Distribution machine

Abstract

To provide a spraying machine which can record working data based on actual chemical spraying work.SOLUTION: In a spraying machine, liquid agent sprayers 10, 10 are provided at the sides of a travel vehicle body 1 and the liquid agent sprayers 10, 10 include discharge devices 120 for turning on / off a liquid agent discharge function at predetermined intervals and may extend or contract. The discharge devices 120 are switched into an open state in sequence from a base part side by extension of the liquid agent sprayers 10, 10 and are switched into a closed state in sequence from an end side by contraction. An opening / closing detection member 310 which detects opening / closing of the discharge device 120 is provided at each discharge device 120. A control device 200 is provided with a recording device 204 which records a portion where spraying work of the liquid agent is performed. The control device 200 causes the recording device 204 to record spraying of the liquid agent by the liquid agent sprayers 10, 10 when the liquid agent sprayers 10, 10 are in a working state and the opening / closing detection member 310 detects the opening state.SELECTED DRAWING: Figure 32

Description

Technical Field

[0001] The present invention relates to a spraying work machine equipped with a spraying device such as a side boom.

Background Art

[0002] Conventional spraying work machines are those that attach a spraying device for chemicals or the like to the rear of a tractor and spray the chemicals as they travel. Some can use position information obtained from GPS satellites or the like to color and record the locations where spraying work has been performed on a field map in data. (Patent Document 1)

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] The work record of this spraying work machine is performed when the tractor moves in a setting for recording to field data, and for locations where the work positions overlap, the color is changed to enable a more detailed record.

[0005] However, since the coloring is performed based on the traveling position of the tractor, there is a problem that the record is different from the actual spraying range of the spraying device.

[0006] An object of the present invention is to provide a spraying work machine that can record work data in accordance with the actual chemical spraying work in consideration of the conventional problems.

Means for Solving the Problems

[0007] The invention of claim 1 is a spraying machine provided with a liquid spraying device (10,10) for spraying liquid on the side of a traveling vehicle body (1), wherein the liquid spraying device (10,10) is equipped with discharge devices (120) for turning the discharge of liquid on and off at predetermined intervals, and the liquid spraying device (10,10) is extendable and retractable, wherein the discharge devices (120) are configured to be switched to an open state sequentially from the base side when the liquid spraying device (10,10) is extended, and to be switched to a closed state sequentially from the end side when it is retracted. Each discharge device (120) is provided with an open / close detection member (310) to detect the open and closed states of the discharge device (120), and the liquid spraying device (10,10) consists of a central spraying device (110) that supplies liquid from left to right in the front direction of the vehicle body (1), and a left spraying device (10) and a right spraying device (10) that are rotatable and extendable on the left and right sides of the vehicle body (1), respectively. A central spray switching member (302), a left-side spray switching member (301L), and a right-side spray switching member (301R) are provided to switch the supply of liquid to (10), and a recording device (204) is provided on the control device (200) to record the locations where the liquid spraying operation by the liquid spraying device (10,10) has been performed. When the central spray switching member (302) is in the ON state, the control device (200) causes the recording device (204) to record the operation of the central spraying device (110), and the left-side spraying The spraying machine is characterized in that when the cloth switching member (301L) is in the "on" state and the opening / closing detection member (310) of the left-side spraying device (10) detects that it is in the "open" state, the operation of the left-side spraying device (10) is recorded by the recording device (204), and when the right-side spraying switching member (10) is in the "on" state and the opening / closing detection member (310) of the right-side spraying device (10) detects that it is in the "open" state, the operation of the right-side spraying device (10) is recorded by the recording device (204).

[0008] The invention of claim 2 is a spraying machine according to claim 1, characterized in that the left-side spraying device (10) and the right-side spraying device (10) are each provided to be able to move up and down, a steering member (6) is provided for steering and turning operations of the traveling vehicle body (1), a steering detection member (141) is provided for detecting the amount of operation of the steering member (6), and when the steering detection member (141) detects a turning operation of the steering member (6), the control device (200) is configured to raise the side of the left-side spraying device (10) and the right-side spraying device (10) that is located on the outside of the turn until the turn is completed, the extension and retraction control is interrupted when the left-side spraying device (10) or the right-side spraying device (10) starts to rise, and the extension and retraction control is performed when the left-side spraying device (10) or the right-side spraying device (10) starts to descend at the end of the turn.

[0009] The invention of claim 3 is characterized in that the control device (200) records an extension / retraction control program for automatically extending and retracting the left-side spraying device (10) and the right-side spraying device (10), and a manual extension / retraction member (305) is provided for manually extending and retracting the left-side spraying device (10) and the right-side spraying device (10), respectively, when the left-side spraying device (10) and the right-side spraying device (10) are extended or retracted by operating the manual extension / retraction member (305), the control device (200) does not perform automatic extension / retraction control of the left-side spraying device (10) and the right-side spraying device (10) until the recorded set time has elapsed. Claim 1 or The spraying machine is as described in claim 2.

