Work vehicles

Abstract

To provide a work vehicle capable of spraying chemical solutions onto a field at a target spray density. [Solution] Based on the spray shape of the chemical solution ejected from the nozzle (101), the spraying area and spraying density in the field are calculated, and at least one of the amount of chemical solution supplied to the nozzle (101) and the opening degree of the nozzle (101) is controlled so that the chemical solution is sprayed in a predetermined spraying area of ​​the field at a predetermined spraying density, thereby providing a work vehicle capable of spraying chemical solution in a field at a target spraying density.

Description

Technical Field

[0001] The present invention relates to a work vehicle that performs work in a field.

Background Art

[0002] Regarding work vehicles such as tractors, management machines, drones, and unmanned aerial vehicles equipped with a working machine for spraying chemicals in a field, the technology described in the following Patent Document 1 has been conventionally known.

[0003] Patent Document 1 (Japanese Unexamined Patent Application Publication No. 2017-144811) describes a technology in which an unmanned flying body is equipped with a camera and a chemical spraying machine, and flight control is performed so as to recognize the shape and boundary of a field by an imaging device and spray chemicals on the area of the field.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0005] (Problems of the Prior Art) In the configuration shown in Patent Document 1, it is possible to recognize the area for the purpose of spraying chemicals in a field. However, when spraying chemicals, it is almost never actually in a windless state, and due to the wind direction and wind speed, after spraying, the chemicals are carried away by the wind before reaching the field, and there are also problems such as deviating from the target area or the target spraying density (the amount of chemicals sprayed per unit area) being insufficient or excessive. Furthermore, individual differences in nozzles and chemical supply pumps, age-related deterioration, clogging, and differences in the viscosity of the chemical solution due to the temperature on the day of application can cause differences in the amount of chemical solution supplied and the nozzle opening angle, even with the same settings. These differences can lead to problems such as areas not being sprayed, or insufficient or excessive spray density.

[0006] The technical objective of this invention is to provide a work vehicle capable of spraying a chemical solution onto a field at a target spray density. [Means for solving the problem]

[0007] To solve the aforementioned technical problems, the invention described in claim 1 is a work vehicle characterized by comprising: a nozzle (101) for spraying a chemical solution onto a field; a spray shape acquisition means (C1) for acquiring the spray shape of the chemical solution sprayed from the nozzle (101); a calculation means (C3) for calculating the spray area and spray density on which the chemical solution is sprayed in the field based on the spray shape acquired by the spray shape acquisition means (C1); and a spray control means (Ca) for controlling the amount of chemical solution sprayed from the nozzle (101) so that the chemical solution is sprayed in a predetermined spray area of ​​the field at a predetermined spray density based on the spray area and spray density calculated by the calculation means (C3).

[0008] The invention described in claim 2 is a work vehicle according to claim 1, comprising: a member to be adhered to (126) positioned at a location to which a portion of the liquid sprayed from the nozzle (101) adheres; an imaging device (124L, 124R) for imaging the member to be adhered to (126); and a spray shape acquisition means (C1) for estimating the spray shape of the liquid from the range of liquid adhering to the member to be adhered to (126) as imaged by the imaging device (124L, 124R).

[0009] The invention described in claim 3 is a work vehicle according to claim 1, characterized in that it is equipped with an imaging device (124L, 124R) which has a first imaging device (124-1) that images the nozzle (101) from above and below to image the spray shape in the horizontal direction, and a second imaging device (124-2) that images the nozzle (101) from the horizontal direction to image the spray shape in the vertical direction, and an imaging device (124L, 124R) that acquires the spray shape of the chemical solution based on the image captured by the imaging device.

[0010] The invention described in claim 4 is a work vehicle according to claim 1, characterized by comprising: a flow sensor (SN1) for detecting the amount of chemical solution sprayed from the nozzle (101); a calculation means (C3) for calculating the spray area and spray density in which the chemical solution is sprayed in the field based on the spray shape acquired by the spray shape acquisition means (C1) and the amount of sprayed detected by the flow sensor (SN1); and a spray control means (Ca) for controlling the amount of chemical solution supplied to the nozzle (101) and the opening degree of the nozzle (101) so that the chemical solution is sprayed in a predetermined spray area in the field at a predetermined spray density based on the spray area and spray density calculated by the calculation means (C3), thereby controlling the amount of chemical solution sprayed from the nozzle (101).

[0011] The invention described in claim 5 is a work vehicle according to claim 1, characterized in that spray density identification information that specifies the relationship between the spray shape and the spray density is registered in advance, and the work vehicle is equipped with a calculation means (C3) that calculates the spray density based on the spray density identification information and the spray shape acquired by the spray shape acquisition means (C1).

