Control method for a sprayer, control program for a sprayer, and sprayer

Abstract

To provide a control method of a spraying machine, a control program of a spraying machine, and a spraying machine capable of preventing an operator or the like from unintendedly touching an electrode to which a high voltage is applied.SOLUTION: A control method of a spraying machine includes a machine body that can travel, a spraying nozzle 41 supported on the machine body for spraying a liquid material to be sprayed, and a static electricity imparting device 9. The static electricity imparting device 9 charges the material to be sprayed that is sprayed from the spraying nozzle 41 by applying a voltage VH1 to a load 90 including an electrode 91. This control method includes acquiring an operation condition of the machine body, and controlling the static electricity imparting device 9 so as to change an application state of the voltage VH1 to the load 90 according to the operation condition of the machine body.SELECTED DRAWING: Figure 12

Description

Technical Field

[0001] The present invention relates to a control method for a spraying machine capable of spraying a spraying material during traveling, a control program for the spraying machine, and the spraying machine.

Background Art

[0002] As related art, a spraying machine (agricultural work vehicle) including a traveling unit (crawler traveling unit) including a pair of crawlers arranged in the left-right direction, a machine body (left vehicle body and right vehicle body), an engine, and a spraying nozzle (chemical injection unit) is known (for example, see Patent Document 1). In the spraying machine according to the related art, the pair of crawlers of the traveling unit travel so as to sandwich a plant, which is a spraying target, in the left-right direction. The left vehicle body in the machine body is mainly supported by the left crawler. The right vehicle body in the machine body is mainly supported by the right crawler. The engine is arranged on the left vehicle body side.

[0003] In the spraying machine according to the related art, the spraying nozzles are provided on each of the left vehicle body and the right vehicle body. Each spraying nozzle sprays chemicals on both the right side and the left side. Thereby, the spraying machine according to the related art can simultaneously spray chemicals on a plant passing between the pair of left and right crawlers, a plant located on the left side of the spraying machine, and a plant located on the right side of the spraying machine. This spraying machine can spray chemicals on plants while performing automatic traveling (autonomous traveling) based on the current position and the autonomous traveling route.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0005] In the above-mentioned related technologies, if an electrostatic charging device is provided that charges the sprayed material (chemical solution) by applying a high voltage to a load including electrodes, there is a possibility that an operator or other person may accidentally touch the electrodes (load) while a high voltage is applied.

[0006] The object of the present invention is to provide a sprayer control method, a sprayer control program, and a sprayer that make it easier to avoid accidental contact between the operator and others with electrodes under high voltage. [Means for solving the problem]

[0007] A control method for a sprayer according to one aspect of the present invention is a control method for a sprayer comprising a mobile body, a spray nozzle supported by the mobile body for spraying a liquid material, and an electrostatic device. The electrostatic device charges the material sprayed from the spray nozzle by applying a voltage to a load including electrodes. The control method includes acquiring the operating status of the mobile body and controlling the electrostatic device to change the voltage applied to the load according to the operating status of the mobile body.

[0008] A control program for a sprayer according to one aspect of the present invention is a control program for a sprayer that causes one or more processors to execute the control method for the sprayer.

[0009] A sprayer according to one aspect of the present invention comprises a mobile body, a spray nozzle, an electrostatic imparting device, an acquisition processing unit, and an electrostatic imparting processing unit. The spray nozzle is supported by the mobile body and sprays a liquid material. The electrostatic imparting device charges the material sprayed from the spray nozzle by applying a voltage to a load including electrodes. The acquisition processing unit acquires the operating status of the mobile body. The electrostatic imparting processing unit controls the electrostatic imparting device to change the voltage applied to the load according to the operating status of the mobile body. [Effects of the Invention]

[0010] According to the present invention, it is possible to provide a sprayer control method, a sprayer control program, and a sprayer that make it easier to avoid accidental contact between the operator and others with electrodes under high voltage. [Brief explanation of the drawing]

[0011] [Figure 1] Figure 1 is an external view of the sprayer according to Embodiment 1, as seen from the left front side. [Figure 2] Figure 2 is a rear view of the sprayer according to Embodiment 1, as seen from the rear side. [Figure 3] Figure 3 shows an example of a crop row in which the sprayer according to Embodiment 1 is used. [Figure 4] Figure 4 is a schematic diagram showing the overall configuration of an automated driving system using a sprayer according to Embodiment 1. [Figure 5] Figure 5 is a schematic block diagram showing the main components of the sprayer according to Embodiment 1. [Figure 6] Figure 6 is an external view of the left side of the sprayer according to Embodiment 1, as seen from the left side. [Figure 7] Figure 7 is an external view of the right side of the sprayer according to Embodiment 1, as seen from the right side. [Figure 8] Figure 8 is an external view of the top surface of the sprayer according to Embodiment 1, as seen from above. [Figure 9] Figure 9 is a rear view of the sprayer according to Embodiment 1, as seen from the rear side. [Figure 10] Figure 10 is a schematic diagram showing the sprayer according to Embodiment 1 as viewed from the rear at an oblique angle. [Figure 11] Figure 11 is a schematic diagram illustrating the configuration of the spraying device of the sprayer according to Embodiment 1. [Figure 12] Figure 12 is a schematic diagram illustrating the configuration of the electrostatic device for a sprayer according to Embodiment 1. [Figure 13] Figure 13 is an explanatory diagram showing an example of a target route for the automatic driving of a sprayer according to Embodiment 1. [Figure 14]FIG. 14 is a flowchart showing an example of an electrostatic application process among the control methods of the spraying machine according to Embodiment 1.

Mode for Carrying Out the Invention

[0012] Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings. The following embodiments are an example of embodying the present invention and are not intended to limit the technical scope of the present invention.

[0013] (Embodiment 1) [1] Overall Configuration First, the overall configuration of the spraying machine 1 according to the present embodiment will be described with reference to FIGS. 1 to 4. In the present embodiment, the spraying machine 1 performs a spraying operation of spraying a spraying material such as a chemical solution, water, or fertilizer on the crop V1 (see FIG. 2) grown in the field F1. This spraying machine 1 is an example of a "working machine" that performs various operations within a work target area such as the field F1.

[0014] That is, the spraying machine 1 is a working machine capable of performing a spraying operation of spraying a spraying material such as a chemical solution, water, or fertilizer as work. The "working machine" referred to in the present disclosure includes, in addition to the spraying machine, work vehicles such as tractors, rice transplanters, sprayers, seeders, transplanting machines, and combines. That is, the working machine includes work vehicles. The working machine is not limited to a "vehicle" and may be a working flying object such as a drone or a multicopter for spraying a chemical solution, water, fertilizer, etc. Further, the "working machine" referred to in the present disclosure is not limited to agricultural machines (agricultural machinery) and may be, for example, construction machines (construction machinery).

[0015] In addition, the "field" as referred to in the present disclosure is an example of a work target area where various operations such as spraying operations are performed while the spraying machine 1, which is a working machine, moves, and includes an orchard for growing agricultural products, a pasture, a paddy field, a field, and the like. In this case, the crop V1 grown in the field F1 is an agricultural product. Further, when growing nursery stock in a nursery, the nursery becomes the field F1, and when growing trees that become timber in a forest like forestry, the forest becomes the field F1. In this case, the crop V1 grown in the field F1 is a nursery stock or a tree, etc. However, the work target area where the working machine performs work is not limited to the field F1 and may be outside the field F1. For example, if the working machine is a construction machine, the site where the construction machine performs work becomes the work target area.

[0016] In this embodiment, as an example, the spraying machine 1 is a vehicle that moves in a field F1, which is an orchard such as a vineyard or an apple orchard, and sprays a chemical solution on the crop V1 grown in the field F1. In this case, the chemical solution is an example of a sprayed material. Also, the crop V1 is an example of a spraying target object on which the sprayed material (chemical solution) is sprayed, and is, for example, a fruit tree of grapes. The crop V1, which is the spraying target object, is also an example of a work target object that is the target of the work by the spraying machine 1 as a working machine. The "chemical solution" as the sprayed material here is an agricultural chemical used for improving agricultural efficiency or preserving agricultural products, and includes herbicides, fungicides, mildew-proof agents, insecticides, herbicides, rodenticides, growth promoters for the crop V1, germination inhibitors, and the like.

[0017] The crops V1 are arranged in a plurality of rows at a predetermined interval in the field F1. Specifically, as shown in FIG. 3, the plurality of crops V1 are planted in a straight line in the longitudinal direction A1 in a plan view. The plurality of crops V1 arranged in a straight line in the longitudinal direction A1 constitute a crop row Vr1. FIG. 3 illustrates three crop rows Vr1 each including six crops V1 arranged in the longitudinal direction A1. Each crop row Vr1 is arranged at a predetermined pitch W1 in the width direction A2. As a result, a working passage having a width W2 (<W1) corresponding to the interval between the crop rows Vr1 is formed between adjacent crop rows Vr1, and the spraying machine 1 sprays the sprayed material (chemical solution) on the crop V1 while moving (traveling) in the longitudinal direction A1 through this working passage.

[0018] As will be explained in more detail later, the sprayer 1 that travels across field F1 is equipped with a gate-shaped body 10. Specifically, the body 10 has a first block 10L and a second block 10R arranged side by side in the left-right direction D2, and a connecting part 10C that connects the upper ends of the first block 10L and the second block 10R. As a result, the body 10, with the first block 10L, the second block 10R and the connecting part 10C, forms a gate-shaped structure that surrounds space Sp1 on the left, right, and top. In other words, a space Sp1 that is open in the front-rear direction D3 is formed inside the body 10.

[0019] Furthermore, the sprayer 1 includes a running section 11 that includes a pair of crawlers 111L and 111R arranged in the left-right direction D2. The pair of crawlers 111L and 111R are located at the bottom of the first block 10L and the second block 10R, respectively, and are positioned on both sides in the left-right direction D2 with respect to the space Sp1.

[0020] As shown in Figure 2, the sprayer 1 can travel in a gantry-shaped configuration, straddling one crop row Vr1, and spraying the crop V1 of that crop row Vr1, as well as the crop V1 of adjacent crop rows Vr1. In other words, the sprayer 1 can travel in such a way that the crop V1, which is the target of spraying (the work target), passes through the space Sp1 inside the gantry-shaped configuration of the machine body 10. That is, as illustrated in Figure 2, if there are three crop rows Vr11, Vr12, and Vr13 arranged in the left-right direction D2, the sprayer 1 can travel straddling any of these three crop rows Vr11, Vr12, and Vr13 with its machine body 10.

[0021] If the machine 10 straddles the central crop row Vr12, the first block 10L travels along the work passage between the leftmost crop row Vr11 and crop row Vr12, and the second block 10R travels along the work passage between the rightmost crop row Vr13 and crop row Vr12. The sprayer 1 can then simultaneously spray the substance (chemical solution) onto crop V11 in crop row Vr11, crop V12 in crop row Vr12, and crop V13 in crop row Vr13. Thus, the sprayer 1 according to this embodiment can simultaneously spray the substance (chemical solution) onto three rows of target objects (crops V1) while traveling, resulting in better spraying efficiency compared to a configuration that sprays one row at a time.

[0022] Furthermore, in this embodiment, as an example, the sprayer 1 is an unmanned aircraft that operates automatically without human (operator) control (including remote control). Therefore, as shown in Figure 4, the sprayer 1, together with the server 81, user terminal 82, base station 203, and satellite 204, constitutes the spraying control system 100. In other words, the spraying control system 100 includes the sprayer 1, the server 81, the user terminal 82, the base station 203, and the satellite 204. However, at least one of the server 81, user terminal 82, base station 203, and satellite 204 does not have to be included as a component of the spraying control system 100; for example, the spraying control system 100 does not have to include the satellite 204.

[0023] The sprayer 1, server 81, and user terminal 82 are able to communicate with each other. In this disclosure, "able to communicate" means that information can be exchanged directly or indirectly via a communication network N1 (see Figure 5) or a repeater, etc., by an appropriate communication method such as wired communication or wireless communication (communication using radio waves or light as a medium). For example, the sprayer 1 and user terminal 82 can communicate via a communication network N1 such as the Internet, LAN (Local Area Network), WAN (Wide Area Network), public telephone line, mobile phone network, packet network, or wireless LAN. Furthermore, the sprayer 1 and user terminal 82 can each communicate with the server 81 via a communication network N1 such as the Internet.