[0010] The invention of claim 4 is configured such that the left-side spraying device (10) and the right-side spraying device (10) can be switched between a stored state and an extended state, and a storage switch (307, 307) is provided to switch the left-side spraying device (10) and the right-side spraying device (10) from the extended state to the stored state, and an extension switch (308, 308) is provided to switch the left-side spraying device (10) and the right-side spraying device (10) from the stored state to the extended state, and the control device (200) controls the left-side spraying device (10) and the right-side spraying device The system is configured such that when the fabric device (10) is under automatic extension / retraction control, operating the storage switch (307, 307) for a predetermined time or longer stops the automatic extension / retraction control of the corresponding left-side spraying device (10) or right-side spraying device (10) and switches it to the stored state, and operating the deployment switch (308, 308) for a predetermined time or longer switches the corresponding left-side spraying device (10) or right-side spraying device (10) to the deployed state and starts the automatic extension / retraction control after a predetermined time has elapsed. 3 The spraying equipment described was used.

[0011] The invention of claim 5 is characterized in that the liquid spraying device (10) comprises a base-side spraying device (101) rotatably mounted on the vehicle body (1), and a sliding spraying device (103) that slides along the base-side spraying device (101), and a switching member (112) that slides together with the sliding spraying device (103) to switch between an open state and a closed state of the discharge device (120), and the discharge device (120) comprises a liquid discharge member (121) that discharges liquid from the base-side spraying device (101) and the sliding spraying device (103), and a discharge member (121) that contacts the switching member (112) to switch between an open state and a closed state of the liquid discharge member (121). The device is configured with an outlet switching arm (124), and the base-side spraying device (101) is provided with a sliding support member (102) that slides along the base-side spraying device (101) and supports the sliding spraying device (103), and a sliding actuator (106) that moves the sliding support member (102) in the extension or contraction direction is provided on the base-side spraying device (101), and a sliding amount detection member (108) that calculates the amount of sliding of the sliding spraying device (103) is provided, and the control device (200) switches the sliding actuator (106) on and off based on the detected value of the sliding amount detection member (108). Any one of items 1 through 4The spraying equipment described in [reference] was used.

[0012] delete [Effects of the Invention]

[0013] According to the invention of claim 1, the recording device (204) does not record the locations where the central spraying device (110) and the left and right spraying devices (10,10) have stopped spraying, nor the discharge device (120) where the opening / closing detection member (310) has detected a closed state. Therefore, from the recorded data, it is possible to identify areas where the liquid agent has not been sprayed, such as the shape of the field or the presence or absence of obstacles.

[0014] The invention of claim 2 provides, in addition to the effects of the invention of claim 1, the steering member (6) determines the outward turning direction of the vehicle body (1), and the outward-turning spraying device (10,10) of the left and right spraying devices (10,10) is automatically raised and extension / retraction control is disabled. This prevents the outward-turning left and right spraying devices (10,10) from contacting obstacles such as walls and being damaged during turning, and also prevents the spraying of liquid outside the field, thus preventing excessive consumption and contamination.

[0015] Furthermore, the left and right spraying devices (10,10) can be retracted to avoid obstacles, thus preventing damage to the left and right spraying devices (10,10).

[0016] According to the invention of claim 3, Claim 1 or In addition to the effects of the invention of claim 2, by accepting operation of the manual telescopic member (305) even during automatic telescopic control, the spraying range can be appropriately increased or decreased at the position where the spraying range should be changed, thereby preventing supply shortages while suppressing the consumption of liquid agent.

[0017] Furthermore, by not restarting the automatic extension and retraction control of the left and right spraying devices (10,10) until a set time has elapsed after the operator has released their hand from the manually extendable member (305), it is prevented from spraying the liquid agent in an inappropriate spraying area or from extending the left and right spraying devices (10,10) toward an obstacle.

[0018] In addition, since the left and right spraying devices (10, 10) can be contracted to avoid obstacles, damage to the left and right spraying devices (10, 10) is prevented.

[0019] According to the invention of claim 4, claim 3 In addition to the effects of the invention, when the storage switch (307, 307) is long-pressed during automatic expansion and contraction control, the automatic expansion and contraction of the corresponding left and right spraying devices (10, 10) can be stopped and shifted to the storage state. Therefore, there is no need to spray the liquid agent at the edge of the field, etc., and the corresponding left and right spraying devices (10, 10) can be quickly retracted at the location with obstacles. As a result, it will not be damaged, and the operation of stopping the running, decelerating, and moving to the storage position is not required, improving the work efficiency.