[0012] The invention described in claim 6 is a work vehicle according to claim 1, characterized in that it is equipped with an abnormality detection means (C6) that detects the occurrence of an abnormality when the injection shape acquired by the injection shape acquisition means (C1) does not match a pre-registered injection shape. [Effects of the Invention]

[0013] According to the invention described in claim 1, based on the spray shape of the chemical solution ejected from the nozzle (101), the spray area and spray density to be sprayed in the field are calculated, and at least one of the amount of chemical solution supplied to the nozzle and the nozzle opening is controlled so that the chemical solution is sprayed in a predetermined spray area of ​​the field at a predetermined spray density, thereby providing a work vehicle capable of spraying chemical solution in a field at a target spray density.

[0014] According to the invention described in claim 2, in addition to the effects described in claim 1, the spray shape of the drug solution can be obtained without directly imaging the drug solution by estimating the spray shape of the drug solution from the range of the drug solution attached to the member to be attached (126) imaged by the imaging device (124L, 124R).

[0015] According to the invention described in claim 3, in addition to the effects described in claim 1, by imaging the horizontal jet shape with the first imaging device (124-1) and the vertical jet shape with the second imaging device (124-2), the accuracy of identifying the jet shape is improved compared to when only one imaging device is used.

[0016] According to the invention described in claim 4, in addition to the effects described in claim 1, the processing load for calculations can be reduced compared to when the amount of spray is not used, by calculating the spray area and spray density in the field based on the spray shape acquired by the spray shape acquisition means (C1) and the spray amount detected by the flow sensor (SN1).

[0017] According to the invention described in claim 5, in addition to the effects described in claim 1, the spray density can be calculated even without information on the amount of sprayed by using spray density identification information that identifies the relationship between the spray shape and the spray density.

[0018] According to the invention described in claim 6, in addition to the effects described in claim 1, abnormalities can be detected from the spray pattern. [Brief explanation of the drawing]

[0019] [Figure 1]FIG. 1 is a left side view of a chemical liquid spraying work vehicle as an example of a work vehicle according to an embodiment of the present invention. [Figure 2] FIG. 2 is a plan view of the chemical liquid spraying work vehicle according to the embodiment of the present invention. [Figure 3] FIG. 3 is a front view of the chemical liquid spraying work vehicle according to the embodiment of the present invention. [Figure 4] FIG. 4 is a perspective view of the chemical liquid spraying work vehicle according to the embodiment of the present invention as viewed from the upper left front. [Figure 5] FIG. 5 is a schematic explanatory view of the work vehicle according to the embodiment during work as viewed from the front. [Figure 6] FIG. 6 is a functional block diagram of the control unit according to the embodiment. [Figure 7] FIG. 7 is an explanatory view of an example of the injection shape according to the embodiment. FIG. 7(A) is an explanatory view of a windless state, FIG. 7(B) is an explanatory view of a state where a weak wind is blowing from the left, FIG. 7(C) is an explanatory view of a state where a strong wind is blowing from the left, FIG. 7(D) is an explanatory view of a state where the injection amount is less than that in the state of FIG. 7(A), and FIG. 7(E) is an explanatory view of a state where the injection amount is more than that in the state of FIG. 7(A). [Figure 8] FIG. 8 is an explanatory view of another form according to the embodiment and is a figure corresponding to FIG. 5. [Figure 9] FIG. 9 is an explanatory view of another form 2 according to the embodiment.

Embodiments for Carrying Out the Invention

[0020] Next, examples which are specific examples of the embodiments of the present invention will be described while referring to the drawings, but the present invention is not limited to the following examples. In the description of the embodiment, the left and right directions are referred to as left and right respectively toward the forward direction of the vehicle body, and the forward direction is referred to as front and the backward direction is referred to as rear for explanation. In the following description using the drawings, illustrations other than the members necessary for the explanation are appropriately omitted for easy understanding.

[0021] Figure 1 is a left side view of a chemical spraying vehicle, which is an example of a work vehicle according to an embodiment of the present invention. Figure 2 is a plan view of a chemical spraying vehicle according to an embodiment of the present invention. Figure 3 is a front view of a chemical spraying vehicle according to an embodiment of the present invention. Figure 4 is a perspective view of a chemical spraying vehicle according to an embodiment of the present invention, viewed from the upper left front.

[0022] Figures 1 to 3 show the left and right spraying boom mechanisms (an example of the work equipment) described later, stored on both the left and right sides of the vehicle body (in the storage position, stored posture). Figure 4 shows the left spraying boom mechanism 100L stored on the left side of the vehicle body, and the right spraying boom mechanism 100R deployed on the right side of the vehicle body (in the working position, spraying posture). Furthermore, in Figure 3, the illustration of the center spraying boom mechanism 100C, which will be described later, is omitted, and in Figure 4, the illustrations of the center spraying boom mechanism 100C and the left-side spraying boom mechanism 100L are omitted.

[0023] In Figures 1 and 2, the chemical spraying vehicle 1, an example of a work vehicle in this embodiment, has a pair of left and right front wheels 3L, 3R and a pair of left and right rear wheels 4L, 4R. At the front of the main frame of the vehicle body 2 of the chemical spraying vehicle 1, there is an engine 6 covered by a bonnet 5, a driver's seat 7 located approximately in the center of the main frame, and a steering wheel 8 located in front of the driver's seat 7. At the rear of the main frame, in a plan view, there is a pest control tank 9 for storing chemicals, which is arranged to surround the left and right sides and the rear of the driver's seat 7.

