Boom device and boom sprayer

Abstract

To provide a boom device capable of improving workability.SOLUTION: A control device 100 of a boom sprayer acquires height information based on a height position of a side boom acquired by a lift sensor 125, and controls the height position of the side boom based on the height information, when switching is carried out from a storage state to a deployment state by a storage / deployment switch 131.SELECTED DRAWING: Figure 4

Description

[Technical field]

[0001] The present disclosure relates to a boom device and a boom sprayer. [Background technology]

[0002] Patent Document 1 discloses a boom sprayer. The boom sprayer includes a center boom, side booms, a lifting device that moves the height position of the center boom, a hydraulic cylinder that operates the side boom, a control device that controls the lifting device and the hydraulic cylinder so that the side boom switches between a stored state and an expanded state, and a switch for inputting an instruction to switch between the stored state and the expanded state to the control device. In this boom sprayer, an instruction to switch between the stored state and the expanded state is input from an input device to the control device, whereby the lifting device and the hydraulic cylinder are controlled and the switching between the stored state and the expanded state is executed. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2020-171895 A Summary of the Invention [Problem to be solved by the invention]

[0004] When spraying using a boom sprayer, it is conceivable that spraying is performed while traveling between the furrows in a field, then turning at the headland to move to a different furrow, and spraying is performed again while traveling between the furrows. Generally, the boom is deployed when traveling between the furrows, and the boom is stored when turning at the headland, so that the boom is repeatedly deployed and stored to control pests in the same field. In this case, the worker needs to adjust the height of the boom to the height of the crop every time the boom is deployed, which may reduce workability.

[0005] An object of one embodiment of the present disclosure is to provide a boom device and a boom sprayer that can improve workability. [Means for solving the problem]

[0006] An example boom device includes a boom (6) having a nozzle for spraying liquid, a lifting device (30) that moves the height position of the boom (6), a first switch (132) for issuing an instruction to switch between a spraying state in which liquid is being sprayed and a stopped state in which spraying of liquid is stopped, an opening / closing device (47) that rotates the boom (6) between an open position in which the boom (6) is open relative to the lifting device (30) and a closed position in which the boom (6) is folded toward the lifting device (30), and an opening / closing device (47) that issues an instruction to switch between a stored state in which at least the boom (6) is in the closed position and a deployed state in which at least the boom (6) is in the open position. The control device (100) acquires height information based on the height position of the boom (6) acquired by the detection sensor (125), and when the second switch (131) switches from the stored state to the deployed state, operates the opening / closing device (47) to attain the deployed state, and controls the lifting device (30) so that the height position of the boom (6) is changed based on the height information.

[0007] An example boom sprayer includes a traveling body (3), a boom (6) provided on the traveling body (3) and having a nozzle for spraying liquid, a lifting device (30) for moving the height position of the boom (6) relative to the traveling body (3), a first switch (132) for issuing an instruction to switch between a spraying state in which liquid is being sprayed and a stopped state in which spraying of liquid is stopped, an opening / closing device (47) for rotating the boom (6) between an open position in which the boom (6) is open relative to the traveling body (3) and a closed position in which the boom (6) is folded toward the traveling body (3), and a storage state in which at least the boom (6) is in the closed position and a deployment state in which at least the boom (6) is in the open position. The control device (100) is equipped with a second switch (131) for issuing an instruction to switch between the stored state and the open state, a detection sensor (125) for detecting the height position of the boom (6) relative to the traveling body (3), and a control device (100) for controlling the operation of the lifting device (30) and the opening / closing device (47). The control device (100) acquires height information based on the height position of the boom (6) acquired by the detection sensor (125), and when switching from the stored state to the deployed state by the second switch (131), operates the opening / closing device (47) to attain the deployed state, and controls the lifting device (30) so that the height position of the boom (6) is changed based on the height information.

[0008] In the above boom device and boom sprayer, height information is acquired based on the height position acquired by the detection sensor (125), and when switching from the stored state to the deployed state, the height position of the boom (6) is changed based on this height information. Therefore, when the boom (6) changes from the deployed state to the stored state and then to the deployed state again, the height position of the boom (6) is set based on the height information acquired when the boom (6) was in the deployed state. Therefore, the effort required of the worker to set the height position of the boom (6) is reduced, and workability can be improved.

[0009] The control device (100) may acquire, as height information, the height position of the boom (6) when the spraying state is switched to the stopped state by the first switch (132). In this configuration, the height of the boom (6) at the time when the spraying operation is terminated is acquired as the height information. Therefore, when the boom (6) is put into the deployed state again, the height of the boom (6) immediately before the boom (6) is restored can be reproduced.