[0024] Satellite 204 is a positioning satellite that constitutes a satellite positioning system such as GNSS (Global Navigation Satellite System), and transmits GNSS signals (satellite signals). Base station 203 is a reference point (reference station) that constitutes a satellite positioning system. Base station 203 transmits correction information to the sprayer 1 to calculate the current position of the sprayer 1, etc.

[0025] The sprayer 1 according to this embodiment is equipped with a positioning device 2 that detects the current position (latitude, longitude, altitude, etc.) and current direction of the aircraft 10. The positioning device 2 uses GNSS signals transmitted from satellite 204 to perform positioning processing to determine (calculate) the current position and current direction of the aircraft 10. The positioning device 2 employs a relatively high-precision positioning method such as RTK (Real Time Kinematic) positioning, which performs positioning based on positioning information (GNSS signals, etc.) received by two receivers (base station 203 and antenna 21) and correction information generated by base station 203.

[0026] The user terminal 82 is, for example, an information processing device such as a tablet or a smartphone. The user terminal 82 includes a display unit 821 (see Figure 5) and an operation unit 822 (see Figure 5).

[0027] Here, the user using the user terminal 82 may be the same person as the operator who operates (drives) the sprayer 1, or it may not be the same person. Furthermore, regarding the users using the user terminal 82, for example, a single user may be set for one field F1, such as the owner of field F1, or multiple users may be set for one field F1. In the latter case, for example, even for one field F1, it is possible to set a different user for each task. Moreover, the user may be an individual or a legal entity, or a group (organization) consisting of multiple individuals or legal entities. Furthermore, one user terminal 82 may be provided for one user, one terminal may be provided for multiple users, or multiple terminals may be provided for one user. When one user terminal 82 is provided for multiple users, each of the multiple users can be identified, for example, by a user ID.

[0028] The display unit 821 is a user interface for outputting (presenting) information to the user, such as a liquid crystal display or an organic EL display that displays various types of information. The display unit 821, for example, presents various types of information to the user through display. In particular, in this embodiment, the user terminal 82 has a browser function, and the display unit 821 can display information such as various web pages.

[0029] The operation unit 822 is a user interface for receiving user input, such as a touch panel, mouse, or keyboard. The operation unit 822 accepts various user operations, for example, by outputting electrical signals corresponding to the user's actions. In particular, in this embodiment, the user terminal 82 has a browser function, and the operation unit 822 can accept various operations on the web page displayed on the display unit 821.

[0030] The user can operate the operation unit 822 on the operation screen displayed on the display unit 821 to register various information. The user can also operate the operation unit 822 to issue commands to the sprayer 1 to start work, to stop driving, etc. In addition to the above configuration, the user terminal 82 is further equipped with a communication unit, a storage unit, a processor, and the like.

[0031] Server 81 is an information processing device such as a server. Server 81 transmits information such as the target route for the sprayer 1 to be driven automatically to the sprayer 1.

[0032] Furthermore, the sprayer 1 is capable of automatically (autonomously) traveling along a pre-set target path. For example, the sprayer 1 automatically travels along a target path that includes multiple work paths and movement paths from the work start position to the work end position. The multiple work paths are straight paths in which the sprayer 1 performs work (spraying) on ​​the target object (the crop V1), and the movement paths are paths in which the sprayer 1 moves between crop rows Vr1 without performing spraying, and may include turning paths and straight paths.

[0033] Furthermore, the sprayer 1 automatically travels in a predetermined row order. In the example shown in Figure 2, the sprayer 1 travels across crop row Vr11, then across crop row Vr12, and then across crop row Vr13. In this way, the sprayer 1 automatically travels according to the pre-set order of crop row Vr1. The sprayer 1 may travel row by row in the order of crop row Vr1, or it may travel every few rows.

[0034] Furthermore, in this embodiment, for the sake of explanation, as shown in Figure 1, the vertical direction when the sprayer 1 is in a usable state is defined as the up-down direction D1. In addition, the left-right direction D2 and the front-back direction D3 are defined based on the direction viewed from the center point of the sprayer 1 in a plan view. That is, when the sprayer 1 is moving forward, the direction of travel of the sprayer 1 is forward in the front-back direction D3, and when the sprayer 1 is moving backward, the direction of travel of the sprayer 1 is backward in the front-back direction D3. However, these directions are not intended to limit the direction of use (direction during use) of the sprayer 1.

[0035] Furthermore, as used in this disclosure, "parallel" means that two lines on a single plane will never intersect no matter how far they are extended, that is, the angle between the two lines is exactly 0 degrees (or 180 degrees), and also that the angle between the two lines falls within an error range of a few degrees (for example, less than 10 degrees) relative to 0 degrees. Similarly, as used in this disclosure, "orthogonal" means that two lines intersect at an angle of exactly 90 degrees, and also that the angle between the two lines falls within an error range of a few degrees (for example, less than 10 degrees) relative to 90 degrees.

[0036] [2] Details of the sprayer Next, the configuration of the sprayer 1 will be explained in more detail with reference to Figures 1, 2, and 5-10. Figure 1 is an external view of the sprayer 1 seen from the front left, and Figure 2 is an external view of the rear of the sprayer 1 seen from the rear side. Figure 5 is a schematic block diagram showing the main components of the sprayer 1. Figure 6 is an external view of the left side of the sprayer 1 seen from the left side, Figure 7 is an external view of the right side of the sprayer 1 seen from the right side, and Figure 8 is an external view of the top of the sprayer 1 seen from above. Figure 9 is an external view of the rear of the sprayer 1 seen from the rear side. Figure 10 is a schematic diagram showing the sprayer 1 seen from the diagonal rear, with a partially enlarged view inside the discharge port.

[0037] The sprayer 1 comprises a body 10, a travel unit 11, a support frame 3, and a spraying device 4. In this embodiment, as shown in Figure 5, the sprayer 1 further comprises an electrostatic application device 9, a positioning device 2, a control device 7, an airflow generation unit 5, a user interface 61, an obstacle detection device 62, a power source 63, a tank 64 (see Figure 7), and a display 65, etc. The sprayer 1 also further comprises a communication terminal, a fuel tank, and a battery, etc. In this embodiment, the structure of the sprayer 1, such as the body 10 and the support frame 3, is basically made of metal, and the material is selected according to the required strength and weather resistance. However, the structure of the sprayer 1 is not limited to metal; for example, resin or wood may be used as appropriate.

[0038] The aircraft body 10 is the main body of the sprayer 1 and supports most of the components of the sprayer 1, such as the positioning device 2 and the support frame 3. The aircraft body 10 has a frame 101 (see Figure 2) and a cover 102. The frame 101 is a component that constitutes the skeleton of the aircraft body 10 and supports heavy objects such as the power source 63 and the tank 64. The cover 102 is a component that constitutes the outer shell of the aircraft body 10 and is attached to the frame 101 so as to cover the frame 101 and at least a portion of the components mounted on the frame 101. On the rear (back) and a portion of the right side of the aircraft body 10, the frame 101 is not covered by the cover 102 and the frame 101 is exposed. The cover 102 is divided into multiple parts, and these multiple parts are configured to be individually removable from the frame 101. Therefore, the cover 102 can be removed only in parts corresponding to certain devices (components), such as the power source 63, thereby exposing certain devices (components), such as the power source 63.

[0039] As described above, the aircraft body 10 has a first block 10L and a second block 10R arranged side by side in the left-right direction D2. The first block 10L and the second block 10R face each other in the left-right direction D2 with a distance of a certain value or more between them. In this embodiment, as an example, the first block 10L is located on the left side and the second block 10R is located on the right side. Therefore, the left side of the aircraft body 10 is composed of the first block 10L, and the right side of the aircraft body 10 is composed of the second block 10R. Furthermore, the aircraft body 10 has a connecting part 10C that connects the first block 10L and the second block 10R. In a front view (viewed from the front), the connecting part 10C has a length along the left-right direction D2, and the first block 10L and the second block 10R each have a length along the up-down direction D1.

[0040] Here, the connecting section 10C connects the upper ends of the first block 10L and the second block 10R. In other words, the first block 10L and the second block 10R each protrude downward from both ends (in the left-right direction D2) of the connecting section 10C. As a result, the aircraft body 10, with the first block 10L, the second block 10R and the connecting section 10C, forms a gate-like shape that is open to both sides in the front-rear direction D3 as well as downwards. Inside the aircraft body 10, a space Sp1 is formed that is enclosed on three sides by the first block 10L, the second block 10R and the connecting section 10C, and is open in the front-rear direction D3.

[0041] In short, as shown in Figure 2, the machine body 10 forms a space Sp1 between the first block 10L and the second block 10R through which the crop V1 (object to be worked on) that is the target of the spraying operation by the spraying device 4 (working unit) can pass. Specifically, the dimensions of each part of the machine body 10 are set so as to form a space Sp1 that is taller and wider than the standard size of the crop V1 that is the object to be sprayed. Therefore, if the crop V1 is of standard size, the machine body 10 can straddle the crop V1 and allow the crop V1 to pass through space Sp1 with a distance of a predetermined value or more so that the crop V1 does not come into contact with the machine body 10. While the crop V1 is passing through space Sp1, the first block 10L is located to the left of the crop V1, the second block 10R is located to the right of the crop V1, and the connecting part 10C is located above the crop V1.

[0042] More specifically, in this embodiment, the machine body 10 is configured to be substantially symmetrical in the left-right direction D2. The first block 10L and the second block 10R are formed in a rectangular shape that is substantially the same size and shape when viewed from the side. The first block 10L and the second block 10R each have a flattened shape in the left-right direction D2, where the dimension in the left-right direction D2 is the smallest among the vertical direction D1, left-right direction D2, and front-rear direction D3. Furthermore, the first block 10L and the second block 10R each have a tapered shape in the vertical direction D1, where the portion above the center is tapered, with the dimension in the left-right direction D2 decreasing towards the upper end. The connecting portion 10C is formed in a rectangular shape such that the dimension in the front-rear direction D3 is larger than the dimension in the left-right direction D2 when viewed from above. The connecting portion 10C has a flattened shape in the vertical direction D1, where the dimension in the vertical direction D1 is the smallest among the vertical direction D1, left-right direction D2, and front-rear direction D3.

[0043] Thus, the aircraft body 10 can be broadly divided into three parts (blocks): the first block 10L, the second block 10R, and the connecting section 10C. Each of the first block 10L, the second block 10R, and the connecting section 10C has a frame 101 and a cover 102. In other words, each of the first block 10L and the second block 10R has a frame 101 and a cover 102. Furthermore, most of the components of the sprayer 1, such as the positioning device 2 and the support frame 3, are distributed and provided in the first block 10L, the second block 10R, and the connecting section 10C.

[0044] The traveling unit 11 is a traveling device (vehicle body) that moves the sprayer 1, and is located at the bottom of the machine body 10. The traveling unit 11 allows the machine body 10 to move within the field F1 in the left-right direction D2 and the front-back direction D3 by traveling on the ground (including turning). With such a traveling unit 11 provided on the machine body 10, the sprayer 1 can perform work (spraying work) while moving within the field F1.

[0045] The running section 11 includes a pair of crawlers (tracks) 111L and 111R arranged in the left-right direction D2. The pair of crawlers 111L and 111R are positioned at a constant distance apart in the left-right direction D2, and a space Sp1 is formed between these two crawlers 111L and 111R for the crop V1, which is the target of spraying, to pass through. In other words, the left crawler 111L, located to the left of space Sp1, and the right crawler 111R, located to the right of space Sp1, face each other across space Sp1. When there is no particular distinction between the left crawler 111L and the right crawler 111R, each crawler 111L and 111R is simply called "crawler 111". The running section 11 also includes a motor 112 that drives the crawlers 111. In other words, the running unit 11 is a crawler-type (continuous track type) running device that drives the spreader 1 by driving an endless strip-shaped crawler 111 with a motor 112.

[0046] Here, at least two motors 112 are provided, corresponding to a pair of crawlers 111L and 111R. The left motor 112 that drives the left crawler 111L and the right motor 112 that drives the right crawler 111R can individually drive the crawlers 111. In this embodiment, as an example, the motor 112 is a hydraulic motor (hydraulic actuator), and the crawler 111 is driven by hydraulic fluid supplied from a hydraulic pump. With this configuration, the machine 10 can travel relatively stably even when the road surface of field F1 is rough.