[0024] Furthermore, a pest control pump 10 is provided at the bottom of the pest control tank 9, on the main frame. Behind the pest control tank 9, a carrier 51 is provided, which is configured to carry metal or resin portable containers 12. The portable containers 12 may include containers of water, fuel, or chemicals. In the case of water, at the end of the work (when the pest control tank 9 is empty of chemicals), water can be poured into the pest control tank 9 and sprayed from a spray nozzle 101 (an example of a nozzle) to clean the piping of the pest control spraying device 100. It can also be used to carry spare fuel cans or chemical cans.

[0025] An example of a work device, a pest control spraying device 100, is positioned on the front side of the main frame. The pest control spraying device 100 has a center spraying boom mechanism 100C positioned in front of the main frame, and a pair of left and right spraying boom mechanisms 100L and 100R that are rotatably mounted on both the left and right front ends of the main frame. The pair of left and right spraying boom mechanisms 100L and 100R are also provided with a pair of left and right hydraulic rotating cylinders 110L and 110R that rotate a pair of left and right spraying booms 120L and 120R (described later) via a pair of left and right rotating parts 300L and 300R. The pair of left and right rotating parts 300L and 300R are rotatably mounted on both the left and right ends of the front horizontal support column 220 (described later).

[0026] Furthermore, a lifting link mechanism 200 for raising and lowering the pest control spraying device 100 is provided on the front side of the main frame. As shown in Figures 1, 2, and 4, the lifting link mechanism 200 has parallel links 210L and 210R, a front horizontal support column 220, and a hydraulic lifting cylinder 230. The parallel links 210L and 210R are rotatably supported in pairs on both the left and right sides of the bonnet 5. The front horizontal support column 220 is positioned in front of the bonnet 5 and is welded to the front ends of the parallel links 210L and 210R. The hydraulic lifting cylinder 230 raises and lowers the front horizontal support column 220. Since the hydraulic lifting cylinder 230 in this embodiment consists of only one cylinder, the structure is simplified and the weight is reduced.

[0027] The left parallel link 210L, as shown in Figure 1, has an upper link 210La and a lower link 210Lb on the left side. The rear ends of the upper link 210La and the lower link 210Lb on the left side are rotatably connected at a predetermined distance apart by a left link first connecting member 211L. The lower end of the left link first connecting member 211L is fixed to the left side (left side in the vehicle width direction) of the main frame. The front ends of the upper link 210La and the lower link 210Lb on the left side are rotatably connected at a predetermined distance apart by a left link second connecting member 212L. The parallel link 210R on the right side has the same configuration as the parallel link 210L on the left side described above.

[0028] Furthermore, the front horizontal support column 220 described above is welded and fixed to the lower end of the front surface of the left link second connecting member 212L and the lower end of the front surface of the right link second connecting member 212R. The width of the front horizontal support column 220 is longer than the distance between the left parallel link 210L and the right parallel link 210R, and is approximately the same length as the distance between the left and right front wheels 3L and 3R (tread). Furthermore, the left lower link 210Lb and the right lower link 210Rb are connected by a left-right link connecting arm 213 at approximately the midpoint between the front end of the bonnet 5 and the front horizontal support 220 when viewed from the side.

[0029] Furthermore, the main body of the hydraulic lifting cylinder 230 described above is rotatably mounted on the upper end of a cylinder mounting bracket 232 erected in the center of the left-right width of the front horizontal support column 220. The tip of the piston rod 231 of the hydraulic lifting cylinder 230 is connected to the left and right link connecting arms 213.

[0030] As a result, when the piston rod 231 of the hydraulic lifting cylinder 230 moves in the direction of extension, the pair of left and right parallel links 210L and 210R rise at their front ends, with the connection point with the first connecting member 211L of the left link and the first connecting member 211R of the right link as the axis of rotation, and the front horizontal support column 220 also rises at the same time.

[0031] Furthermore, when the piston rod 231 of the hydraulic lifting cylinder 230 moves in the direction of contraction, the left and right pair of parallel links 210L and 210R lower their front ends, with the connection between the left link first connecting member 211L and the right link first connecting member 211R as the pivot axis, and the front horizontal support column 220 also lowers at the same time.

[0032] With the above configuration, by operating the left spray boom rotation switch and the right spray boom rotation switch (not shown), respectively, and activating the pair of left and right hydraulic rotation cylinders 110L and 110R (see Figure 1), it is possible to switch between a spraying work position (working position) in which the pair of left and right spray booms 120L and 120R are extended to the left and right of the main frame, and a storage position (storage position, see Figures 1, 2, and 3) in which they are positioned along both sides of the chemical spraying vehicle 1. Furthermore, with the above configuration, the spraying height of the pesticide solution can be changed by raising and lowering the pest control spraying device 100 using the hydraulic lifting cylinder 230 (see Figure 1).