[0010] The control device (100) may acquire, as the height information, an average value of the height positions acquired by the detection sensor (125) in the spraying state. When the growth state of the crop varies depending on the location, it is considered that the height of the boom (6) is changed by the worker during the spraying operation. In the above configuration, since the average value of the height positions is acquired as the height information, it is possible to reduce the difference between the height position of the boom (6) when deployed and the height position of the boom (6) suitable for the crop at the position of the boom sprayer when deployed.

[0011] The control device (100) may acquire, as the height information, the maximum value of the height position acquired by the detection sensor (125) in the spraying state. In this configuration, the boom (6) is prevented from coming into contact with the crops.

[0012] The control device (100) may control the lifting device (30) to change the height of the boom (6) to a height position obtained by adding a predetermined height to the height position corresponding to the height information. In this configuration, the boom (6) is prevented from coming into contact with the crops. Effect of the Invention

[0013] According to one aspect of the present disclosure, a boom device and a boom sprayer capable of improving workability are provided. [Brief description of the drawings]

[0014] [Figure 1] FIG. 2 is a perspective view of an example boom sprayer as viewed obliquely from the front. [Diagram 2] FIG. 2 is a perspective view of an example boom device as viewed obliquely from the rear. [Diagram 3] FIG. 2 is a perspective view of an example boom device as viewed obliquely from the front. [Figure 4] FIG. 2 is a block diagram illustrating an example of a configuration of a control system. [Diagram 5] FIG. 2 is a plan view for explaining an example of an operating state of the boom sprayer. [Figure 6] FIG. 4 is a flow chart showing an example of an operation of the boom device. [Figure 7] FIG. 4 is a flow chart showing an example of an operation of the boom device. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0015] An example of a boom sprayer will be specifically described below with reference to the drawings. For convenience, substantially identical elements are given the same reference numerals, and their description may be omitted. In the description, an XYZ Cartesian coordinate system shown in the drawings may be referenced. Note that the X direction may be the front-rear direction, the Y direction may be the left-right direction or width direction, and the Z direction may be the up-down direction.

[0016] FIG. 1 is a perspective view of an example of a boom sprayer seen from an oblique front. The boom sprayer is a self-propelled riding management machine that sprays liquid such as a chemical solution on farmland or crops in a field. The boom sprayer 1 includes a traveling machine body 3 having a machine frame, and a boom device 4 attached to the front of the traveling machine body 3. The boom device 4 includes a lifting device 30 supported by the traveling machine body 3, a center boom 5 supported by the lifting device 30, and a pair of side booms 6 connected to both ends of the center boom 5. The center boom 5 and the side boom 6 have a liquid supply pipe for spraying a chemical solution provided with a plurality of nozzles. When spraying a chemical solution, the side boom 6 is deployed so as to be in a straight line with the center boom 5. When spraying a chemical solution, the side boom 6 is stored in a folded state.

[0017] The side boom 6 is a telescopic boom including a base end boom 61 connected to the center boom 5, and a tip end boom 65 that slides along the base end boom 61 by a slide mechanism. As an example, the tip end boom 65 slides along the base end boom 61 by the operation of a sliding hydraulic motor (telescopic device) 67 provided on the base end boom 61. By operating the hydraulic motor 67, the side boom 6 can transition between a contracted state in which the tip end boom 65 is located at the most base end side, and an extended state in which the tip end boom 65 is located at the most tip end side.

[0018] A cabin 7 that forms a space in which an operator sits is provided at the front of the traveling body 3. An engine room 8 that houses an engine is provided at the rear of the traveling body 3. A chemical liquid tank 9 that contains the chemical liquid to be sprayed from the center boom 5 and the side boom 6 is provided between the cabin 7 and the engine room 8. The traveling body 3 includes a pair of front wheels 11 and a pair of rear wheels 12.

[0019] In order to improve the ease of getting on and off, the boom sprayer 1 further includes a side floor 20. The side floor 20 is a portion that protrudes laterally from both the left and right side edges of the traveling body 3, and extends from the side of the cabin 7 to the rear end of the traveling body 3.

[0020] A pair of boom receivers 2 for supporting the stored side booms 6 are provided above the side floor 20. The boom receivers 2 are fixed to the traveling machine body 3, and support the tips of the side booms 6 from below when the side booms 6 are stored.