[0047] Here, the crawler 111 and motor 112 are located at the lower part of the first block 10L and the second block 10R, respectively. That is, the first block 10L has the left crawler 111L and the motor 112 that drives the crawler 111L, and the second block 10R has the right crawler 111R and the motor 112 that drives the crawler 111R. In this embodiment, the pair of crawlers 111L, 111R and the pair of motors 112 are configured to be substantially symmetrical in the left-right direction D2. In this way, because the pair of running parts 11 are arranged separated in the left-right direction D2 by the amount of space Sp1, the spreader 1 can travel in a relatively stable posture on various road surface conditions of the field F1, including slopes with a lateral incline where one of the left-right directions D2 is lower.

[0048] Here, the pair of crawlers 111L and 111R are driven by power from the power source 63 in a state where independent speed changes are possible using a hydrostatic continuously variable transmission. As a result, the machine body 10 moves in a forward state when the pair of crawlers 111L and 111R are driven at a constant speed in the forward direction, and moves in a reverse state when the pair of crawlers 111L and 111R are driven at a constant speed in the reverse direction. Furthermore, the machine body 10 moves in a forward-turning state when the pair of crawlers 111L and 111R are driven at an uneven speed in the forward direction, and moves in a reverse-turning state when the pair of crawlers 111L and 111R are driven at an uneven speed in the reverse direction, and moves in a reverse-turning state when the pair of crawlers 111L and 111R are driven at an uneven speed in the reverse direction. Furthermore, the machine 10 enters a pivot turn (pivot turn) state when one of the pair of crawlers 111L and 111R is deactivated while the other is activated, and enters a spin turn (super pivot turn) state when the pair of crawlers 111L and 111R are driven at equal speed in the forward and reverse directions. Also, the machine 10 enters a stop state when the pair of crawlers 111L and 111R are deactivated.

[0049] Furthermore, the first block 10L is equipped with a power source 63, etc., and the second block 10R is equipped with a tank 64, etc. In this way, the components of the sprayer 1 are distributed and arranged in the first block 10L and the second block 10R of the machine body 10, thereby achieving balance in the left-right direction D2 and lowering the center of gravity of the sprayer 1. As a result, the sprayer 1 can travel stably on slopes and other surfaces of the field F1.

[0050] As described above, positioning device 2 is a device that detects the current position and current bearing of the aircraft 10. Positioning device 2 has at least an antenna 21. Antenna 21 receives GNSS signals transmitted from satellite 204. In other words, antenna 21 includes a positioning antenna for determining the position of the aircraft 10. Here, antenna 21 is positioned on the top surface (ceiling) of the aircraft 10 to facilitate reception of signals (GNSS signals) from satellite 204. In other words, antenna 21 is positioned even higher than the highest point on the aircraft 10. Furthermore, positioning device 2 includes an attitude detection unit for detecting the attitude of the aircraft 10.

[0051] In this embodiment, the positioning device 2 has a second antenna, antenna 22, in addition to the first antenna, antenna 21. The positioning device 2 receives GNSS signals, etc., with each of these two antennas 21 and 22. Here, antenna 22 (second antenna) is arranged to be aligned with antenna 21 (first antenna) in the front-rear direction D3. As a result, the positioning device 2 can transmit and receive signals (GNSS signals, etc.) with each of the antennas 21 and 22. In particular, if antennas 21 and 22 are position-determining antennas, the current position can be determined at both the front and rear of the aircraft 10, making it possible to determine the orientation (current bearing) of the aircraft 10 as well.

[0052] The support frame 3 is attached to one end of the machine body 10 in the front-rear direction D3 and is a member that supports the spray nozzle 41 of the spraying device 4, which will be described later. In this embodiment, the support frame 3 is attached to the rear end of the machine body 10. The support frame 3, like the machine body 10, has a gate-like shape and is positioned to overlap with the machine body 10 when viewed from the rear. In other words, the support frame 3 has vertical frames 3L (first vertical frame) and vertical frame 3R (second vertical frame) arranged side by side in the left-right direction D2, and a horizontal frame 3C that connects the upper ends of the vertical frames 3L and 3R. As a result, the support frame 3, with the vertical frames 3L, 3R and 3C, forms a gate-like shape that surrounds the left, right and top sides of the space Sp1.

[0053] Specifically, the support frame 3 has vertical frames 3L and 3R arranged side by side in the left-right direction D2. Vertical frames 3L and 3R face each other in the left-right direction D2 with a distance of a certain value or more between them. In this embodiment, as an example, vertical frame 3L is located on the left side and vertical frame 3R is located on the right side. Therefore, vertical frame 3L is located behind the first block 10L of the aircraft body 10, and vertical frame 3R is located behind the second block 10R of the aircraft body 10. When viewed from the rear, the horizontal frame 3C has a length along the left-right direction D2, and vertical frames 3L and 3R each have a length along the up-down direction D1.

[0054] Here, the horizontal frame 3C connects the upper ends of the vertical frames 3L and 3R. In other words, the vertical frames 3L and 3R each protrude downward from both ends of the horizontal frame 3C (in the left-right direction D2). Thus, the support frame 3 includes a horizontal frame 3C that has length along the left-right direction D2, and a pair of vertical frames 3L and 3R that each have length along the up-down direction D1 and protrude downward from both ends of the horizontal frame 3C. As a result, the support frame 3, with its vertical frames 3L, 3R and horizontal frame 3C, forms a gate-like shape that is open on both sides in the front-rear direction D3 as well as downwards. Inside the support frame 3, a space Sp1 is formed that is enclosed on three sides by the vertical frames 3L, 3R and horizontal frame 3C and is open in the front-rear direction D3.

[0055] In short, as shown in Figure 2, the support frame 3 forms a space Sp1 between a pair of vertical frames 3L and 3R that allows the crop V1 (object to be worked on, object to be sprayed) to pass through the spraying device 4 (working unit). Specifically, the dimensions of each part of the support frame 3 are set to form a space Sp1 that is taller and wider than the standard size of the crop V1, which is the object to be sprayed. Therefore, for a crop V1 of standard size, the support frame 3 can straddle the crop V1, leaving a gap of a predetermined value or more so that the crop V1 does not come into contact with the support frame 3, and allowing the crop V1 to pass through the space Sp1. While the crop V1 is passing through the space Sp1, the vertical frame 3L is located to the left of the crop V1, the vertical frame 3R is located to the right of the crop V1, and the horizontal frame 3C is located above the crop V1.

[0056] More specifically, in this embodiment, the support frame 3 is configured to be substantially symmetrical in the left-right direction D2. The vertical frames 3L and 3R have a cylindrical shape with a circular cross-section. In this embodiment, as an example, the vertical frames 3L and 3R are each composed of two cylindrical members arranged side by side. The horizontal frame 3C has a rectangular tubular shape with a rectangular cross-section. Here, the vertical frames 3L and 3R are firmly fixed to the horizontal frame 3C by appropriate fixing means such as connecting fittings, bracing fittings, or welding. Therefore, the vertical frames 3L and 3R maintain a state perpendicular to the horizontal frame 3C. In other words, in a rear view, the corners between the vertical frame 3L and the horizontal frame 3C, and the corners between the vertical frame 3R and the horizontal frame 3C, are right angles.

[0057] Furthermore, in this embodiment, the support frame 3 is supported on the machine body 10 so as to be rotatable about a rotation axis Ax1 while maintaining the relative positional relationship between the pair of vertical frames 3L, 3R and the horizontal frame 3C. The rotation axis Ax1 is an axis that passes through a pivot point 31 provided on the horizontal frame 3C and is aligned in the front-rear direction D3. In other words, the support frame 3 that supports the work unit (spray nozzle 41) is supported on the machine body 10 so as to be rotatable about a rotation axis Ax1 aligned in the front-rear direction D3. Here, the term "rotation axis" in this disclosure means a virtual axis (straight line) that is the center of the rotational motion of the rotating body. In other words, the rotation axis Ax1 is a virtual axis without a physical body. However, the rotation axis Ax1 may be a physical member, such as a pivot pin.

[0058] The spraying device 4 has spraying nozzles 41 and the like for spraying liquid materials. The spraying device 4 performs the spraying operation by spraying the chemical solution, which is the material to be sprayed, stored in the tank 64, onto the crop V1, which is the target object. The spraying nozzles 41 are supported by the support frame 3 and are the part that sprays the material. In this embodiment, as an example, the spraying nozzles 41 are the discharge ports (spraying parts) that actually serve as the outlets for the material (chemical solution). The spraying device 4 has a plurality of spraying nozzles 41 (in this embodiment, as an example, there are 12).

[0059] The spraying device 4 includes a spray nozzle 41, a spray pipe 42, a pump 43 (see Figure 7), a valve 44 (see Figure 7), and spraying piping, etc. The spray nozzle 41 is an example of a work unit that performs the work (spraying work) and is supported by a support frame 3. Since the support frame 3 is supported by the machine body 10, the spray nozzle 41 (work unit) is indirectly supported by the machine body 10. In this embodiment, the spray nozzle 41 is attached to the spray pipe 42. The spray pipe 42 is connected to the pump 43 via the valve 44 through the spraying piping. The pump 43 pumps the spray material (chemical solution) stored in the tank 64 into the spray pipe 42. The valve 44 is an electronically controlled valve unit such as an electromagnetic valve that changes the pressure (spray pressure) and spraying pattern when spraying the spray material. As a result, the chemical solution in the tank 64 is supplied by the pump 43 to the spray nozzle 41 via the valve 44 and spray pipe 42, and sprayed from the spray nozzle 41. Here, the chemical solution is discharged (sprayed) in a mist form from the spray nozzle 41.

[0060] More specifically, as shown in Figures 9 and 10, the spray pipes 42 are pipes having a length in the vertical direction D1, and two are attached to each of the vertical frames 3L and 3R of the support frame 3. In other words, in this embodiment, the spraying device 4 has a total of four spray pipes 42. The two (pair) spray pipes 42 attached to each of the vertical frames 3L and 3R are arranged side by side in the left-right direction D2. Each spray pipe 42 allows the chemical solution, which is injected from its upper end, to flow downward through the pipe and is discharged from three spray nozzles 41. Three spray nozzles 41 are attached to each spray pipe 42, so the spraying device 4 has a total of 12 spray nozzles 41.

[0061] Each spray nozzle 41 is mounted on the corresponding spray pipe 42 so as to be adjustable in the vertical direction D1. This allows each spray nozzle 41 to change its spacing from adjacent spray nozzles 41 and its height relative to the spray pipe 42 according to the object being sprayed (crop V1). Furthermore, each spray nozzle 41 is mounted so as to be adjustable in the vertical direction D1 and the horizontal direction D2, as well as its orientation (angle) relative to the machine body 10, according to the object being sprayed. However, in the spraying device 4, the number of spray nozzles 41 provided on each spray pipe 42 can be appropriately changed according to the type of object being sprayed (crop V1) or the length of each spray pipe 42.

[0062] The airflow generating unit 5 generates an airflow that transports the spray material (chemical solution) discharged from the spray nozzle 41. The airflow generating unit 5 is supported by the support frame 3 together with the spray nozzle 41. In other words, the sprayer 1 according to this embodiment is an air-assisted sprayer that sprays the spray material (chemical solution) using the airflow generated by the airflow generating unit 5. As a result, the sprayer 1 can efficiently spray the spray material (chemical solution) even on targets (crops V1) that are located relatively far from the spray nozzle 41.

[0063] The airflow generating unit 5 includes a duct 51 and a blower 52. The duct 51 forms a flow path through which air flows along the vertical direction D1. The blower 52 blows air into the duct 51. The airflow generating unit 5 generates an airflow from the air blown out of the outlet 511 (see Figure 10) formed in the duct 51. In short, the airflow generating unit 5 generates an airflow (flow of air) that flows outward from the outlet 511 by blowing the air that the blower 52 sends into the duct 51 through the flow path in the duct 51 and out of the outlet 511. With this configuration, a stable airflow can be generated over a relatively wide area. Furthermore, the airflow generating unit 5 can adjust the airflow volume by controlling the blower 52. By adjusting the airflow volume, the airflow generating unit 5 can adjust the transport distance of the sprayed material, and the greater the airflow volume, the further the sprayed material can be transported. Therefore, in the sprayer 1 according to this embodiment, the spraying range of the material sprayed by the spraying device 4 can be adjusted.