[0033] Furthermore, the chemical solution from the pest control tank 9 is sent to the pest control spraying device 100 by the pest control pump 10, and the chemical solution is sprayed from multiple spray nozzles 101 (see Figure 2) provided on the center spraying boom mechanism 100C, the left spraying boom mechanism 100L, and the right spraying boom mechanism 100R, respectively. Specifically, multiple spray nozzles 101 are provided at predetermined intervals with respect to the left piping 121L and the right piping 121R, and the left piping 121L and the right piping 121R are fixed along the spraying booms 120L and 120R. In addition, in the center spraying boom mechanism 100C, multiple spray nozzles 101 are provided at predetermined intervals with respect to the front piping 121C, and the front piping 121C is fixed along the front spraying boom 120C.

[0034] In Figures 1 to 4, the front axle 500F is supported at the bottom of the main frame. The left front wheel transmission unit 400L and the right front wheel transmission unit 400R are connected to the left and right ends of the front axle 500F. The left front wheel 3L is rotatably supported at the lower end of the left front wheel transmission unit 400L, and the right front wheel 3R is rotatably supported at the lower end of the right front wheel transmission unit 400R. Power from the engine 6 is transmitted to the respective front wheels 3L and 3R via the front axle 500F, the left front wheel transmission unit 400L, and the right front wheel transmission unit 400R. Furthermore, the rear axle 900R is supported at the lower rear of the main frame. The left rear wheel transmission unit 500L and the right rear wheel transmission unit 500R are connected to the left and right ends of the rear axle 900R. The left rear wheel 4L is rotatably supported at the lower end of the left rear wheel transmission unit 500L, and the right rear wheel 4R is rotatably supported at the lower end of the right rear wheel transmission unit 500R. Power from the engine 6 is transmitted to the respective rear wheels 4L and 4R via the rear axle 900R, the left rear wheel transmission unit 500L, and the right rear wheel transmission unit 500R.

[0035] In Figures 1 to 4, a boom support 480 is positioned behind the pest control tank 9. When the spraying booms 120L and 120R are moved to their storage positions (see Figures 1 to 3), the spraying booms 120L and 120R are supported by resting on the upper surface of the boom support 480.

[0036] Figure 5 is a schematic diagram illustrating the work vehicle of the embodiment as seen from the front during operation. In Figures 1 to 5, the spraying booms 120L and 120R have rotating frames 122L and 122R that can rotate around the rotating sections 300L and 300R. The rotating frames 122L and 122R are formed in a rod shape that extends horizontally in the vehicle width direction when in the working position. Telescopic frames 123L and 123R are movably supported on the rotating frames 122L and 122R. The telescopic frames 123L and 123R are formed in a rod shape that extends parallel to the rotating frames 122L and 122R. The telescopic frames 123L and 123R are supported so that they can slide horizontally along the rotating frames 122L and 122R when in the working position. Therefore, the spraying booms 120L and 120R are configured to extend and retract in the vehicle width direction by the sliding movement of the telescopic frames 123L and 123R.

[0037] Multiple spray nozzles 101 are arranged at intervals on the rotating frames 122L, 122R and the telescopic frames 123L, 123R. Each spray nozzle 101 is provided with a valve (on / off valve, not shown). The amount of chemical sprayed from the spray nozzles 101 can be controlled by controlling the opening of the valve.

[0038] Cameras 124L and 124R, as an example of an imaging device, are positioned at the outer ends of the aforementioned telescopic frames 123L and 123R. Cameras 124L and 124R are positioned facing the spray nozzles 101 located at the outer ends. In other words, cameras 124L and 124R are positioned and oriented in a way that allows them to image the spray shape of the chemical solution ejected from the spray nozzles 101. While the example shows cameras 124L and 124R positioned one at each of the outer ends, the system is not limited to this configuration. They can also be positioned in the center of the spraying booms 120L and 120R, or near the rotating sections 300L and 300R. Furthermore, the camera is not limited to being installed on the spraying booms 120L and 120R, but can also be installed on the main frame, bonnet 5, etc. When installed on the bonnet 5, etc., it can also be used as a camera to check the end position when the telescopic frames 123L and 123R are extended or retracted. When checking the end position, it is preferable to attach markers to the ends of the telescopic frames 123L and 123R. Furthermore, the number of cameras 124L and 124R can be arbitrarily changed, such as by installing one camera for each spray nozzle 101 or by installing one every two spray nozzles 101.

[0039] (Description of the control unit of the chemical spraying vehicle) Figure 6 is a functional block diagram of the control unit according to the embodiment. The chemical spraying vehicle of this embodiment has a control unit (an example of a control means) C that controls each function. The control unit C has an input / output interface (I / O) that performs input and output of signals to and from the outside. The control unit C also has a ROM (read-only memory) in which programs and information for performing necessary processing are stored. The control unit C also has a RAM (random access memory) for temporarily storing necessary data. The control unit C also has a CPU (central processing unit) that performs processing according to the programs stored in the ROM, etc. Therefore, the control unit C of this embodiment is composed of a small information processing device, a so-called microcomputer. Thus, the control unit C can realize various functions by executing programs stored in the ROM, etc.