[0021] Next, the boom device 4 will be further described. Fig. 2 is a perspective view of the boom device 4 as viewed obliquely from the rear. Fig. 3 is a perspective view of the boom device 4 as viewed obliquely from the front. The boom device 4 shown in Fig. 2 is shown in an open state in which the side boom 6 is open relative to the traveling body 3, that is, the center boom 5 and the side boom 6 are aligned in a straight line in the left-right direction. The boom device 4 shown in Fig. 3 is shown in a closed state in which the side boom 6 is folded toward the traveling body 3, that is, the extension direction of the side boom 6 intersects (orthogonal) with the extension direction of the center boom 5. Note that in all drawings, the side boom 6 is shown in a contracted state.

[0022] As described above, the boom device 4 includes the lifting device 30, the center boom 5, and the side boom 6. The lifting device 30 can move the height position of the center boom 5 relative to the traveling machine body 3. As shown in FIG. 2, the lifting device 30 has a pair of left and right parallel link parts 31, connecting parts 32A, 32B, and 32C that connect the parallel link parts 31, and a hydraulic cylinder 37. The connecting parts 32A, 32B, and 32C are rod-shaped members extending in the Y direction. The parallel link part 31 includes a vertical member 33 extending in the up-down direction, a horizontal member 34 pivoted to the upper part of the vertical member 33, a horizontal member 35 pivoted to the lower part of the vertical member 33, and a vertical member 36 pivoted to the tips of the horizontal members 34 and 35. The vertical member 33 is fixed to the traveling machine body 3. The connecting part 32A connects the pair of left and right horizontal members 34 to each other. The connecting part 32B connects the pair of left and right horizontal members 35 to each other. The connecting portion 32C connects the pair of left and right vertical members 36 at the center in the up-down direction. The hydraulic cylinder 37 is connected to the connecting portion 32B and the connecting portion 32C via rotation shafts 37a, 37b (see Figs. 2 and 3) that run along the left-right direction, respectively. In such a lifting device 30, the hydraulic cylinder 37 extends and retracts, thereby allowing the height position of the vertical member 36, which is the front part of the traveling body 3, to be changed.

[0023] The center boom 5 is provided at the front of the traveling body 3 via the lifting device 30, and extends along the left-right direction of the traveling body 3. In one embodiment, a horizontal control device 38 is provided at the front of the lifting device 30, and the center boom 5 is supported by this horizontal control device 38. The horizontal control device 38 can swing the center boom 5 relative to the lifting device 30 so that the center boom 5 is in a horizontal state, for example, by the action of a pair of left and right bumpers.

[0024] The side booms 6 are booms that can extend outward beyond the traveling body 3 in the left-right direction. In one embodiment, the base ends of the pair of side booms 6 are connected to both ends of the center boom 5, respectively. The side booms 6 are connected to the center boom 5 so as to be rotatable and tiltable. For example, one example of the side boom 6 is connected to the center boom 5 via a rotation shaft 6a that runs along the up-down direction and a rotation shaft 6b that runs along the horizontal direction (see FIG. 3).

[0025] The boom device 4 in one example has a hydraulic cylinder (opening / closing device) 47 that rotates the side booms 6 between an open position in which the side booms 6 are aligned in a straight line in the left-right direction with the center boom 5, and a closed position in which the side booms 6 are folded toward the traveling body 3. In this configuration, the hydraulic cylinder 47 extends and retracts, thereby changing the rotation position of the side booms 6 supported by the center boom 5.

[0026] The boom device 4 also has a hydraulic cylinder (tilting device) 57 that tilts the side boom 6 between a high position where the tip of the side boom 6 is higher than the height of the center boom 5 and a low position where the tip of the side boom 6 is lower than in the high position. In this configuration, the hydraulic cylinder 57 extends and retracts, thereby varying the tilt position of the side boom 6.

[0027] FIG. 4 is a block diagram for explaining an example of the configuration of a control system in a boom device. As shown in FIG. 4, the boom device 4 includes a control device 100. The control device 100 includes, for example, a processor, a storage device, an input / output circuit, and the like. The control device 100 can control the operation of the boom sprayer by the processor executing a program stored in the storage device. The control device 100 is connected to hydraulic valves 111L, 111R, 112L, 112R, 113L, 113R, and 115, for example, via signal lines. The hydraulic valves 111L and 111R are valves for switching the flow path of the hydraulic motor 67. The hydraulic valves 112L and 112R are valves for switching the flow path of the hydraulic cylinder 57. The hydraulic valves 113L and 113R are valves for switching the flow path of the hydraulic cylinder 47. The hydraulic valve 115 is a valve for switching the flow path of the hydraulic cylinder 37. The control device 100 outputs control signals to the hydraulic valves 111L, 111R, 112L, 112R, 113L, 113R, and 115, thereby controlling the operation of each hydraulic valve.