[0020] In addition, when the deployment switch (308, 308) corresponding to the left and right spraying devices (10, 10) in the storage state is long-pressed, it switches from the storage state to the deployment state, and automatic expansion and contraction control is started after a predetermined time has elapsed. Therefore, multiple operations are not required, improving the operability.

[0021] According to the invention of claim 5, claim Any one of items 1 through 4 In addition to the effects of the invention, based on the sliding amount of the sliding spraying device (103) detected by the sliding amount calculating member (108), by operating the sliding actuator (106), it is only necessary to calculate how much to extend or contract based on the current expansion and contraction amount, preventing the control configuration from becoming complicated.

[0022] Deleted

Brief Description of the Drawings

[0023] [Figure 1] Side view of the work vehicle [Figure 2] Plan view of the work vehicle [Figure 3] Perspective view of the transmission case seen from the front [Figure 4] Perspective view of the transmission case seen from the rear [Figure 5] Perspective view of the transmission case seen from the lower rear side [Figure 6] Schematic cross-sectional view of the transmission case [Figure 7] Enlarged view of the clutch inside the transmission case [Figure 8] Perspective view of the front case of the transmission case, seen from the front. [Figure 9] Perspective view of the front case of the transmission case, seen from the inside. [Figure 10] Perspective view of the central case of the transmission case, seen from the front. [Figure 11] Perspective view of the central case of the transmission case, seen from the rear. [Figure 12] Perspective view of the rear case of the transmission case, seen from the inside. [Figure 13] Perspective view of the rear case of the transmission case, seen from the rear. [Figure 14] Front view of the clutch plate [Figure 15] Figure 6: Enlarged view of a portion of the area around the PTO axis. [Figure 16] (a) Front view of the main part showing the side boom in the retracted state, (b) Top view of the main part showing the side boom in the retracted state [Figure 17] (a) Front view of the main part showing the side boom in the extended state, (b) Top view of the main part showing the side boom in the extended state [Figure 18] Side view of the main part of the opening / closing nozzle [Figure 19] (a) Front view of the main part showing the opening / closing nozzle in the open position, (b) Front view of the main part showing the opening / closing nozzle with the spray switching pin in contact with the switching cock, (c) Front view of the main part showing the opening / closing nozzle in the intermediate position, (d) Front view of the main part showing the opening / closing nozzle in the closed position. [Figure 20] (a) A plan view of the main part showing the on / off nozzle in the open position, (b) A plan view of the main part showing the on / off nozzle with the spray switching pin in contact with the switching cock, (c) A plan view of the main part showing the on / off nozzle in an intermediate position, (d) A plan view of the main part showing the on / off nozzle in the closed position. [Figure 21](a) Front view of the main part showing the opening / closing nozzle in an alternative configuration example in the open state, (b) Front view of the main part showing the opening / closing nozzle in an alternative configuration example with the spray switching pin in contact with the switching cock, (c) Front view of the main part showing the opening / closing nozzle in an alternative configuration example in an intermediate state, (d) Front view of the main part showing the opening / closing nozzle in an alternative configuration example in the closed state [Figure 22] (a) A plan view of the main components showing the on / off nozzle in an alternative configuration example in the open state, (b) A plan view of the main components showing the on / off nozzle in an alternative configuration example with the spray switching pin in contact with the switching cock, (c) A plan view of the main components showing the on / off nozzle in an alternative configuration example in an intermediate state, (d) A plan view of the main components showing the on / off nozzle in an alternative configuration example in the closed state. [Figure 23] (a) Front view of the main part showing the overlap of the pesticide spraying ranges of the nozzles, (b) Top view of the main part showing the overlap of the pesticide spraying ranges of the nozzles. [Figure 24] Block diagram showing the input and output systems of each part of the aircraft. [Figure 25] Flowchart showing the extension and retraction of the side boom by manual operation and automatic control. [Figure 26] A schematic diagram showing a field work map with areas where pesticide spraying has been carried out colored. [Figure 27] A flowchart illustrating the extension and retraction control of a side boom, which allows for overlapping spraying of pesticide near the ends of adjacent rows. [Figure 28] Front view of the main section showing the side boom end not reaching the adjacent strip. [Figure 29] Front view of the main part showing the side boom end in a position where it partially overlaps with the adjacent strip. [Figure 30] Front view of the main part showing the state in which the end of the side boom overlaps with the spraying position of the adjacent row to perform pesticide spraying work. [Figure 31] A schematic diagram showing a field work map with areas where pesticide spraying has been carried out colored. [Figure 32] A flowchart showing the color control of field work maps corresponding to pesticide spraying operations. [Figure 33] A flowchart showing the conditions under which automatic extension / retraction control is permitted when the side boom is lowered. [Figure 34]A flowchart showing the transition to simulation mode when operating the sim switch. [Figure 35] (a) Schematic diagram of the control unit equipped with side boom deployment and retraction switches, (b) Schematic diagram of the control unit of another configuration example equipped with side boom deployment and retraction switches. [Figure 36] Flowchart of a control configuration that automatically controls the extension and retraction of the side boom on the storage side after it has been lowered. [Figure 37] A flowchart illustrating the control of side boom extension and retraction by section, and the control of operating the side boom in the event of a failure in some or all sections. [Modes for carrying out the invention]

[0024] The embodiments of the present invention will be described in detail below with reference to the drawings. In the embodiments of the present invention, a work vehicle used for spraying agricultural chemicals will be used as an example of the work vehicle.