[0064] More specifically, the duct 51 is a pipe having a length in the vertical direction D1, and one duct 51 is attached to each of the vertical frames 3L and 3R of the support frame 3. In other words, in this embodiment, the airflow generating unit 5 has a total of two ducts 51. Each duct 51 has multiple outlet holes 511 formed on each of its left and right sides, arranged in a line along the vertical direction D1. Furthermore, two spraying pipes 42 of the spraying device 4 are fixed to each duct 51.

[0065] Here, the duct 51, the two spray pipes 42 attached thereto, and the six spray nozzles 41 attached to these two spray pipes 42 are arranged symmetrically in the left-right direction D2. Of the two spray pipes 42, the three spray nozzles 41 on the left spray pipe 42 discharge the spray material (chemical solution) towards the left front, and the three spray nozzles 41 on the right spray pipe 42 discharge the spray material (chemical solution) towards the right front. Therefore, the mist spray material discharged from the left spray nozzles 41 is carried to the left by the airflow blown out to the left from the duct 51, and the mist spray material discharged from the right spray nozzles 41 is carried to the right by the airflow blown out to the right from the duct 51.

[0066] Therefore, of the multiple (12) spray nozzles 41, the three spray nozzles 41 located on the leftmost spray pipe 42 spray the chemical solution to the left toward the crop V1 located to the left outside of the machine body 10. Of the multiple spray nozzles 41, the three spray nozzles 41 located on the left inner spray pipe 42 adjacent to the leftmost spray pipe 42 spray the chemical solution to the right toward the crop V1 located in the inner space Sp1 of the machine body 10. Of the multiple spray nozzles 41, the three spray nozzles 41 located on the rightmost spray pipe 42 spray the chemical solution to the right toward the crop V1 located to the right outside of the machine body 10. Of the multiple spray nozzles 41, the three spray nozzles 41 located on the right inner spray pipe 42 adjacent to the rightmost spray pipe 42 spray the chemical solution to the left toward the crop V1 located in the inner space Sp1 of the machine body 10.

[0067] With the above configuration, in the spraying device 4, the two spray pipes 42 and six spray nozzles 41 provided on the vertical frame 3L of the support frame 3 function as the left spraying unit. In addition, the two spray pipes 42 and six spray nozzles 41 provided on the vertical frame 3R of the support frame 3 function as the right spraying unit. The pair of left and right spraying units are positioned at the rear of the machine body 10, with a gap (space Sp1) between them that allows crops V1 to pass through, enabling spraying in the left-right direction D2.

[0068] Furthermore, the spraying device 4 has multiple (12) spray nozzles 41 divided into multiple systems, and each system is configured to be controllable. In this embodiment, as an example, the six spray nozzles 41 provided in the two inner spraying pipes 42 in the left-right direction D2 of the four spraying pipes 42 are classified as the first system, the three spray nozzles 41 provided in the leftmost spraying pipe 42 are classified as the second system, and the three spray nozzles 41 provided in the rightmost spraying pipe 42 are classified as the third system. Therefore, the spraying patterns of the spraying device 4 include a full spraying pattern in which the spraying material (chemical solution) is sprayed from all spraying nozzles 41, a spraying stop pattern in which the spraying of the material is stopped from all spraying nozzles 41, and a limited spraying pattern in which the spraying direction is limited. The limited spraying patterns include a first spraying pattern that sprays only the six spray nozzles 41 of the first system, a second spraying pattern that sprays only the three spray nozzles 41 of the second system, and a third spraying pattern that sprays only the three spray nozzles 41 of the third system. Furthermore, the limited spraying patterns include a fourth spraying pattern that sprays only the nine spray nozzles 41 of the first and second systems, a fifth spraying pattern that sprays only the nine spray nozzles 41 of the first and third systems, and a sixth spraying pattern that sprays only the six spray nozzles 41 of the second and third systems.

[0069] The spraying device 4 is controlled by the control device 7, and the above-mentioned multiple spraying patterns (a total of 6 patterns: the full spraying pattern and 6 limited spraying patterns) are switched as appropriate. At least one valve 44 of the spraying device 4 is provided for each system of multiple spraying nozzles 41, and in this embodiment, three valves 44 are provided to correspond to three systems (the first system, the second system, and the third system). These multiple (in this case, three) valves 44 are individually controlled by the control device 7 to change the spraying pattern. In addition, the spraying device 4 can also change the spraying range of the sprayed material by changing the pressure (spray pressure) when spraying the material for each system. Furthermore, in this embodiment, the spraying range of the sprayed material can also be adjusted by adjusting the airflow rate of the airflow generating unit 5, so a wider variety of spraying ranges can be achieved depending on the target object (crop V1) or the sprayed material (chemical solution). The configuration of the spraying device 4 will be explained in more detail in the section "[3] Configuration of the spraying device".

[0070] The electrostatic charge generator 9 charges the spray material (chemical solution) sprayed from the multiple spray nozzles 41. The electrostatic charge generator 9 charges the spray material by applying a voltage (high voltage) VH1 (see Figure 12) to a load 90 (see Figure 12) which includes an electrode 91 (see Figure 12). In other words, the sprayer 1 according to this embodiment is an electrostatic charge type sprayer that performs "electrostatic spraying" as a spraying operation by having the electrostatic charge generator 9 charge the spray material (chemical solution) sprayed from the spray nozzles 41 of the sprayer 4. As a result, the adhesion rate of the spray material to the target object (crop V1) is improved compared to normal spraying where the spray material (chemical solution) is not charged. Consequently, the sprayer 1 can efficiently spray the spray material (chemical solution) to the target object (crop V1) while suppressing the consumption of the spray material (chemical solution).

[0071] The electrostatic device 9 is controlled by the control device 7 and can switch the state of application of voltage VH1 to the load 90, including the electrodes 91. The electrostatic device 9 can switch between at least two states of application of voltage VH1 to the load 90, including the electrodes 91: an "operating state" in which voltage VH1 is applied to the load 90, and a "non-operating state" in which voltage VH1 is not applied to the load 90. When the electrostatic device 9 is in the "operating state" of application of voltage VH1 to the load 90, it charges the material sprayed from the spray nozzle 41, so the spraying operation in this state becomes electrostatic spraying. On the other hand, when the electrostatic device 9 is in the "non-operating state" of application of voltage VH1 to the load 90, it does not charge the material sprayed from the spray nozzle 41, so the spraying operation in this state becomes normal spraying. The configuration of the spraying device 4 is explained in more detail in the section "[4] Configuration of the electrostatic device".

[0072] Incidentally, in this embodiment, as described above, the support frame 3 is not fixed relative to the machine body 10, but is configured to be rotatable around the rotation axis Ax1. As the support frame 3 rotates, the multiple spray nozzles 41 supported by the support frame 3 also rotate around the rotation axis Ax1.

[0073] Furthermore, the sprayer 1 according to this embodiment does not have an actuator or the like to actively rotate the support frame 3. Therefore, the support frame 3 will only rotate when an external force acts on it. For example, when the machine 10 travels on a laterally inclined slope, the support frame 3 rotates due to its own weight, that is, gravity acting on it. Here, if the support frame 3 and the components supported by the support frame 3 (spray nozzle 41, spray pipe 42, and airflow generating unit 5, etc.) have a weight balance that is symmetrical in the left-right direction D2, the support frame 3 will be maintained in a neutral position as long as the machine 10 is kept horizontal.

[0074] As described above, the rotatable support frame 3 makes it less likely for uneven application of the spraying material (chemical solution) by the spray nozzle 41 to occur when the machine 10 is traveling on a laterally inclined slope, for example, because the support frame 3 rotates. In short, if the support frame 3 were fixedly supported by the machine 10, the machine 10 might tilt when traveling on a laterally inclined slope. In this case, for crops V1 (objects to be sprayed) that extend straight vertically from the ground (field F1), the distance from the spray nozzle 41 will differ between the upper and lower parts, which may result in uneven application of the spraying material. In contrast, in the sprayer 1 according to this embodiment, the support frame 3 rotates, allowing the support frame 3 and the spray nozzle 41 supported by the support frame 3 to maintain the same posture as when traveling on a horizontal plane. Therefore, even with crops V1 (target of spraying) that extend straight vertically from the ground (field F1), the distance from the spray nozzle 41 to the upper and lower parts of the crop becomes less likely to vary, making it easier to suppress unevenness in the amount of sprayed material.

[0075] The user interface 61 is a device that performs at least one of the following: outputting information to the user and receiving operations. Here, as shown in Figure 7, the user interface 61 has a display unit 611, such as a liquid crystal display or an organic EL display, which displays various information, and an operation unit 612, such as a touch panel, knob, or push-button switch, which receives operations. An operator, which is an example of a user, can perform various settings by operating the operation unit 612 according to the operation screen displayed on the display unit 611. Specifically, the operator operates the operation unit 612 of the user interface 61 to set the operating conditions of the spraying device 4. An example of the operating conditions of the spraying device 4 is the pressure (injection pressure) and flow rate when spraying material from the spraying nozzle 41.

[0076] The obstacle detection device 62 includes a first sensor 621, a second sensor 622, a third sensor 623, and a fourth sensor 624. The first to fourth sensors 624 are all positioned facing forward of the aircraft body 10. The first sensor 621 is positioned at the left front end of the upper surface of the aircraft body 10, the second sensor 622 is positioned at the right front end of the upper surface of the aircraft body 10, the third sensor 623 is positioned at the front of the first block 10L, and the fourth sensor 624 is positioned at the front of the second block 10R. The obstacle detection device 62 also includes a fifth sensor 625 (see Figure 6) and a sixth sensor 626 (see Figure 7). The fifth sensor 625 and the sixth sensor 626 are both positioned facing rearward of the aircraft body 10. The fifth sensor 625 is mounted on the vertical frame 3L, and the sixth sensor 626 is mounted on the vertical frame 3R.

[0077] Each of the first to sixth sensors 621 to 626 includes, for example, an image sensor (camera), a sonar sensor, radar, or LiDAR (Light Detection and Ranging), and detects the surrounding conditions of the aircraft 10. In this embodiment, as an example, each of the first to sixth sensors 626 is a three-dimensional sensor that measures the distance to each distance measurement point (object to be measured) within the measurement range using the TOF (Time Of Flight) method, which measures the distance to the distance measurement point based on the round-trip time it takes for light or sound to reach the distance measurement point and return. The surrounding conditions of the aircraft 10 include, for example, the presence or absence of objects (obstacles, etc.) in front of the aircraft 10 in the direction of travel, and the position (distance and direction) of the objects.

[0078] Furthermore, the obstacle detection device 62 also includes a front contact sensor 627 and a rear contact sensor 628. The front contact sensors 627 are arranged in pairs on the left and right sides at the front of the aircraft body 10, and the rear contact sensors 628 are arranged in pairs on the left and right sides at the rear of the aircraft body 10. Each of the front contact sensors 627 and the rear contact sensors 628 detects an obstacle when it comes into contact with it. When an obstacle is detected, each sensor transmits a detection signal to the control device 7.

[0079] The power source 63 is a drive source that supplies power to at least the running section 11. The power source 63 has an engine, such as a diesel engine. The power source 63 drives a hydraulic pump and drives the running section 11 by supplying hydraulic fluid from the hydraulic pump to the motor 112, etc. of the running section 11.

[0080] Tank 64 stores the spraying material, such as chemical solution. The spraying material stored in Tank 64 is supplied to the spraying device 4 and sprayed from the spraying nozzle 41 of the spraying device 4. The chemical solution, which is the spraying material, can be replenished in Tank 64 from the outside. The capacity of Tank 64 is approximately 200L, for example.

[0081] The display unit 65 is located on the upper surface of the machine body 10. For example, the display unit 65 is formed in a cylindrical shape with a length in the vertical direction D1. The display unit 65 changes its illumination state according to the operating status of the sprayer 1 (such as its driving status and the status of its spraying work). This makes the operating status of the sprayer 1 visible even from the surrounding area.