[0028] The control device 100 controls the operation of the hydraulic motor 67 of the side boom 6 arranged on the left side facing the front of the traveling body 3 by switching the flow path of the hydraulic valve 111L. The control device 100 controls the operation of the hydraulic motor 67 of the side boom 6 arranged on the right side facing the front of the traveling body 3 by switching the flow path of the hydraulic valve 111R. In other words, the control device 100 controls the extension operation of each of the pair of side booms 6.

[0029] The control device 100 also controls the operation of the hydraulic cylinder 57 of the side boom 6 arranged on the left side facing the front of the traveling body 3 by switching the flow path of the hydraulic valve 112L. The control device 100 controls the operation of the hydraulic cylinder 57 of the side boom 6 arranged on the right side facing the front of the traveling body 3 by switching the flow path of the hydraulic valve 112R. In other words, the control device 100 controls the tilting of each of the pair of side booms 6.

[0030] The control device 100 also controls the operation of the hydraulic cylinder 47 of the side boom 6 arranged on the left side facing the front of the traveling body 3 by switching the flow path of the hydraulic valve 113L. The control device 100 controls the operation of the hydraulic cylinder 47 of the side boom 6 arranged on the right side facing the front of the traveling body 3 by switching the flow path of the hydraulic valve 113R. In other words, the control device 100 controls the opening and closing operation of each of the pair of side booms 6.

[0031] In addition, the control device 100 controls the operation of the hydraulic cylinder 37 provided in the lifting device 30 by switching the flow path of the hydraulic valve 115. In other words, the control device 100 controls the height position of the vertical member 36 in the lifting device 30, thereby controlling the height positions of the center boom 5 and the side boom 6.

[0032] Furthermore, the left extension sensor 121L, the right extension sensor 121R, the left tilt sensor 122L, the right tilt sensor 122R, the left opening / closing sensor 123L, the right opening / closing sensor 123R, and the lift sensor 125 are communicatively connected to the control device 100. The control device 100 receives the detection signals of the left extension sensor 121L, the right extension sensor 121R, the left tilt sensor 122L, the right tilt sensor 122R, the left opening / closing sensor 123L, the right opening / closing sensor 123R, and the lift sensor 125.

[0033] The left telescopic sensor 121L and the right telescopic sensor 121R are sensors for detecting the telescopic state of the pair of side booms 6 that slide due to the hydraulic motor 67. For example, the left telescopic sensor 121L and the right telescopic sensor 121R may be displacement sensors provided on the hydraulic motor 67 or the side boom 6. The control device 100 obtains the extension state of the pair of side booms 6 based on signals from the left telescopic sensor 121L and the right telescopic sensor 121R, respectively.

[0034] The left tilt sensor 122L and the right tilt sensor 122R are sensors for detecting the tilt positions of the pair of side booms 6 tilted by the hydraulic cylinder 57. For example, the left tilt sensor 122L and the right tilt sensor 122R may be displacement sensors provided on the hydraulic cylinder 57 or the side boom 6 (e.g., the horizontal rotation shaft 6b). The control device 100 obtains the tilt states of the pair of side booms 6 based on signals from the left tilt sensor 122L and the right tilt sensor 122R, respectively.

[0035] The left opening / closing sensor 123L and the right opening / closing sensor 123R are sensors for detecting the rotational position of the pair of side booms 6 rotated by the hydraulic cylinder 47. For example, the left opening / closing sensor 123L and the right opening / closing sensor 123R may be a displacement sensor provided on the hydraulic cylinder 47 or the side boom 6 (e.g., the vertical rotation shaft 6a). The control device 100 acquires the open / closed states of the pair of side booms 6 based on signals from the left opening / closing sensor 123L and the right opening / closing sensor 123R, respectively.

[0036] The lift sensor 125 is a sensor for detecting the height positions of the center boom 5 and the side boom 6 moved by the lifting device 30. For example, the lift sensor 125 may be a displacement sensor provided in the hydraulic cylinder 37. An example of the lift sensor 125 may be a stroke sensor provided in the hydraulic cylinder 37. The control device 100 obtains the height positions of the center boom 5 and the side boom 6 based on a signal from the lift sensor 125.

[0037] A storage / deployment switch 131, a spraying operation switch 132, and a lift switch 133 are also connected to the control device 100. When the operator operates the storage / deployment switch 131, the spraying operation switch 132, and the lift switch 133, respectively, signals from the storage / deployment switch 131, the spraying operation switch 132, and the lift switch 133 are input to the control device 100. In one example, the storage / deployment switch 131, the spraying operation switch 132, and the lift switch 133 may be arranged, for example, around a driver's seat provided inside the cabin 7.