[0040] The control unit C receives signals from signal input elements such as the input buttons on the control panel in front of the steering handle 8 (an example of an input section), cameras 124L and 124R, flow sensor SN1, and various other sensors (not shown).

[0041] The input buttons are used to input commands for deploying and retracting the 120L and 120R spray booms, as well as for starting / stopping spraying, setting and inputting spraying density, and more. Cameras 124L and 124R capture (acquire) the spray pattern of the chemical solution being sprayed from the spray nozzle 101. The flow sensor SN1 detects the amount of chemical solution sprayed from each spray nozzle 101. In this embodiment, the flow sensor SN1 detects the flow rate of the chemical solution sent out by the pest control pump 10, thereby detecting the flow rate of the chemical solution supplied from the pest control tank 9 to each spray nozzle 101, and indirectly detecting the amount of chemical solution sprayed from each spray nozzle 101.

[0042] The control unit C transmits control signals to control elements such as the pest control pump 10, hydraulic rotating cylinders 110L and 110R, the telescopic motor M1 that extends and retracts the telescopic frames 123L and 123R, and the valves 101a of each spray nozzle 101, thereby controlling the deployment and retraction of the spray booms 120L and 120R, the extension and retraction of the telescopic frames 123L and 123R, and the amount of chemical sprayed from the spray nozzles 101. Furthermore, the control unit C can output control signals to a display panel, which serves as an example of a display unit, to display work information and work status.

[0043] Figure 7 is an explanatory diagram of an example of the injection shape of the embodiment, where Figure 7(A) is an explanatory diagram of a windless state, Figure 7(B) is an explanatory diagram of a state with a weak wind blowing from the left, Figure 7(C) is an explanatory diagram of a state with a strong wind blowing from the left, Figure 7(D) is an explanatory diagram of a state with a smaller injection volume than in Figure 7(A), and Figure 7(E) is an explanatory diagram of a state with a larger injection volume than in Figure 7(A). The control unit C of this embodiment has the following functional means (program module). The spraying control means Ca controls the pest control spraying device 100. The spray shape acquisition means C1 of the spray control means Ca acquires images of the spray shape (the degree of spread and direction of spray) of the chemical solution sprayed from the spray nozzle 101, which are captured by cameras 124L and 124R. In Figure 7, when the amount of chemical solution supplied by the pest control pump 10 is the standard amount and the opening of the valve 101a is set to the standard setting and there is no wind, an image of the spray shape, which spreads evenly horizontally as it moves away from the spray nozzle 101, is captured, as shown in Figure 7(A).

[0044] Furthermore, if there is wind during the spraying operation, the spray shape is tilted downwind and distorted compared to Figure 7(A), as shown in Figures 7(B) and (C). In Figures 7(B) and (C), the higher the wind speed, the greater the downwind tilt, and the wider the area sprayed by the wind before reaching the field, resulting in a decrease in the spray density in the field. Also, if the amount of chemical solution supplied by the pest control pump 10 is small and / or the opening of valve 101a is low, resulting in a small spray volume, the spray shape is narrower than in the case of Figure 7(A), as shown in Figure 7(D). If the amount of chemical solution supplied by the pest control pump 10 is large and / or the opening of valve 101a is high, resulting in a large spray volume, the spray shape is wider than in the case of Figure 7(A), as shown in Figure 7(E).

[0045] The spray shape memory means C2 stores image information of the spray shape. In this embodiment, the spray shape memory means C2 stores images of multiple spray shapes that have been captured in advance under different wind directions, wind speeds, and spray amounts. In addition, in this embodiment, information on the size of the spraying area and the spraying density in the field for each spray shape (i.e., spraying density identification information that identifies the relationship between the spray shape and the spraying density) is also measured in advance and stored in association with each image.

[0046] The calculation means C3 calculates the spray area and spray density in the field based on the spray shape acquired by the spray shape acquisition means C1. In this embodiment, the calculation means C3 calculates the spray area and spray density based on the spray shape captured by the spray shape acquisition means C1 and the spray amount detected by the flow rate sensor SN1. Specifically, it extracts an image of the spray shape (reference image) corresponding to the flow rate detected by the flow rate sensor SN1 from the information stored in the spray shape storage means C2, and uses image analysis to identify the image that most closely resembles the image of the spray shape acquired by the spray shape acquisition means C1. Then, it estimates the size of the spray area and the spray density stored in association with the identified reference image as the spray area and spray density of the chemical solution with the spray shape acquired by the spray shape acquisition means C1, i.e., the chemical solution currently being sprayed.

[0047] Alternatively, instead of extracting reference images, it is possible to determine the dispersion density and other parameters from the dispersion density identification information by calculating the image that most closely resembles the image of the spray shape acquired by the spray shape acquisition means C1 from all the reference images stored in the spray shape memory means C2 using image analysis. In this case, it becomes unnecessary to refer to the flow sensor SN1. Alternatively, it is possible to use AI (Artificial Intelligence) to create a classifier that has been pre-trained on reference images, taking the spray shape acquired by the spray shape acquisition means C1 as input, and outputting the spray area and spray density. In other words, it is also possible to use a so-called AI camera to calculate the spray density and other parameters from the captured image.