[0082] The control device 7 primarily consists of a computer system having, for example, one or more processors such as a CPU (Central Processing Unit) and one or more memories such as ROM (Read Only Memory) and RAM (Random Access Memory), and performs various processes (information processing). In this embodiment, the control device 7 is an integrated controller that controls the entire sprayer 1, and consists of, for example, an electronic control unit (ECU). However, the control device 7 may be provided separately from the integrated controller, or it may primarily consist of one processor or multiple processors.

[0083] As shown in Figure 5, the control device 7 includes an acquisition processing unit 71, a driving processing unit 72, an output processing unit 73, an electrostatic application processing unit 74, a dispersal processing unit 75, an automatic driving processing unit 76, and a storage unit 77. In this embodiment, as an example, the control device 7 mainly consists of a computer system having one or more processors, so these multiple functional units (acquisition processing unit 71, etc.) are realized by one or more processors executing a control program. These multiple functional units included in the control device 7 may be distributed across multiple housings or may be provided in a single housing.

[0084] The control device 7 is configured to communicate with devices provided on various parts of the aircraft body 10. Specifically, the control device 7 is connected to at least the driving unit 11, positioning device 2, spraying device 4, electrostatic application device 9, airflow generation unit 5, user interface 61, obstacle detection device 62, power source 63, and display unit 65. This allows the control device 7 to control the driving unit 11 and spraying device 4, and to acquire electrical signals from the positioning device 2 and obstacle detection device 62, etc. The control device 7 may exchange various types of information (data) directly with each device, or indirectly via a relay or the like.

[0085] In addition to the above-mentioned functional units, the control device 7 further includes an engine control unit and an HST (Hydro-Static Transmission) control unit that controls the hydrostatic continuously variable transmission. The engine control unit controls the engine (power source 63). The HST control unit controls the hydrostatic continuously variable transmission.

[0086] The acquisition processing unit 71 performs an acquisition process to acquire electrical signals (including data) from each device. In this embodiment, the acquisition processing unit 71 acquires at least the operating status of the machine 10. Specifically, the acquisition processing unit 71 acquires operation signals from the operation device 83, which will be described later. That is, when the operation device 83 outputs an operation signal corresponding to the operation of the operator (user), the acquisition processing unit 71 acquires the operation signal. The acquisition processing unit 71 also acquires position information regarding the current position of the machine 10 from the positioning device 2. Furthermore, the acquisition processing unit 71 acquires information (data) such as the driving speed of the crawler 111 from the running unit 11. In addition, the acquisition processing unit 71 acquires remaining amount information regarding the remaining amount of spray material (chemical solution) stored in the tank 64 from a level sensor provided in the tank 64.

[0087] The travel processing unit 72 executes a travel control process that controls the travel unit 11 according to the operation signals acquired by the acquisition processing unit 71. In other words, the control device 7 controls the travel unit 11 with the travel processing unit 72, thereby enabling the control of the travel unit 11 in response to the operation of the operation device 83 by the operator, i.e., manual operation of the travel unit 11 is possible.

[0088] The electrostatic application processing unit 74 performs electrostatic application processing related to the control of the electrostatic application device 9. Specifically, the electrostatic application processing unit 74 outputs an electrostatic switching signal to the electrostatic application device 9 that switches between an "operating state" in which voltage VH1 is applied to the load 90 and a "non-operating state" in which voltage VH1 is not applied to the load 90. When the electrostatic application device 9 receives the electrostatic switching signal, it switches between the operating state and the non-operating state accordingly. Here, the electrostatic application processing unit 74 controls the electrostatic application device 9 to change the state of voltage VH1 applied to the load 90 according to the operating status of the machine 10. That is, the electrostatic application processing unit 74 changes the state of voltage VH1 applied to the load 90 to switch between at least the operating state and the non-operating state according to the operating status of the machine 10 acquired by the acquisition processing unit 71. As a result, it is possible to switch between electrostatic spraying and normal spraying for spraying work by the spraying device 4 without operation by an operator or the like.

[0089] The output processing unit 73 performs output processing to output various information. In this embodiment, the output processing unit 73 displays the state of voltage VH1 applied to the load 90, which is switched by at least the electrostatic application processing unit 74, on the display unit 65 (display unit) to indicate the state of voltage VH1 applied to the load 90. Here, the information displayed does not have to be the state of voltage VH1 applied to the load 90 itself. For example, if the voltage VH1 application state is "operating state", the output processing unit 73 displays information indicating that it is in a state where "electrostatic spraying" can be performed, and if the voltage VH1 application state is "non-operating state", it displays information indicating that it is in a state where "normal spraying" can be performed.

[0090] Here, the mode of output from the output processing unit 73 is not limited to display on a display unit (display 65, etc.), but may also be, for example, transmission to an external terminal (user terminal 82 or operating device 83, etc.) of the sprayer 1, writing to a non-temporary recording medium such as the storage unit 77, printing, or sound (including voice) output, or a combination thereof. As an example, when the output processing unit 73 transmits the voltage VH1 applied to the load 90 to an external user terminal 82 or operating device 83 of the sprayer 1, it may indicate the applied state by displaying it on the display unit 821 of the user terminal 82 or the display unit 832 of the operating device 83.

[0091] The spraying processing unit 75 performs spraying control processing related to the operation (spraying work) of the spraying device 4 and the airflow generating unit 5. Specifically, when the sprayer 1 starts automatic driving at the work start position, the spraying processing unit 75 outputs a switching signal to the spraying device 4 to switch the spraying pattern based on control information included in a predetermined target path. When the spraying device 4 receives the switching signal, it performs the spraying work with the predetermined spraying pattern. As a result, the multiple spraying nozzles 41 of the spraying device 4 will spray the material at least while the machine 10 is automatically driving.

[0092] The automatic driving processing unit 76 automatically drives the machine 10 along the target path in field F1 based on position information (positioning information) acquired from the positioning device 2. Specifically, the automatic driving processing unit 76 automatically drives the driving unit 11 along the target path based on positioning information, including the position and orientation of the machine 10, which is measured by the positioning device 2. For example, when the positioning information becomes capable of RTK positioning and the operator presses the start button (automatic driving start instruction) on the operation screen of the user terminal 82, the user terminal 82 outputs an automatic driving start instruction (work start instruction) to the sprayer 1. When the automatic driving processing unit 76 receives the automatic driving start instruction from the user terminal 82, it starts the automatic driving of the sprayer 1 based on the positioning information of the machine 10, which is measured by the positioning device 2. As a result, the sprayer 1 starts to drive automatically along the target path and starts the spraying work by the spraying device 4.

[0093] The memory unit 77 is a non-temporary recording medium, such as RAM or external memory, that stores various types of information. Furthermore, the memory unit 77 also stores information such as the target route used for the automatic operation of the sprayer 1.

[0094] The communication terminal is a communication interface that connects the sprayer 1 to a communication network by wire or wireless connection and performs data communication with external devices such as a server 81 and a user terminal 82 via the communication network, in accordance with a predetermined communication protocol. Electronic devices such as the positioning device 2, control device 7, and communication device are connected to a battery and can operate even when the power source 63 is stopped.

[0095] Incidentally, as shown in Figure 5, the sprayer 1 according to this embodiment is capable of communicating with the operating device 83, and the control device 7 (acquisition processing unit 71) acquires the operation signals output by the operating device 83 in response to the operator's operation. The sprayer 1 (and its control device 7) together with the operating device 83 for manually controlling the sprayer 1 constitute a manual control system. In other words, the manual control system comprises the sprayer 1 (and its control device 7) and the operating device 83.

[0096] In this embodiment, the operating device 83 is connected to the control device 7 of the sprayer 1 by a cable of sufficient length, and communicates with the sprayer 1 via wired connection. Therefore, the operator can manually operate the sprayer 1 using the operating device 83 without boarding the sprayer 1's body 10, for example, while standing around the body 10. The operating device 83 may also communicate with the sprayer 1 using wireless communication with radio waves or light, and even in this case, the operator can manually operate the sprayer 1 using the operating device 83 from outside the body 10. In short, the operating device 83 can be operated from outside the body 10. Therefore, for example, when loading or unloading the sprayer 1 onto a transport vehicle, the operator can manually operate the sprayer 1 from a safe location outside the body 10.

[0097] Furthermore, in this embodiment, as shown in Figure 7, the machine body 10 is provided with a storage compartment 80 capable of housing the operating device 83. The automatic driving processing unit 76 of the control device 7 starts the automatic driving of the sprayer 1 (work machine) only when the operating device 83 is stored in the storage compartment 80. In other words, when the operating device 83 is not in use, such as when the sprayer 1 is in automatic driving mode, it is possible to store the operating device 83 in the storage compartment 80 of the machine body 10, which helps prevent the loss of the operating device 83. Also, since the sprayer 1 will not start automatic driving when the operating device 83 is not stored in the storage compartment 80, it is possible to instill in the operator the habit of storing the operating device 83 in the storage compartment 80 of the machine body 10 when not in use.

[0098] Specifically, the storage compartment 80 is located on the second block 10R side, just like the user interface 61. For example, the display unit 611, which consists of a liquid crystal display, is positioned near the front end on the outer surface (right side) of the second block 10R, and below the display unit 611 are knobs or push-button switches, which serve as the operating unit 612. The storage compartment 80 is located even further below the operating unit 612 on the outer surface (right side) of the second block 10R. The storage compartment 80 consists of a recess large enough to accommodate the operating device 83.

[0099] Inside the storage compartment 80, there is a contact-type or non-contact-type sensor (including a switch), and the sensor detects whether or not the operating device 83 is stored in the storage compartment 80. The detection result of the sensor is acquired by the control device 7 (specifically, the acquisition processing unit 71). The automatic driving processing unit 76 starts the automatic driving of the sprayer 1 only when the detection result of the sensor indicates that the operating device 83 is stored in the storage compartment 80, and when it receives an automatic driving start instruction from the user terminal 82. In other words, if the detection result of the sensor indicates that the operating device 83 is not stored in the storage compartment 80, the automatic driving processing unit 76 will not start the automatic driving of the sprayer 1, even if it receives an automatic driving start instruction from the user terminal 82.

[0100] [3] Configuration of the spraying device Next, the configuration of the spraying device 4 of the sprayer 1 according to this embodiment will be described in more detail with reference to Figure 11. Figure 11 schematically shows the configuration of the spraying device 4, in which solid lines represent the paths (flow paths) through which the sprayed material (chemical solution) passes, and dashed arrows represent the paths of electrical signals.

[0101] In the sprayer 1 according to this embodiment, as described above, the spraying device 4 has a plurality (12) spraying nozzles 41, four spraying pipes 42, a pump 43, three valves 44, and spraying piping, etc. Furthermore, the spraying device 4 has a water shut-off drain valve 45, a discharge-side flow meter 46, a pressure sensor 47, and a pressure gauge 403, etc. In Figure 11, the filter and manual adjustment valve provided in the spraying piping are omitted as appropriate.

[0102] The four spray pipes 42 include the first spray pipe 421 (outer left) located at the far left, the second spray pipe 422 (inner left) located on the left inner side, the third spray pipe 423 (inner right) located on the right inner side, and the fourth spray pipe 424 (outer right) located at the far right. Each of these first to fourth spray pipes 421 to 424 is equipped with three spray nozzles 41, and the spray material (chemical solution) supplied to each spray pipe 42 is sprayed (discharged) from the three spray nozzles 41 provided on that spray pipe 42. The six spray nozzles 41 provided on the second spray pipe 422 and the third spray pipe 423 are classified as the first system, the three spray nozzles 41 provided on the first spray pipe 421 are classified as the second system, and the three spray nozzles 41 provided on the fourth spray pipe 424 are classified as the third system.

[0103] In short, in this embodiment, a plurality of spray nozzles 41 are provided, supported by the machine body 10, for spraying liquid materials. Here, the plurality of spray nozzles 41 are classified into a plurality (in this case, three) of systems U1, U2, and U3, as shown in Figure 11. The first system U1 includes a second spray pipe 422, a third spray pipe 423, and six spray nozzles 41 provided on them. The second system U2 includes a first spray pipe 421 and three spray nozzles 41 provided on it. The third system U3 includes a fourth spray pipe 424 and three spray nozzles 41 provided on it. Thus, each of the plurality of systems U1, U2, and U3 extends along the vertical direction D1 and includes a spray pipe 42 that supplies the material to one or more of the plurality of spray nozzles 41. This makes it possible to switch the spraying pattern in units of spray pipes 42 that serve as supply paths for the material to the spray nozzles 41.