[0038] The storage / deployment switch 131 is a device for inputting an instruction to switch between a stored state and a deployed state in the boom device 4 to the control device 100. The storage / deployment switch 131 in one example can selectively (alternatively) output a signal for instructing the stored state and a signal for instructing the deployed state. For example, the storage / deployment switch 131 is a so-called toggle switch, which outputs a signal for instructing the stored state when pressed in one direction, and outputs a signal for instructing the deployed state when pressed in the other direction. Note that the storage / deployment switch 131 does not output any signal when not pressed. In one example, a storage / deployment switch 131 corresponding to the side boom 6 on the right side facing the front of the traveling body 3 and a storage / deployment switch 131 corresponding to the left side may be separately provided. In the following description, it is assumed that the left and right side booms 6 are controlled simultaneously. That is, an example in which the entire boom device 4 is controlled by one storage / deployment switch 131, or an example in which two switches corresponding to the left and right side booms 6 are controlled simultaneously will be described.

[0039] The control device 100 controls the operation of the hydraulic cylinder 37, hydraulic cylinder 47, hydraulic cylinder 57, and hydraulic motor 67 based on a signal input from the storage / deployment switch 131, and signals input from the left telescopic sensor 121L, the right telescopic sensor 121R, the left tilt sensor 122L, the right tilt sensor 122R, the left opening / closing sensor 123L, the right opening / closing sensor 123R, and the lift sensor 125. In other words, the control device 100 determines the state of the boom device 4 based on the signals input from each sensor, and controls the boom device 4 to be in the deployed state or the stored state.

[0040] The control device 100 in one example automatically controls the hydraulic cylinder 37, hydraulic cylinder 47, hydraulic cylinder 57 and hydraulic motor 67 so that the boom device 4 is in the stored state when a signal instructing the stored state is input from the storage / deployment switch 131. The stored state is a state in which the height position of the center boom 5 is equal to or higher than a predetermined height, the rotation position of the side boom 6 is the closed position, and the side boom 6 is tilted so as to be supported by the boom receiver 2.

[0041] Furthermore, when a signal instructing the deployed state is input from the retraction / deployment switch 131, the control device 100 automatically controls the hydraulic cylinder 37, hydraulic cylinder 47, hydraulic cylinder 57, and hydraulic motor 67 so that the boom device 4 is in the deployed state. The deployed state is a state in which at least the rotation position of the side boom 6 is in the open position and the tilt position of the side boom 6 is horizontal. Furthermore, if the control device 100 has acquired height information (described later), when a signal instructing the deployed state is input from the retraction / deployment switch 131, the control device 100 controls the hydraulic cylinder 37 of the lifting device 30 to adjust the heights of the center boom 5 and the side boom 6 so that they are at a height position according to the height information.

[0042] The spraying operation switch 132 is a device for inputting an instruction to switch between starting and stopping spraying of chemical liquid from the nozzles provided on the center boom 5 and the side boom 6 to the control device 100. When a signal instructing the control device 100 to start spraying chemical liquid is input from the spraying operation switch 132, the control device 100 starts spraying chemical liquid from the nozzle, for example, by switching the flow path of a chemical liquid pump (not shown). In addition, when a signal instructing the control device 100 to stop spraying chemical liquid is input from the spraying operation switch 132 to the control device 100, the control device 100 stops spraying chemical liquid from the nozzle by switching the flow path of a chemical liquid pump (not shown).

[0043] When a signal instructing to stop spraying of chemical solution is input, the control device 100 in one example acquires height information based on a detection signal indicating the height positions of the center boom 5 and the side boom 6 input from a lift sensor 125 provided on the lifting device 30. The acquired height information is stored by the control device 100.

[0044] An example of the height information may be acquired based on the height position acquired by the lift sensor 125 when in the spraying state. For example, the height information may be information indicating the height positions of the center boom 5 and the side boom 6 when a signal instructing switching from the spraying state to the stopped state is input to the control device 100 by the spraying operation switch 132.

[0045] The height information may also be an average value of the height position acquired by the lift sensor 125 in the spraying state. For example, the control device 100 may continuously acquire a detection signal from the lift sensor 125 from the time a signal instructing the start of spraying is input from the spraying operation switch 132 until a signal instructing the stop of spraying is input, and acquire the average value of the detection signal as the height information when the signal instructing the stop of spraying is input.

[0046] The height information may also be the maximum value of the height position acquired by the lift sensor 125 in the spraying state. For example, the control device 100 may continuously acquire a detection signal from the lift sensor 125 from the time a signal instructing the start of spraying is input from the spraying operation switch 132 until a signal instructing the stop of spraying is input, and acquire the maximum value of the detection signal as the height information when the signal instructing the stop of spraying is input. Furthermore, the control device 100 may acquire the maximum value of the detection signal from the lift sensor 125 while updating it after the signal instructing the start of spraying is input.

