrical to the side where the liquid chemical tank 22 is arranged. When recovering residual liquid in the liquid chemical tank 22, the vehicle body is lifted and a valve 56 at the outlet at the rear of the tank 22 is opened, allowing the liquid to be easily discharged. An operation panel 57 is provided at the rear of the vehicle body, and the vehicle body lifting operation is performed by operating a maintenance switch 58 in Fig. 13(A). Operating the maintenance switch 58 switches to the screen in Fig. 13(B), and the machine body lift switch is turned ON. In the example in Fig. 12(B), a cover 59 is provided to cover the liquid chemical tank 22, pump 30, etc., to prevent the liquid chemical from scattering.

[0035] Next, the configuration of the battery transport vehicle 60 will be described with reference to Figures 14 and 15. Here, the battery transport vehicle 60 can carry replaceable batteries 61, 61, which are replacement batteries, and a rechargeable battery 62. A space capable of storing the replaceable batteries 61, 61 is provided on the upper surface of the transport vehicle 60, and a space capable of storing the rechargeable battery 62 is provided on the lower surface of the transport vehicle 60. A charger 63 for charging the rechargeable battery 62 is disposed above the rechargeable battery 62, and a charging port 64 for supplying power to the charger 63 is disposed on the side of the transport vehicle. Furthermore, a DC-DC converter 65 for charging the replaceable battery 61 from the rechargeable battery 62 is disposed above the rechargeable battery 62.

[0036] It is preferable that the remaining charge of the replaceable batteries 61, 61 can be displayed on a display unit (not shown), and that the remaining charge of the rechargeable battery 62 can be similarly displayed.

[0037] The travel motor 66 of the battery transport vehicle 60 and the inverter 67 that controls its rotation speed can be operated by the power of the rechargeable battery 62, and can drive wheels 68. The inverter 67 is controlled by the operation of an operating unit 69. Reference numeral 70 denotes a charging controller.

[0038] Next, with reference to Fig. 16, an anti-theft configuration that issues a warning when the various sensors 71 and antenna 72 are removed from the mobile work vehicle 3 that is equipped with various sensors 71 and antenna 72 and is configured to be capable of autonomous travel will be described. The various sensors 71 and antenna 72 are electrically connected to a buzzer 73, and when this connection is cut off, the buzzer 73 turns on and emits an alarm sound. In the work vehicle 3 equipped with a camera 74, a camera image signal is output and the surroundings of the work vehicle 3 are photographed. The buzzer 73 alarm signal, camera 74 image signal, and image data are transmitted to a management control device 76 such as a mobile terminal or personal computer of the owner of the work vehicle by using a wireless communication line 75. [Explanation of symbols]

[0039] 4 Main Passage 9 Sub-passage 20 Running wheels 21 Running vehicle 24 Pest Control Arm 25 Slope 26 Detection unit 26a Vertical contact part 26c Ridge detection unit 27 Detection Sensor 40 Chemical Pipe 42 Flexible hose

Claims

1. This pest control work vehicle is equipped with a pest control arm (24) on a running body (21) supported for running by running wheels (20), and is characterized in that a detection unit (26) is provided on one of the left and right sides of the body (21), and a detection sensor (27) is activated based on detection by the detection unit (26) to control the rotation of the left and right running wheels (20).

2. 2. A pest control vehicle according to claim 1, wherein the detection section (26) is composed of a vertical contact section (26a) and a ridge detection section (26c).

3. 3. A pest control vehicle as claimed in claim 1 or 2, which is configured so that a sub-passage (9) formed in a creek shape can be entered from a main passage (4) via a slope (25).

4. A pest control work vehicle as described in claim 3, in which a chemical solution pipe (40) is arranged along the main passage (4), one end base of a flexible hose (42, 42) is configured to be connectable to the middle portion of the chemical solution pipe (40), and the other end tip side of the flexible hose (42, 42) is connected to a pest control arm (24, 24).

Images