[0104] Here, the spraying piping includes a tank path 400 which is the path (flow path) for the sprayed material from the tank 64 to the pump 43, a supply path 401 which is the path (flow path) for the sprayed material from the pump 43 to the spraying pipe 42, and a return path 402 which is the path (flow path) for the sprayed material from the supply path 401 to the tank 64. In other words, in this embodiment, a supply path 401 which is the discharge side path for the sprayed material and a return path 402 which is the return side path for the sprayed material are provided in parallel between the tank 64 and the spraying pipe 42. The supply path 401 branches into three systems from one pump 43 and connects to three systems of spraying pipes 42. In other words, the supply path 401 branches into a path that connects to the second spraying pipe 422 and the third spraying pipe 423 included in the first system U1, a path that connects to the first spraying pipe 421 included in the second system U2, and a path that connects to the fourth spraying pipe 424 included in the third system U3. Meanwhile, the three return routes 402, which are connected to the three supply routes 401, merge into one and lead to a single tank 64.

[0105] A water-stopping drain valve 45 is provided in the tank path 400. The water-stopping drain valve 45 shuts off the connection between the tank 64 and the pump 43, allowing the sprayed material in the tank 64 to be discharged (drained) to the outside. The pump 43 is electrically connected to the control device 7 and is controlled by the control device 7 (spraying processing unit 75). On the other hand, a discharge-side flow meter 46 is provided in the supply path 401, which is the discharge side of the pump 43. The discharge-side flow meter 46 detects the flow rate of the sprayed material (chemical solution) discharged from the pump 43. The discharge-side flow meter 46 is, for example, an electromagnetic flow meter and outputs a flow rate signal representing the detection result to the control device 7 (acquisition processing unit 71). In addition, a pressure gauge 403 is, for example, an analog gauge and is provided in the supply path 401, which is the discharge side of the pump 43. The pressure gauge 403 is positioned between the pump 43 and the discharge-side flow meter 46 and displays the pressure of the sprayed material discharged from the pump 43 (pressure in the supply path 401).

[0106] The three valves 44 are provided for each of the systems U1, U2, and U3 of the multiple spray nozzles 41, and in this embodiment, they correspond to three systems (first system U1, second system U2, and third system U3). These multiple (three) valves 44 are individually controlled by the control device 7 (spraying processing unit 75) to change the spraying pattern. In other words, the three valves 44 include a first valve 441 provided in a branch path connected to the spray pipes 42 (422, 423) of the first system U1 in the supply path 401, a second valve 442 provided in a branch path connected to the spray pipe 42 (421) of the second system U2 in the supply path 401, and a third valve 443 provided in a branch path connected to the spray pipe 42 (424) of the third system U3 in the supply path 401. Each valve 44 is a three-way solenoid valve (directional control valve) that selectively connects the supply path 401, which is connected to the pump 43, to either the spray pipe 42 or the return path 402. These first to third valves 441 to 443 are electrically connected to the control device 7 and are individually controlled by the control device 7 (spraying processing unit 75).

[0107] The pressure sensor 47 detects the pressure in the supply path 401 from which the sprayed material (chemical solution) is discharged from the pump 43. The pressure sensor 47 outputs a pressure signal representing the detection result to the control device 7 (acquisition processing unit 71). The pressure sensor 47 is located downstream of the discharge-side flow meter 46 and upstream of the three valves 44 in the supply path 401. In other words, the pressure sensor 47 is directly connected to the three branching points of the supply path 401 and detects the pressure of the sprayed material at these branching points. Therefore, it is possible to detect the pressure of the supply path 401, which is branched into multiple systems (three systems in this embodiment), with a single pressure sensor 47.

[0108] Furthermore, as shown in Figure 11, a stirring device 641 may be provided inside the tank 64 to agitate the spray material (chemical solution) inside the tank 64. The stirring device 641 is driven by a motor and performs the agitation of the spray material. This makes it easier to achieve a uniform concentration of the spray material and reduces the likelihood of clogging of the spray nozzle 41.

[0109] According to the above configuration, when the water shut-off drain valve 45 is open and the pump 43 is running, the spraying pattern of the spraying device 4 is changed by controlling the first to third valves 441 to 443. For example, when all of the first to third valves 441 to 443 are connected to the supply path 401 and the spraying pipe 42, the spraying pattern becomes a full spraying pattern in which the spraying material (chemical solution) is sprayed from all spraying nozzles 41. On the other hand, when only the first valve 441 of the first to third valves 441 to 443 is connected to the supply path 401 and the spraying pipe 42, the spraying pattern becomes a first spraying pattern in which only the six spraying nozzles 41 included in the first system U1 are sprayed. Furthermore, when all of the first to third valves 441 to 443 are connected to the supply path 401 and the return path 402, the spraying pattern becomes a spray stop pattern in which the spraying of the spraying material (chemical solution) from all spraying nozzles 41 is stopped.

[0110] Here, of the material supplied from the pump 43 to the supply path 401, the portion not sprayed through the spray pipe 42 is returned to the tank 64 through the return path 402. For example, when all of the first to third valves 441 to 443 are connected to the supply path 401 and the spray pipe 42, the amount of material returned to the tank 64 is 0 (zero). On the other hand, when only the first valve 441 of the first to third valves 441 to 443 is connected to the supply path 401 and the spray pipe 42, the material passing through the second and third valves 442 and 443 is returned to the tank 64 through the return path 402. Also, when all of the first to third valves 441 to 443 are connected to the supply path 401 and the return path 402, all of the material supplied from the pump 43 to the supply path 401 is returned to the tank 64 through the return path 402. Therefore, under normal conditions, the detection result of the pressure sensor 47, that is, the pressure at the three branching points of the supply path 401, remains constant regardless of the spraying pattern.

[0111] [4] Configuration of the electrostatic device Next, the configuration of the electrostatic device 9 of the sprayer 1 according to this embodiment will be described in more detail with reference to Figure 12. Figure 12 is a schematic diagram showing the connection relationship of the electrostatic device 9 to the multiple spray nozzles 41. Figure 12 shows a schematic plan view of the multiple spray nozzles 41 provided on two spray pipes 42 attached to the vertical frame 3R (or vertical frame 3L).

[0112] The electrostatic device 9 charges the spray material sprayed from the spray nozzle 41 by applying a voltage VH1 to a load 90 including an electrode 91. The electrostatic device 9 includes an electrode 91 and a voltage application unit 92. The load 90 includes the electrode 91 and the spray nozzle 41. The electrode 91 is positioned opposite the spray nozzle 41 with a gap in between. In this embodiment, as an example, a pair of electrodes 91 are arranged for one spray nozzle 41, and the pair of electrodes 91 are positioned on both sides of the spray nozzle 41 in a plan view. The voltage application unit 92 charges the spray material (chemical solution) sprayed (discharged) from the spray nozzle 41 by applying a voltage VH1 between the conductive spray nozzle 41 and the electrode 91.

[0113] The voltage application unit 92 includes a boost circuit and generates a voltage VH1 to be applied to the load 90 by boosting the input voltage from the power supply (battery, etc.). The voltage application unit 92 is electrically connected to the load 90 (spray nozzle 41 and electrode 91). Here, as an example, the voltage application unit 92 is configured to apply a voltage VH1 between the spray nozzle 41 and the electrode 91, with the spray nozzle 41 as the negative electrode (ground) and the electrode 91 as the positive electrode (positive). In other words, when the voltage VH1 is applied to the load 90 from the voltage application unit 92, a potential difference is created between the spray nozzle 41 and the electrode 91, with the electrode 91 side being at a higher potential and the spray nozzle 41 side being at a lower potential.

[0114] The voltage VH1 applied by the voltage application unit 92 is, for example, a high voltage of several kV. The magnitude of the voltage VH1 is set appropriately according to, for example, the shape of the spray nozzle 41 and the electrode 91, or the distance between the spray nozzle 41 and the electrode 91.

[0115] In this embodiment, the control device 7 (electrostatic application processing unit 74) controls the voltage application unit 92. Specifically, the voltage application unit 92 switches between an "operating state" in which voltage VH1 is applied to the load 90 and a "non-operating state" in which voltage VH1 is not applied to the load 90, according to the electrostatic switching signal from the control device 7.

[0116] Of the two spraying pipes 42, the three spraying nozzles 41 installed in the left spraying pipe 42 discharge the material towards the left front Y1, and the three spraying nozzles 41 installed in the right spraying pipe 42 discharge the material towards the right front Y2. Here, the mist-like material discharged from each spraying nozzle 41 passes between the pair of electrodes 91 corresponding to each spraying nozzle 41.

[0117] Therefore, if the voltage VH1 applied to the load 90 is in the "operating state," the sprayed material from the spray nozzle 41 becomes charged as it passes between the pair of electrodes 91. On the other hand, if the voltage VH1 applied to the load 90 is in the "non-operating state," the sprayed material from the spray nozzle 41 does not become charged even when it passes between the pair of electrodes 91. However, during the startup period for the electrostatic device 9 to activate, a sufficiently large voltage VH1 is not applied to the load 90, so the sprayed material from the spray nozzle 41 does not become charged regardless of the voltage VH1 applied to the load 90.

[0118] Furthermore, in this embodiment, the state of voltage VH1 applied to the load 90, including the electrodes 91, is switched collectively for multiple spray nozzles 41. In other words, if the state of voltage VH1 applied to the load 90 is "operating" for some of the multiple spray nozzles 41, the state of voltage VH1 applied to the load 90 is also "operating" for the remaining spray nozzles 41.

[0119] According to the configuration described above, the electrostatic device 9 can achieve electrostatic spraying by charging the sprayed material (chemical solution) sprayed from the multiple spray nozzles 41. However, the electrodes 91 are basically installed in an exposed state around the spray nozzles 41. Therefore, for example, when an operator adjusts the direction of the spray nozzles 41, the electrodes 91 are located in a position where they can be touched by hand.

[0120] [5] Control method for sprayer Hereinafter, with reference to Figures 13 and 14, an example of a control method (hereinafter simply referred to as "control method") for the work machine (spreader 1), which is mainly executed by the control device 7, will be described. Figure 13 is an explanatory diagram showing an example of a target path R0 for automatic driving. Figure 14 is a flowchart showing an example of the electrostatic application process, particularly concerning the control of the electrostatic application device 9, within the control method according to this embodiment. However, the flowchart shown in Figure 14 is merely an example, and processes may be added or omitted as appropriate, or the order of processes may be changed as appropriate.

[0121] The control method according to this embodiment is executed by a control device 7, which mainly consists of a computer system; in other words, it is embodied in a control program (hereinafter simply referred to as "control program") for the work machine (spreader 1). That is, the control program according to this embodiment is a computer program that causes one or more processors to execute each process related to the control method. Such a control program may be executed collaboratively by, for example, the control device 7 and the server 81.

[0122] In the following, we will assume a situation where the sprayer 1 is set to start automatic operation while simultaneously performing the spraying of the material (chemical solution). However, to reach the starting position for automatic operation in field F1 (automatic operation start position Ps1), the operator will, for example, manually operate the sprayer 1. For example, the operator will transport the sprayer 1 from the storage facility (barn, etc.) to field F1 using a transport vehicle, manually operate the sprayer 1 to the automatic operation start position Ps1 in field F1, and then start automatic operation on the sprayer 1.

[0123] [5.1] General processing related to autonomous driving The sprayer 1 can automatically travel (autonomously travel) along a pre-set target path R0 for field F1, as shown in Figure 13, for example. That is, the sprayer 1 automatically travels along the target path R0, which includes the work path R1 (work paths R1a to R1f) and the movement path R2, from the automatic travel start position Ps1 to the automatic travel end position Pg1. The automatic travel start position Ps1 is the beginning of the target path R0 and is an example of the start position of the spraying operation by the sprayer 1. The automatic travel end position Pg1 is the end of the target path R0 and is an example of the end position of the spraying operation by the sprayer 1. The work path R1 is a straight path along which the sprayer 1 performs spraying on crop V1, and the movement path R2 is a path along which the sprayer 1 moves between crop rows Vr1 without performing spraying. The movement path R2 includes, for example, a turning path and a straight path. In the example shown in Figure 13, crop V1 is arranged in crop rows Vr101 to Vr111 in field F1. In Figure 13, the location where crop V1 is planted (crop position) is represented by "Vp1".