[0048] The spray density control means C4 controls the amount of spray from the spray nozzle 101 so that the chemical solution is sprayed onto the field at a predetermined spray density, based on the spray density calculated by the calculation means C3. In this embodiment, the spray density control means C4 controls at least one of the amount of chemical solution supplied to the spray nozzle 101 and the opening degree of the valve 101a of the spray nozzle 101. In this embodiment, as an example, when the spray density decreases due to wind or the like (as shown in Figures 7(B) and (C)), the spray pump 10 controls (increases) the amount of chemical solution supplied, and when the spray density changes due to clogging of the spray nozzle 101 or the like (as shown in Figures 7(D) and (E)), the opening degree of the valve 101a is controlled. It should be noted that the embodiments are not limited to those illustrated. In the cases of Figures 7(B) and (C), it is also possible to control the opening degree, or in the cases of Figures 7(D) and (E), it is possible to control the pest control pump 10, or to control both the opening degree of the pest control pump 10 and the valve 101a. Furthermore, after performing the operation with the spray density control means C4, it is preferable to store the spray shape, supply amount, opening angle, etc., used during the operation in the spray shape memory means C2 and use them as reference information for subsequent operations.

[0049] The spraying area control means C5 controls the spray nozzle 101 so that the chemical solution is sprayed in a predetermined spraying area on the field, based on the spraying area calculated by the calculation means C3. In this embodiment, the spraying area control means C5 controls and adjusts the amount of chemical solution supplied to the spray nozzle 101, the opening degree of the valve 101a, and the position of the telescopic frames 123L and 123R to control the width and position of the spraying area. In this embodiment, as an example, if the spraying area shifts in the width direction due to wind, etc. (as shown in Figures 7(B) and (C)), the telescopic frames 123L and 123R are controlled, and if the spraying area expands due to strong wind (as shown in Figures 7(B) and (C)), the supply amount of the pest control pump 10 is controlled. In addition, if the spraying area changes due to clogging of the spray nozzle 101, etc. (as shown in Figures 7(D) and (E)), the opening degree of the valve 101a is controlled. Conversely, if chemical solutions from multiple spray nozzles 101 overlap and are sprayed in the field, some of the valves 101a are closed (opened to zero), or the positions of the telescopic frames 123L and 123R are adjusted.

[0050] Furthermore, the embodiment is not limited to the examples shown. In the cases of Figures 7(B) and (C), it is also possible to control the opening degree, or in the cases of Figures 7(D) and (E), it is possible to control the pest control pump 10, or to control both the opening degree of the pest control pump 10 and the valve 101a. In addition, in the embodiment, if the supply amount of the pest control pump 10 and the opening degree of the valve 101a are to be controlled by both the spraying density and the spraying area, the spraying density is given priority, but it is also possible to give priority to the spraying area, or to control using the average value of both. Furthermore, it is possible to provide an actuator or the like to change the direction of the spray nozzle 101. If the spraying area shifts due to wind or the like, the actuator can be used to adjust and control the direction of the spray nozzle 101 so that it is sprayed onto the desired area.

[0051] Furthermore, it is preferable to use cameras 124L and 124R to detect not only the spray shape but also the position of crops in the field, and to adjust the position of the telescopic frames 123L and 123R so that the spraying area overlaps with the position of the crops. Furthermore, after performing operations with the spray density control means C4 and the spray area control means C5, it is preferable to store the spray shape, supply amount, opening angle, etc., at the time of operation in the spray shape memory means C2 and use them as reference information for subsequent operations.

[0052] The abnormality detection means C6 detects abnormalities based on the spray shape acquired by the spray shape acquisition means C1. In this embodiment, the abnormality detection means C6 detects an abnormality if the spray shape acquired by the spray shape acquisition means C1 does not match the spray shape pre-registered in the spray shape storage means C2. That is, image analysis determines that an abnormality exists if the degree of agreement with all reference images is lower than a predetermined threshold. In other words, if the current spray shape of the spray nozzle 101 is outside the range of the spray shape in the reference image, such as no spray at all, significantly less spray, or excessively spread due to nozzle damage, it is determined that an abnormality has occurred due to some cause, such as a malfunction of the pest control pump 10, a blockage in the supply path, or a malfunction of the spray nozzle 101.

[0053] The abnormality resolution operation control means C7 performs an abnormality resolution operation when an abnormality is detected by the abnormality detection means C6. In this embodiment, the abnormality resolution operation control means C7 performs an abnormality resolution operation by extending and retracting the spraying booms 120L and 120R, and extending and retracting the telescopic frames 123L and 123R, thereby vibrating the spraying nozzles 101 and piping 121L and 121R to resolve blockages in the spraying nozzles 101 and twists or bends in the flexible piping 121L and 121R. In this embodiment, when an abnormality occurs, the control unit C temporarily stops work and travel, performs the abnormality resolution operation, then performs a spraying test, resumes work if the abnormality is resolved, and stops work if the abnormality is not resolved. The abnormality resolution operation can be performed multiple times.