[0047] The lift switch 133 is a device for inputting an instruction to adjust the height positions of the center boom 5 and the side boom 6 to the control device 100. For example, the lift switch 133 is a so-called toggle switch, which outputs a signal to instruct raising when pressed in one direction, and outputs a signal to instruct lowering when pressed in the other direction. When a signal instructing the raising of the height positions of the center boom 5 and the side boom 6 is input from the lift switch 133 to the control device 100, the control device 100 raises the center boom 5 and the side boom 6 by controlling the operation of the hydraulic cylinder 37 of the lifting device 30. Also, when a signal instructing the lowering of the height positions of the center boom 5 and the side boom 6 is input from the lift switch 133 to the control device 100, the control device 100 raises and lowers the center boom 5 and the side boom 6 by controlling the operation of the hydraulic cylinder 37 of the lifting device 30. When the lift switch 133 is operated while the boom device 4 is deployed and chemical spraying is being performed, the height positions of the center boom 5 and the side boom 6 can be changed while spraying is being performed. In other words, while driving the boom sprayer 1 to spray, the operator can operate the lift switch 133 to change the height of the center boom 5 and side boom 6 to match the height of the crops in the field.

[0048] FIG. 5 is a plan view for explaining an example of work by a boom sprayer. As shown in FIG. 5, for example, in pest control work using the boom sprayer 1, the boom sprayer 1 in the unfolded state runs between the furrows in the field F1 in the first direction D1 while spraying the chemical solution (forward spraying process ST1). Then, when the end of the field F1 is reached in the first direction D1, the spraying is stopped, and the boom device 4 is put into the stored state and the headland F2 is turned around (turning process ST2). When the traveling direction of the boom sprayer 1 is reversed by the turn, the boom sprayer 1 runs between another furrow in the second direction D2 opposite to the first direction D1 while putting the boom device 4 into the unfolded state, spraying the chemical solution (returning spraying process ST3). The boom sprayer 1 can perform pest control work over the entire field F1 by changing the spraying position while repeating the forward spraying process ST1, the turning process ST2, and the return spraying process ST3.

[0049] Figure 6 is a flow diagram showing the operation when the boom device 4 transitions from the deployed state to the stowed state. That is, Figure 6 shows the operation flow when the operator operates the storage / deployment switch 131 so as to output a signal to instruct the boom device 4 to transition to the stowed state when the boom device 4 is in the deployed state. The flow in Figure 6 corresponds to the transition from the outbound spraying process ST1 to the rotation process ST2 in Figure 5. That is, it is assumed that the boom device 4 is in the deployed state and that chemical spraying is being performed.

[0050] Figure 7 is a flow diagram showing the operation when the boom device 4 transitions from the stored state to the deployed state. That is, Figure 7 shows the operation flow when the operator operates the storage / deployment switch 131 so as to output a signal to instruct the deployed state when the boom device 4 is in the stored state. The flow in Figure 7 corresponds to the transition from the rotation step ST2 to the return spraying step ST3 in Figure 5. That is, it is assumed that the boom device 4 is in the stored state and that chemical spraying is stopped.

[0051] As shown in Fig. 6, when transitioning from the forward spraying step ST1 to the turning step, the control device 100 judges whether a signal instructing to stop spraying has been input from the spraying operation switch 132 (step S11). When a signal to stop spraying is input to the control device 100 by the operator operating the spraying operation switch 132, the control device 100 acquires height information for determining the height of the lifting device 30 when transitioning from the stored state to the deployed state (step S12). The control device 100 also executes control to stop spraying from the nozzles of the center boom 5 and the side boom 6 (step S13). Note that the order of steps S12 and S13 may be reversed.

[0052] Next, the control device 100 determines whether a signal has been input from the storage / deployment switch 131 instructing a transition to the stored state (step S14). When the storage / deployment switch 131 is operated by the operator and a signal instructing a transition to the stored state is input, the control device 100 transitions the boom device 4 from the deployed state to the stored state (step S15). This causes the boom sprayer 1 to stop spraying and the side boom 6 to be stored. The boom sprayer 1 is turned by the operator, so that the direction of travel of the boom sprayer 1 is reversed. Next, the return spraying process ST3 is performed by the operator.