[0124] Furthermore, the sprayer 1 automatically travels in a predetermined row order. For example, the sprayer 1 travels across crop row Vr101, then across crop row Vr103, then across crop row Vr105. In this way, the sprayer 1 automatically travels according to the pre-set order of crop row Vr1. The sprayer 1 may travel row by row in the order of the crop row Vr1, or it may travel every few rows.

[0125] Specifically, the automatic driving processing unit 76 of the control device 7 initiates automatic driving of the driving unit 11 when it receives an automatic driving start instruction (work start instruction) from the user terminal 82 while the sprayer 1 is positioned at the automatic driving start position Ps1. For example, after manually driving the sprayer 1 to the automatic driving start position Ps1 based on a driving instruction operation by the operator using a manual operation device 83, the operator presses the start button on the user terminal 82, and the user terminal 82 outputs an automatic driving start instruction to the sprayer 1.

[0126] When the automatic driving processing unit 76 of the control device 7 receives an automatic driving start instruction from the user terminal 82, it executes automatic driving along the target route R0 corresponding to the route data. The route data includes route information that identifies the target route R0 and work instruction information regarding the spraying of the spraying material (chemical solution) at each position on the target route R0. The work instruction information is, for example, information indicating the amount of spraying material and / or the spraying pattern. The route data is generated by the server 81 and transmitted from the server 81 directly or indirectly via the user terminal 82, etc., to the control device 7 of the sprayer 1. At this time, the automatic driving processing unit 76 stores the acquired route data in the storage unit 77. The route data is not limited to the server 81; for example, it may be generated by the user terminal 82.

[0127] While the sprayer 1 is automatically traveling, the spraying processing unit 75 controls the spraying device 4 to open at least the water shut-off drain valve 45 and drive the pump 43, thereby performing a spraying operation in which the spraying material (chemical solution) is sprayed from the spraying nozzle 41 in a desired spraying pattern. Here, the spraying processing unit 75 controls the spraying device 4 based on the current position of the sprayer 1 so that spraying is performed when the sprayer 1 is traveling along the work path R1 (work paths R1a to R1f), but not when the sprayer 1 is traveling along the movement path R2. Furthermore, in order to spray the material (chemical solution) toward the target object (crop V1), the spraying processing unit 75 switches the spraying pattern of the spraying device 4 depending on whether the sprayer 1 is traveling along the work path R1a to R1f.

[0128] Basically, the automatic driving processing unit 76 and the spraying processing unit 75 of the control device 7 perform automatic driving and spraying operations until the position of the sprayer 1 coincides with the automatic driving end position Pg1. When the sprayer 1 reaches the automatic driving end position Pg1, the control device 7 determines that the sprayer 1 has finished its work and terminates the automatic driving and spraying operations. In other words, the control method according to this embodiment involves automatically driving the machine body 10 along the target path R0 while spraying the material from the spraying nozzle 41.

[0129] Incidentally, the control method according to this embodiment is a control method for a sprayer 1 comprising a mobile body 10, a spray nozzle 41 supported by the mobile body 10 for spraying liquid material, and an electrostatic device 9. The electrostatic device 9 charges the material sprayed from the spray nozzle 41 by applying a voltage VH1 to a load 90 including an electrode 91. This control method includes acquiring the operating status of the mobile body 10 and controlling the electrostatic device 9 to change the state of voltage VH1 applied to the load 90 according to the operating status of the mobile body 10. Thus, the control method according to this embodiment includes an electrostatic processing that controls the electrostatic device 9 to change the state of voltage VH1 applied to the load 90 according to the operating status of the mobile body 10. Herein, the control method according to this embodiment basically performs an electrostatic processing that controls the electrostatic device 9 so that voltage VH1 is applied to the load 90 while the sprayer 1 is automatically traveling.

[0130] As a result, the voltage VH1 applied to the load 90 changes automatically without any operation by the operator, making it easier to avoid the operator accidentally touching the electrode 91 while a high voltage is applied. For more details on the electrostatic discharge process, please refer to section "[5.2] Electrostatic Discharge Process".

[0131] [5.2] Electrostatic treatment As shown in Figure 14, the control device 7 starts the process from step S2 onward when, for example, the key switch for starting the engine (power source 63) of the sprayer 1 is turned on (S1:Yes). Here, when the key switch is turned on (S1:Yes), the control device 7 moves the process to step S2. On the other hand, if the key switch is off (S1:No), the control device 7 repeatedly executes the process of step S1.

[0132] When executing the processes from step S2 onward, the acquisition processing unit 71 of the control device 7 acquires at least the operating status of the machine 10 as it progresses. Here, the operating status of the machine 10 includes information (data) such as operation signals from the control device 83, position information regarding the current position of the machine 10, and the drive speed of the crawler 111.

[0133] In step S2, the electrostatic application processing unit 74 of the control device 7 first stops the operation of the voltage application unit 92, and sets the voltage VH1 applied to the load 90 (spray nozzle 41 and electrode 91) to a "non-operating state" where no voltage VH1 is applied to the load 90. As a result, the electrode 91 is not charged, and in this state, the operator can touch the electrode 91. In step S3, the output processing unit 73 of the control device 7 displays the voltage VH1 applied to the load 90 on the display unit 65. At this time, since the voltage VH1 applied to the load 90 is in a "non-operating state", the output processing unit 73 causes the display unit 65 to display an "off" indication that the electrostatic application device 9 is off (stopped).

[0134] In step S4, the electrostatic application processing unit 74 of the control device 7 determines whether the manual operation of the aircraft 10 by the operating device 83 has been completed, based on the operating status of the aircraft 10 acquired by the acquisition processing unit 71. At this time, if the electrostatic application processing unit 74 determines from the detection result of the sensor installed inside the storage unit 80 that the operating device 83 is stored in the storage unit 80, it determines that the manual operation of the aircraft 10 by the operating device 83 has been completed (S4:Yes) and proceeds to step S5. On the other hand, if the electrostatic application processing unit 74 determines from the detection result of the sensor installed inside the storage unit 80 that the operating device 83 is not stored in the storage unit 80, it determines that the manual operation of the aircraft 10 by the operating device 83 has not been completed (S4:No) and repeats the process of step S4.

[0135] In step S5, the electrostatic application processing unit 74 of the control device 7 determines whether the machine 10 has reached the automatic driving start position Ps1, which is the starting position for automatic driving, based on the operating status of the machine 10 acquired by the acquisition processing unit 71. At this time, if the electrostatic application processing unit 74 determines that the current position of the machine 10, which is identified from the position information regarding the machine 10's current position, is at the automatic driving start position Ps1, it determines that the machine 10 has reached the automatic driving start position (S5: Yes) and proceeds to step S6. On the other hand, if the electrostatic application processing unit 74 determines that the current position of the machine 10, which is identified from the position information regarding the machine 10's current position, is not at the automatic driving start position Ps1, it determines that the machine 10 has not reached the automatic driving start position (S5: No) and repeatedly executes the process in step S5.

[0136] In step S6, the electrostatic application processing unit 74 of the control device 7 drives the voltage application unit 92 to set the voltage VH1 applied to the load 90 (spray nozzle 41 and electrode 91) to an "operating state" where voltage VH1 is applied to the load 90. As a result, the electrode 91 becomes charged, and when the spraying device 4 sprays the material (chemical solution) in this state, "electrostatic spraying" is achieved, in which the charged material is sprayed. In step S7, the output processing unit 73 of the control device 7 displays the voltage VH1 applied to the load 90 on the display unit 65. At this time, since the voltage VH1 applied to the load 90 is in an "operating state", the output processing unit 73 causes the display unit 65 to display an "ON display" indicating that the electrostatic application device 9 is ON (operating).

[0137] Thus, in the control method according to this embodiment, after the operation of the control device 83 for controlling the machine body 10 is completed (S4: Yes), the electrostatic application device 9 is controlled to start applying the voltage VH1 to the load 90 (S6). In other words, the condition for starting the application of the voltage VH1 to the load 90 includes the completion of manual operation of the control device 83, and the application of the voltage VH1 to the load 90 can be prohibited while the operator is continuing manual operation of the control device 83.

[0138] Furthermore, in the control method according to this embodiment, the electrostatic application device 9 is controlled to start applying voltage VH1 to the load 90 when the automatic driving of the machine 10 starts (S5:Yes) (S6). In other words, the start of automatic driving is included in the conditions for starting the application of voltage VH1 to the load 90, and the application of voltage VH1 to the load 90 can be prohibited before the machine 10 starts automatic driving. Moreover, in this embodiment, the start of automatic driving of the machine 10 is determined to be when the machine 10 reaches the automatic driving start position (automatic driving start position Ps1) (S5:Yes). Therefore, the application of voltage VH1 to the load 90 can be prohibited more reliably before the machine 10 starts automatic driving.

[0139] Then, in the next step S8, the electrostatic application processing unit 74 of the control device 7 determines whether the automatic driving of the aircraft 10 has ended based on the operating status of the aircraft 10 acquired by the acquisition processing unit 71. At this time, if the electrostatic application processing unit 74 determines that the current position of the aircraft 10, which is identified from the position information regarding the current position of the aircraft 10, is at the automatic driving end position Pg1, it determines that automatic driving has ended (S8: Yes) and proceeds to step S9. On the other hand, if the electrostatic application processing unit 74 determines that the current position of the aircraft 10, which is identified from the position information regarding the current position of the aircraft 10, is not at the automatic driving end position Pg1, it determines that automatic driving has not ended (S8: No) and repeats the process of step S8.

[0140] In step S9, the electrostatic application processing unit 74 of the control device 7 stops the operation of the voltage application unit 92, and sets the voltage VH1 applied to the load 90 (spray nozzle 41 and electrode 91) to a "non-operating state" where no voltage VH1 is applied to the load 90. As a result, the electrode 91 is not charged, and in this state, the operator can touch the electrode 91. In step S10, the output processing unit 73 of the control device 7 displays the voltage VH1 applied to the load 90 on the display unit 65. At this time, since the voltage VH1 applied to the load 90 is in a "non-operating state", the output processing unit 73 causes the display unit 65 to display an "off" indication that the electrostatic application device 9 is off (stopped).

[0141] Thus, in the control method according to this embodiment, after the automatic driving of the machine 10 is completed (S8: Yes), the electrostatic application device 9 is controlled to stop applying the voltage VH1 to the load 90 (S9). In other words, the condition for stopping the application of the voltage VH1 to the load 90 includes the completion of the automatic driving of the machine 10, and the application of the voltage VH1 to the load 90 can be continued while automatic driving is in progress.

[0142] Furthermore, in this embodiment, the end of automatic driving of the machine 10 is determined when the machine 10 reaches the automatic driving end position (automatic driving end position Pg1) (S8:Yes). Therefore, after the machine 10 has finished automatic driving, the application of voltage VH1 to the load 90 can be more reliably prohibited.

[0143] Furthermore, the control method according to this embodiment further includes indicating the state of voltage VH1 applied to the load 90 (S3, S7, S10). This makes it possible to notify the operator of the state of voltage VH1 applied to the load 90, making it easier to avoid the operator inadvertently touching the electrode 91 while it is charged. In particular, in this embodiment, the state of voltage VH1 applied to the load 90 is indicated by displaying it on a display unit (display unit 65) in a manner that is visible from outside the machine body 10 (S3, S7, S10). That is, the state of voltage VH1 applied to the load 90 is displayed, for example, on a display unit 65 located on the top surface of the machine body 10, so that it is visible from around the sprayer 1, similar to the operating state of the sprayer 1 (driving state and spraying operation execution state, etc.). Therefore, for example, when a voltage VH1 is applied to a load 90, preventing operators from inadvertently approaching the sprayer 1 makes it easier to avoid operators from touching the charged electrode 91. It becomes easier to avoid touching it.

[0144] Step S10 marks the end of the series of processes related to the electrostatic application process. The control device 7 repeatedly executes the processes from steps S1 to S10. Therefore, as long as the key switch is ON (S1: Yes), the state of voltage VH1 applied to the load 90 changes automatically according to the operating status of the machine 10.