[0054] (Operation of the embodiment) In the chemical spraying vehicle 1 of the embodiment having the above configuration, the spray shape of the chemical sprayed from the spray nozzle 101 is imaged, and the spray density and spray area to be sprayed on the field are calculated. Then, according to the calculated spray density, etc., the amount of chemical supplied by the pest control pump 10 and the opening degree of the valve 101a of the spray nozzle 101 are adjusted. Conventional technologies only recognized the field area, without considering wind conditions or nozzle conditions during spraying; spraying was simply performed. Consequently, there were variations in spray density, and in some areas of the field, the pesticide was hardly sprayed at all due to wind. To resolve these issues, operators had to adjust the spraying area based on experience, skill, and intuition, which resulted in inconsistent spray density depending on the operator. In contrast, in this embodiment, the spray density and spray area are estimated based on the spray shape which changes due to the influence of wind, etc., and the amount of chemical solution supplied and the opening degree of valve 101a are adjusted to achieve the desired spray density. Therefore, compared to the conventional technology, it becomes easier to spray the chemical solution onto the field at a predetermined target spray density.

[0055] Furthermore, in this embodiment, the dispersion density and other parameters are estimated from the flow sensor SN1 and the image results of the spray shape. Therefore, it is possible to narrow down the options using the results from the flow sensor SN1 during estimation, and smoother processing can be expected compared to cases where the information from the flow sensor SN1 is not used. Furthermore, in this embodiment, an abnormality is also detected when the spray shape is outside the range of the registered reference image. Therefore, it is possible to detect abnormalities in the pest control spraying device 100 based on the spray shape. In addition, in the chemical spraying vehicle 1 of this embodiment, an abnormality correction operation is performed when an abnormality is detected. Therefore, in the case of minor abnormalities that can be resolved by the abnormality correction operation, the abnormality can be resolved on-site without the operator having to get off the vehicle for inspection or take it back to a warehouse for maintenance work. Thus, an improvement in work efficiency can be expected.

[0056] (Other forms) Figure 8 is an explanatory diagram of another embodiment and corresponds to Figure 5. Figures 1 to 7 illustrate the configuration in which each camera 124L and 124R images the spray shape of the chemical solution ejected from the spray nozzle 101, but the configuration is not limited to this. As shown in Figure 8, it is also possible to have a configuration in which the camera 124 includes an upper camera (an example of a first imaging device) 124-1 that images the nozzle of the spray nozzle 101 from above and below to capture the horizontal spray shape (spread of the chemical solution, etc.), and a side camera (an example of a second imaging device) 124-2 that images the nozzle of the spray nozzle 101 from the horizontal to capture the vertical spray shape. By imaging (observing) the spray shape from both the vertical and side directions, it becomes possible to acquire and analyze the effects of wind, etc., in more detail, and the accuracy of estimating the spray density, etc., is also improved.

[0057] Figure 9 is an explanatory diagram of another embodiment 2 of the model. Figures 1 to 7 illustrate the case where the spray shape of the chemical solution ejected from the spray nozzle 101 is directly imaged by cameras 124L and 124R, but the system is not limited to this. For example, the system shown in Figure 9 is also possible. In Figure 9, a glass plate 126 is placed at a position away from the nozzle of the spray nozzle 101, where a portion of the sprayed chemical solution adheres to it. A portion of the chemical solution ejected and sprayed from the spray nozzle 101 adheres to the glass plate 126. The area over which the chemical solution adheres to the glass plate 126 varies and increases or decreases depending on the wind direction and wind speed. Therefore, it is possible to estimate the spray shape based on the area of ​​the chemical solution adhered to the glass plate 126. Thus, it is also possible to indirectly detect and acquire the spray shape by imaging the glass plate 126 with cameras 124L and 124R.

[0058] In the above embodiment, a chemical spraying vehicle was given as an example of a work vehicle, but the invention is not limited to this. It can also be applied to fertilizer application vehicles that spray liquid fertilizer using a spray nozzle. Furthermore, it is not limited to work vehicles with wheels, but can also be applied to work vehicles such as drones, agricultural unmanned helicopters, and agricultural unmanned aerial vehicles that spray liquid pesticides, fertilizers, and other chemical solutions using a nozzle.

[0059] Furthermore, while the above embodiment illustrates a method of controlling the spraying operation by imaging the spray shape of the chemical solution from the spray nozzle 101 with cameras 124L and 124R to determine the spray density and spray area, the invention is not limited to this. For example, in a harvesting vehicle such as a combine harvester, it is also possible to control the threshing and sorting sections by imaging the crop being transported between the cutting and threshing sections with a camera. For example, the threshing depth of the threshing drum in the threshing section can be controlled by the flow rate (clogging) of the crop imaged by the camera. In addition, it is also possible to control the opening of the sieve (a component that separates the grain separated by the threshing drum from the culm) in the sorting section, or the amount of air blown away the culm, according to the condition of the crop imaged by the camera (quantity, whether it is wet or not, etc.).