[0053] In the return spraying process ST3, as shown in FIG. 7, the control device 100 judges whether a signal instructing a transition to the deployed state has been input from the storage / deployment switch 131 (step S21). When the worker operates the storage / deployment switch 131 and a signal instructing a transition to the deployed state has been input, the control device 100 sets a height target for the lifting device 30 based on the height information acquired in the previous step S12 (step S22). For example, the height of the lifting device 30 may be set so that the heights of the center boom 5 and the side boom 6 are reset to the height at the end of spraying. The control device 100 transitions the boom device 4 from the stored state to the deployed state so that the height of the lifting device 30 becomes the set height position (step S23).

[0054] Next, the control device 100 determines whether a signal to start spraying has been input from the spraying operation switch 132 (step S24). When the operator operates the spraying operation switch 132 to input a signal to start spraying to the control device 100, the control device 100 executes control to start spraying from the nozzles of the center boom 5 and the side boom 6 (step S25). As a result, the boom sprayer 1 is in a state in which the boom is deployed and spraying has started, and the boom sprayer is operated by the operator to travel between the furrows, thereby carrying out the return spraying process ST3.

[0055] As described above, one example boom sprayer 1 comprises a traveling body 3, a side boom 6 provided on the traveling body 3, a lifting device 30 that changes the height position of the side boom 6 relative to the traveling body 3, a spraying operation switch 132 for instructing switching between a spraying state in which liquid is sprayed and a stopped state in which spraying of liquid is stopped, a hydraulic cylinder 47 that rotates the side boom 6 between an open position in which the side boom 6 is open relative to the traveling body 3 and a closed position in which the side boom 6 is folded toward the traveling body 3, a storage / deployment switch 131 for instructing switching between a stored state in which the side boom 6 is in the closed position and a deployed state in which it is in the open position, a lift sensor 125 that detects the height position of the side boom 6 relative to the traveling body 3, and a control device 100 that controls the operation of the lifting device 30 and the hydraulic cylinder 47. The control device 100 acquires height information based on the height position of the side boom 6 acquired by the lift sensor 125, and when the storage / deployment switch 131 switches from the stored state to the deployed state, it operates the hydraulic cylinder 47 to set the side boom 6 to the deployed state, and controls the lifting device 30 to change the height position of the side boom 6 based on the height information.

[0056] In the above-mentioned boom sprayer 1, height information is acquired based on the height position acquired by the lift sensor 125, and when switching from the stored state to the deployed state, the height position of the side boom 6 is changed based on this height information. Therefore, when the side boom 6 changes from the deployed state to the stored state and then to the deployed state again, the height position of the side boom 6 is set based on the height information acquired when the side boom 6 was in the deployed state. For example, when moving from the forward spraying process ST1 through the turning process ST2 to the return spraying process ST3, the height position of the side boom 6 is adjusted at the start of the return spraying process ST3 based on the height information acquired during the forward spraying process ST1. Therefore, the effort required of the operator to set the height position of the side boom 6 is reduced, and workability can be improved.

[0057] The control device 100 may acquire, as height information, the height position of the side boom 6 when the spraying state is switched to the stopped state by the spraying operation switch 132. In this configuration, the height of the side boom 6 at the time when the spraying operation is completed is acquired as height information. Therefore, when the side boom 6 is put into the deployed state again, the height of the side boom 6 immediately before that can be reproduced.

[0058] The control device 100 may acquire the average value of the height position acquired by the lift sensor 125 in the spraying state as the height information. When the growth state of the crop varies depending on the location, it is considered that the height of the side boom 6 is changed by the worker during the spraying work. For example, in the forward spraying process ST1, the worker can adjust the height position of the side boom 6 according to the state of the crop by operating the lift switch 133 while watching the state (height) of the crop in front. In the above configuration, since the average value of the height position is acquired as the height information, the height position of the side boom 6 in the return spraying process ST3 is a height suitable for the average height of the crop in the forward path. The height position of the side boom 6 in this case can be a height suitable for the average height of the crop in the return path. Therefore, the difference between the height of the side boom 6 at the time of deployment and the optimal height position can be reduced.

[0059] The control device 100 may acquire, as the height information, the maximum value of the height position acquired by the lift sensor 125 in the spraying state. Assuming that there is no significant difference between the height of the crop on the forward path and the height of the crop on the return path, if the height position of the side boom 6 at the start of the return path is the maximum value on the forward path, contact of the side boom 6 with the crop is suppressed.

[0060] Although one embodiment has been described in detail above with reference to the drawings, the specific configuration is not limited to this embodiment.