[0145] [6] Variant The following lists some modifications of Embodiment 1. The modifications described below can be combined and applied as appropriate.

[0146] The control device 7 in this disclosure includes a computer system. The computer system mainly consists of one or more processors and one or more memories as hardware. The functions of the control device 7 in this disclosure are realized by the execution of a program recorded in the memory of the computer system by the processor. The program may be pre-recorded in the memory of the computer system, provided via a telecommunications line, or provided on a non-temporary recording medium such as a memory card, optical disk, or hard disk drive that can be read by the computer system. Furthermore, some or all of the functional parts included in the control device 7 may be composed of electronic circuits.

[0147] Furthermore, it is not essential for the control device 7 to have at least some of its functions integrated into a single enclosure; the components of the control device 7 may be distributed across multiple enclosures. Conversely, functions of the control device 7 that are distributed across multiple devices may be integrated into a single enclosure. Moreover, at least some of the functions of the control device 7 may be implemented by the cloud (cloud computing), etc.

[0148] The sprayer 1 may be used not only in orchards such as vineyards or apple orchards, but also in other fields F1, or in work areas other than fields F1. Furthermore, the material sprayed by the sprayer 1 is not limited to chemical solutions, but may also be, for example, water, fertilizer, disinfectant, or other liquids, or powders. Similarly, the object to which the material is sprayed is not limited to grapevines, but may also be other crops, or objects other than crops (including inorganic materials). In addition, the sprayer 1 is not limited to an unmanned machine that operates automatically, but may also be configured to be operated by a person (operator) (including remote control), for example, it may be a rideable type (manned machine) on which an operator can ride. Even in this case, the sprayer 1 is equipped with an antenna 21 or the like to determine its current position.

[0149] Furthermore, the voltage application unit 92 may be configured to apply a high voltage between the spray nozzle 41 and the electrode 91, with the spray nozzle 41 as the positive electrode (positive) and the electrode 91 as the negative electrode (ground). Moreover, since it is sufficient for a potential difference (voltage) to be generated between the spray nozzle 41 and the electrode 91, the voltage application unit 92 may apply a negative voltage to the load 90 by setting the high-potential electrode (positive electrode) as ground and the low-potential electrode (negative electrode) as negative potential. That is, the voltage application unit 92 may set the spray nozzle 41 as ground and the electrode 91 as negative potential, or the spray nozzle 41 as negative potential and the electrode 91 as ground. Also, the electrostatic application device 9 may omit the electrode 91. In this case, the voltage application unit 92 will be generated between the spray nozzle 41 and a component surrounding the spray nozzle 41, such as a frame.

[0150] Furthermore, even when the machine 10 is moving automatically, the electrostatic application processing unit 74 may stop applying the voltage VH1 to the load 90 if the operating status of the machine 10 satisfies certain conditions, such as when there are people around the machine 10.

[0151] Furthermore, the electrostatic application processing unit 74 may change the state of voltage VH1 applied to the load 90 not only according to the operating status of the machine body 10, but also, for example, according to operations by an operator on the user terminal 82 or the operating device 83.

[0152] Furthermore, it is not essential that the voltage VH1 applied to the load 90 be switched simultaneously for all spray nozzles 41. For example, the voltage VH1 applied to the load 90 may be switched individually for each spray nozzle 41. In this case, even if the voltage VH1 applied to the load 90 is in the "operating state" for some of the spray nozzles 41, the voltage VH1 applied to the load 90 for the remaining spray nozzles 41 can be set to the "non-operating state".

[0153] Furthermore, the state of voltage VH1 applied to the load 90 may be switched according to the open / closed state of each of the multiple spray nozzles 41. For example, in a first spraying pattern in which only the six spray nozzles 41 included in the first system U1 are sprayed, the state of voltage VH1 applied to the load 90 corresponding to the spray nozzles 41 of the first system U1 can be set to an "operated state," while the state of voltage VH1 applied to the load 90 corresponding to the spray nozzles 41 of the second system U2 and the third system U3 can be set to a "non-operated state." The open / closed states of the multiple spray nozzles 41 for each of the multiple systems U1, U2, and U3 are specified, for example, by a "spraying pattern" controlled by the control device 7 (spraying processing unit 75).

[0154] Furthermore, the electrostatic application processing unit 74 may change the state of voltage VH1 applied to the load 90 by, for example, changing the magnitude of the voltage VH1. In other words, for example, before the automatic driving of the machine 10 starts, instead of a "non-operating state" in which the application of voltage VH1 to the load 90 is stopped, the magnitude of voltage VH1 may be reduced to a level that does not charge the sprayed material. This makes it possible to achieve a situation where it is safe to touch the electrode 91 without stopping the application of voltage VH1 to the load 90.

[0155] Furthermore, the presentation of the voltage VH1 applied to load 90 can be omitted as appropriate.

[0156] Furthermore, the support frame 3 only needs to be attached to one end of the aircraft body 10 in the front-rear direction D3, and may be attached to the front of the aircraft body 10. In this case, the working unit (spray nozzle 41) supported by the support frame 3 will also be positioned in front of the aircraft body 10 rather than at the rear.

[0157] Furthermore, the sprayer 1 may be equipped with a pair of spraying devices 4 arranged in the front-to-back direction D3. This allows the sprayer 1 to perform work (spraying work) with each of the pair of spraying devices 4 (working devices) arranged in the front-to-back direction D3, thereby improving work efficiency compared to when work is performed with only one of the spraying devices 4. In addition, the sprayer 1 may be further equipped with a rotary drive device that generates a rotational force to rotate the support frame 3 relative to the machine body 10 around the rotation axis Ax1.

[0158] Furthermore, the aircraft body 10 only needs to have a first block 10L and a second block 10R arranged in the left-right direction D2, and the first block 10L and the second block 10R may be reversed left and right. In other words, the first block 10L, which is equipped with the power source 63, etc., may be located on the right side, and the second block 10R, which is equipped with the user interface 61, etc., may be located on the left side.

[0159] Furthermore, the running gear 11 is not limited to a crawler-type running gear, but may also have, for example, one or more wheels and be driven by the rotation of the wheels. Also, the running gear 11 is not limited to being driven by a hydraulic motor, but may also be driven by, for example, an electric motor.

[0160] Furthermore, the sprayer 1 is not limited to an air-assisted sprayer as in Embodiment 1, but may also be an electrostatic sprayer, or a combination of an air-assisted sprayer and an electrostatic sprayer. If the sprayer 1 is an electrostatic sprayer, the airflow generating unit 5 can be omitted.

[0161] Furthermore, the power source 63 is not limited to an engine; for example, it may also have a motor (electric motor), or it may be a hybrid power source that includes both an engine and a motor.

[0162] Furthermore, the sprayer 1 may not have a gate-like shape, but rather the entire body 10 may travel between a pair of adjacent crop rows Vr1 (work passage). In this case, the sprayer 1 travels through each work passage without straddling the crop rows Vr1. In this case, the spraying device 4 performs the spraying operation by switching between a spraying pattern that sprays the chemical solution in both the left and right directions D2, a spraying pattern that sprays the chemical solution only to the left, and a spraying pattern that sprays the chemical solution only to the right.

[0163] Furthermore, antennas 21 and 22 are not limited to positioning antennas, but may also be antennas for wireless communication, for example. Moreover, antennas 21 and 22 are not limited to receiving, but may also be for transmitting, or for both receiving and transmitting.

[0164] Furthermore, the user interface 61 may have means to present information to the user, for example, by voice output, in addition to or instead of the display unit 611. In addition, at least one of the adjustment items (such as flow rate or pressure) may be automatically adjusted by the control device using the operation unit 612 of the user interface 61. In this case, the operation unit 612 can be omitted as appropriate, and the user interface 61 may simply display the adjustment result on the display unit 611.

[0165] [Notes on the invention] The following is an overview of the invention extracted from the above-described embodiments. Note that each configuration and processing function described below can be selected and combined as desired.

[0166] <Note 1> A mobile aircraft, Supported by the aforementioned aircraft, a spray nozzle for spraying liquid materials, A control method for a sprayer comprising an electrostatic device that charges the sprayed material sprayed from the spray nozzle by applying a voltage to a load including electrodes, To acquire the operating status of the aforementioned aircraft, The electrostatic device is controlled to change the voltage applied to the load according to the operating status of the machine. Control method for a sprayer.

[0167] <Note 2> The system further comprises automatically driving the aircraft along a target path while spraying the material from the spray nozzle. The control method for the sprayer described in Appendix 1.

[0168] <Note 3> After the operation of the control device for controlling the aforementioned machine is completed, the electrostatic application device is controlled to start applying voltage to the load. The control method for the sprayer described in Appendix 2.

[0169] <Note 4> The electrostatic application device is controlled to start applying voltage to the load when the automatic movement of the machine begins. The control method for the sprayer described in Appendix 2 or 3.

[0170] <Note 5> The start of automatic driving of the aircraft is determined to occur when the aircraft reaches the starting position for automatic driving. The control method for the sprayer described in Appendix 4.

[0171] <Note 6> After the automatic movement of the aforementioned machine is completed, the electrostatic application device is controlled to stop the application of voltage to the load. The control method for the sprayer described in any of the appendices 2 to 5.

[0172] <Note 7> The further includes presenting the state of voltage application to the aforementioned load. A control method for the sprayer described in any one of the appendices 1 to 6.

[0173] <Note 8> The voltage application status to the load is displayed on a display unit in a manner that is visible from outside the unit. The control method for the sprayer as described in Appendix 7.

[0174] <Note 9> The control method for the sprayer described in any of the appendices 1 to 8, A control program for a sprayer, designed to run on one or more processors. [Explanation of symbols]

[0175] 1 Spreader 9. Electrostatic discharge device 10 aircraft 41 Spray nozzles 90 load 91 Electrode 71 Acquisition Processing Unit 74 Electrostatic discharge processing unit 65 Display unit (display part) 83 Operating device 821 Display section Ps1 (Automatic Driving) Starting Position R0 Target Path VH1 Voltage

Claims

1. A mobile aircraft, Supported by the aforementioned aircraft, a spray nozzle for spraying liquid materials, A control method for a sprayer comprising an electrostatic device that charges the sprayed material sprayed from the spray nozzle by applying a voltage to a load including electrodes, To acquire the operating status of the aircraft, including position information relating to the current position of the aircraft, The electrostatic device is controlled to change the voltage applied to the load by determining the automatic start position and automatic end position of the machine from the position information among the operating status of the machine. Control method for a sprayer.

2. The system further comprises automatically driving the aircraft along a target path while spraying the material from the spray nozzle. A method for controlling a sprayer according to claim 1.

3. After the operation of the control device for controlling the aforementioned machine is completed, the electrostatic application device is controlled to start applying voltage to the load. A method for controlling a sprayer according to claim 2.

4. The electrostatic application device is controlled to start applying voltage to the load when the automatic movement of the machine begins. A method for controlling a sprayer according to claim 2 or 3.

5. The start of automatic driving of the aircraft is determined to occur when the aircraft reaches the starting position for automatic driving. A method for controlling a sprayer according to claim 4.

6. After the automatic movement of the aforementioned machine is completed, the electrostatic application device is controlled to stop the application of voltage to the load. A method for controlling a sprayer according to claim 2 or 3.

7. The further includes presenting the state of voltage application to the aforementioned load. A method for controlling a sprayer according to any one of claims 1 to 3.

8. The voltage application status to the load is displayed on a display unit in a manner that is visible from outside the unit. A method for controlling a sprayer according to claim 7.

9. A control method for a sprayer according to any one of claims 1 to 3, A control program for a sprayer, designed to be executed by one or more processors.

10. A mobile aircraft, Supported by the aforementioned aircraft, a spray nozzle for spraying liquid materials, An electrostatic charging device that charges the material being sprayed from the spray nozzle by applying a voltage to a load including electrodes, An acquisition processing unit that acquires the operating status of the aircraft, including position information relating to the current position of the aircraft, The system includes an electrostatic application processing unit that controls the electrostatic application device to change the voltage application state to the load by determining the automatic driving start position and automatic driving end position of the machine from the position information among the operating status of the machine. Spreader.

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