[0060] Furthermore, in order to accurately detect the position of grains relative to the culm in crops imaged by a camera, it is preferable to reduce the brightness of green areas (culm portion) during image processing to make the grains more visible. After reducing the brightness of green areas, further accuracy can be expected by performing binarization to increase the contrast between the grains and other areas. When the contrast is increased, the white areas become the grains, so it is possible to determine the location of the grains from areas with many white areas and adjust the threshing depth accordingly. However, if the culm (or leaves) are yellow, the process of reducing the brightness of green areas is not effective, so it is preferable to adjust the threshing depth using the conventional sensor method. Therefore, it is desirable to switch between the camera method and the sensor method depending on the color of the culm. While it is desirable to install a dedicated camera for imaging crops, this is not the only option. For example, a camera with a zoom function installed in the discharge section that discharges (transports) grain to an external container can be used for both purposes.

[0061] Furthermore, in rice transplanters used as work vehicles, it is possible to use a camera to capture images of the area behind the vehicle, detect the straightness and parallelism of the planted seedlings, and use this information to correct (feedback) the driving control (automatic steering control, straight-line driving control, turning control). At this time, it is also possible to compare the straightness and orientation of the seedling arrangement with the reference line of the path detected by the GNSS antenna, and correct the driving control if a difference occurs. Conventionally, corrections were made from the tire slip ratio and GNSS position information, but by adding the image results from the camera, accuracy is improved (errors are reduced). In addition, it is preferable to detect seedling lodging and adjust the planting depth, detect the distance between plants in adjacent completed fields and adjust the planting start position, and correct the planting position in rice transplanters capable of double-row planting. Alternatively, it is possible to use a camera to image the seedling planting device and detect the number of seedlings picked by the planting tool. If the number of seedlings picked is less or more than the target value, it is preferable to control the system to increase or decrease the amount of seedlings picked. [Explanation of Symbols]

[0062] 101... Nozzle, 124L, 124R… Imaging devices, 124-1...First imaging device, 124-2...Second imaging device, 126... Member to be attached, C1...Injection shape acquisition means, C3...calculating means, C6... Abnormality detection means, Ca... means of controlling the dispersal, SN1... Flow sensor.

Claims

1. A nozzle (101) for spraying chemical solution onto the field, A spray shape acquisition means (C1) for acquiring the spray shape of the liquid chemical sprayed from the nozzle (101), Based on the spray shape acquired by the spray shape acquisition means (C1), a calculation means (C3) calculates the spray area and spray density in which the chemical solution is sprayed in the field, Based on the spraying area and spraying density calculated by the calculation means (C3), a spraying control means (Ca) controls the amount of sprayed from the nozzle (101) so that the chemical solution is sprayed at a predetermined spraying density in a predetermined spraying area of ​​the field. A work vehicle characterized by being equipped with the following features.

2. A member to be adhered to (126) is positioned where a portion of the liquid sprayed from the nozzle (101) adheres, The system includes an imaging device (124L, 124R) for imaging the member to be adhered (126), and a spray shape acquisition means (C1) for estimating the spray shape of the chemical solution from the range of the chemical solution adhering to the member to be adhered (126) as imaged by the imaging device (124L, 124R), A work vehicle according to claim 1, characterized by being equipped with the following:

3. The image acquisition means (C1) acquires the spray shape of the drug solution based on the images captured by the image acquisition means (124L, 124R), which includes a first image acquisition device (124-1) that images the nozzle (101) from above and below to capture the spray shape in the horizontal direction, and a second image acquisition device (124-2) that images the nozzle (101) from the horizontal direction to capture the spray shape in the vertical direction. A work vehicle according to claim 1, characterized by being equipped with the following:

4. A flow sensor (SN1) detects the amount of chemical solution sprayed from the nozzle (101), Based on the spray shape acquired by the spray shape acquisition means (C1) and the spray amount detected by the flow sensor (SN1), the calculation means (C3) calculates the spray area and spray density in which the chemical solution is sprayed in the field, Based on the spraying area and spraying density calculated by the calculation means (C3), the spraying control means (Ca) controls the amount of chemical solution supplied to the nozzle (101) and the opening degree of the nozzle (101) to control the amount of chemical solution sprayed from the nozzle (101) so that the chemical solution is sprayed at a predetermined spraying density in a predetermined spraying area of ​​the field, A work vehicle according to claim 1, characterized by being equipped with the following:

5. Dispersion density identification information that specifies the relationship between the spray shape and the dispersion density is registered in advance, and the calculation means (C3) calculates the dispersion density based on the dispersion density identification information and the spray shape acquired by the spray shape acquisition means (C1), A work vehicle according to claim 1, characterized by being equipped with the following:

6. An abnormality detection means (C6) detects the occurrence of an abnormality when the injection shape acquired by the injection shape acquisition means (C1) does not match a pre-registered injection shape. A work vehicle according to claim 1, characterized by being equipped with the following:

Images