[0061] For example, a stroke sensor provided on the hydraulic cylinder 37 has been exemplified as the lift sensor 125, but the lift sensor 125 may have any configuration as long as it can directly or indirectly acquire the height position of the side boom 6. The lift sensor may be configured with at least one sensor that continuously measures the height position of the side boom, or may be configured with a plurality of position detection switches respectively corresponding to a plurality of height positions of the side boom 6. The lift sensor may also be configured to acquire an operation history (e.g., operation time) of the hydraulic cylinder 37, and derive the height position of the side boom 6 based on the state of the hydraulic cylinder 37 estimated from the operation history. The position at which the lift sensor is disposed is not particularly limited.

[0062] The control device 100 may also control the lifting device 30 so that the side boom 6 moves to a height position obtained by adding a predetermined height to the height position corresponding to the acquired height information. That is, the control device 100 may control the height of the side boom 6 so that it is higher than the height position of the acquired height information. In this configuration, the side boom 6 is prevented from contacting the crop. The control device 100 may also acquire, as height information, a height position obtained by adding a predetermined height to the height position detected by the lift sensor 125. The predetermined height added to the height position may be, for example, in the range of 0 cm to 30 cm, but is not particularly limited. The predetermined height added may be set by the operator.

[0063] The height information acquired by the control device 100 may be reset the next time the boom device 4 is deployed and chemical spraying is started again by operating the spraying operation switch 132. In this case, when the outbound spraying process ST1, the turning process ST2 and the return spraying process ST3 are repeated, the height position of the side boom at the start of the outbound spraying process or the return spraying process will reflect the height information in the previous return spraying process or outbound spraying process. In addition, the height information acquired by the control device 100 may or may not be reset when the main power of the control device is turned off. [Explanation of symbols]

[0064] 1... boom sprayer, 3... traveling body, 4... boom device, 5... center boom, 6... side boom (boom), 30... lifting device, 47... hydraulic cylinder (opening / closing device), 100... control device, 125... lift sensor (detection sensor), 131... storage / deployment switch (second switch), 132... spraying operation switch (first switch).

Claims

1. a boom (6) having a nozzle for spraying a liquid; a lifting device (30) for moving the height position of the boom (6); A first switch (132) for instructing switching between a spraying state in which the liquid is sprayed and a stop state in which spraying of the liquid is stopped; an opening / closing device (47) for rotating the boom (6) between an open position in which the boom (6) is open relative to the lifting device (30) and a closed position in which the boom (6) is folded toward the lifting device (30); a second switch (131) for instructing switching between a stored state in which at least the boom (6) is in the closed position and a deployed state in which at least the boom (6) is in the open position; A detection sensor (125) for detecting a height position of the boom (6) in the deployed state; A control device (100) for controlling the operation of the lifting device (30) and the opening / closing device (47), The control device (100) acquires height information based on the height position of the boom (6) acquired by the detection sensor (125), and when the second switch (131) switches from the stored state to the deployed state, operates the opening / closing device (47) to attain the deployed state, and controls the lifting device (30) to change the height position of the boom (6) based on the height information.

2. The boom device according to claim 1, wherein the control device (100) acquires as the height information the height position of the boom (6) when the first switch (132) switches from the spraying state to the stopped state.

3. The boom device according to claim 1 , wherein the control device (100) acquires, as the height information, an average value of height positions acquired by the detection sensor (125) in the spraying state.

4. The boom device according to claim 1 , wherein the control device (100) acquires as the height information a maximum value of a height position acquired by the detection sensor (125) in the spraying state.

5. The boom device according to any one of claims 1 to 4, wherein the control device (100) controls the lifting device (30) so that the height of the boom (6) is changed to a height position obtained by adding a predetermined height to the height position corresponding to the height information.

6. A running body (3), A boom (6) provided on the traveling body (3) and having a nozzle for spraying liquid; a lifting device (30) for moving the height position of the boom (6) relative to the traveling machine body (3); A first switch (132) for instructing switching between a spraying state in which the liquid is sprayed and a stop state in which spraying of the liquid is stopped; an opening / closing device (47) for rotating the boom (6) between an open position in which the boom (6) is open relative to the traveling body (3) and a closed position in which the boom (6) is folded toward the traveling body (3); a second switch (131) for instructing switching between a stored state in which at least the boom (6) is in the closed position and a deployed state in which at least the boom (6) is in the open position; A detection sensor (125) for detecting a height position of the boom (6) relative to the traveling machine body (3) in the deployed state; A control device (100) for controlling the operation of the lifting device (30) and the opening / closing device (47), The control device (100) acquires height information based on the height position of the boom (6) acquired by the detection sensor (125), and when the second switch (131) switches from the stored state to the deployed state, operates the opening / closing device (47) to attain the deployed state, and controls the lifting device (30) to change the height position of the boom (6) based on the height information.

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