[0025] In this application, the side of the work vehicle 1 that is in the direction of travel is defined as the front, the opposite side as the rear, the left side in the direction of travel as the left direction, and the right side in the direction of travel as the right direction.

[0026] As shown in Figures 1 and 2, the work vehicle 1 is a vehicle for spraying pest control chemicals, and is equipped with front wheels 2 and rear wheels 3. The engine (not shown) is covered by a bonnet 4 located on the front of the vehicle body 1. Behind the bonnet 4 is a control unit 5, which is equipped with a steering wheel 6 and a seat 8.

[0027] A chemical tank 9 for storing the chemical solution is detachably mounted behind the seat 8. The work vehicle 1 is also equipped with a hydraulic continuously variable transmission (HST), which is a mechanism that can adjust the forward and reverse direction of the vehicle's movement and speed, and an engine start restriction device that restricts engine starting.

[0028] Furthermore, support brackets 12a protruding in the left-right direction are provided on both the left and right sides of the front of the work vehicle 1, and a lifting link 12, composed of upper and lower link bodies, is rotatably supported on each of the left and right support brackets 12a. The upper and lower link bodies of the lifting link 12 are configured to interlock with each other, and a retractable lifting cylinder 13 is provided on the lower link body of the lifting link 12 so as to connect the lower link body of the lifting link 12 to the support bracket 12a, so that the lifting link 12 can be rocked up and down by extending or retracting the lifting cylinder 13.

[0029] Furthermore, the lifting link 12 extends to a position in front of the bonnet 4, and the front frame 11 is attached to the front end of the lifting link 12 so as to connect the left and right lifting links 12. Therefore, by simultaneously extending and retracting the left and right lifting cylinders 13, the front frame 11 can be raised and lowered via the left and right lifting links 12 which move up and down.

[0030] At both ends of the front frame 11, a pair of left and right side booms 10, which serve as an example of a work device for spraying chemicals, are mounted so as to be rotatable on an axis in the vertical direction. Boom rotation cylinders 109, 109 are provided for each of the left and right side booms 10, allowing them to be individually extended and folded in the left and right directions. Multiple nozzles 100 are mounted on the side booms 10, and a front boom 110 is mounted on the front frame 11, with multiple front nozzles 111 provided at equal intervals in the left and right directions. The nozzles 100 on each side boom 10 and each front nozzle 111 on the front boom 110 are configured to receive chemicals from the chemical tank 9 and spray the chemicals in a mist. Note that the right side boom 10 is omitted from the figure 1.

[0031] The storage position is when the side boom 10 is rotated inward in the left-right direction of the machine, then rotated downward in the left-right direction of the machine, and aligned along both sides of the vehicle. The chemical spraying position is when the side boom 10 is rotated forward and upward in the left-right direction of the machine, then rotated outward in the left-right direction of the machine, and extended to the left and right. In the storage position, the side boom 10 can be placed on the boom supports 15 provided on both the left and right sides of the work vehicle 1, thereby maintaining the side boom 10 in a position that is diagonally upward and rearward of the vehicle.

[0032] Figure 3 is a perspective view of the transmission case 20 mounted on the work vehicle of this embodiment, viewed from the front to the rear; Figure 4 is a perspective view of the transmission case 20 viewed from the rear to the front; and Figure 5 is a perspective view of the transmission case 20 of Figure 4 viewed from the bottom side.

[0033] In Figures 3 to 5, 21 is the front case, 22 is the central case, 22a is the bottom surface of the central case 22, and 23 is the rear case. Furthermore, 24 is the input shaft for power transmission from the engine, and 25 and 26 are the first and second hydraulic pumps. Also, 27 is the shaft for engaging and disengaging the clutch (described later), 28 is the rear lift valve, and 29 is the drive output shaft for the front wheel 2. Additionally, 30 is the hydraulic continuously variable transmission (HST), and 31 is the clutch lubrication hole. Furthermore, 32 is the PTO shaft for work equipment such as a boom sprayer, 33 is the live PTO output shaft (additional transmission shaft) (described later), 34 is the vehicle speed sensor, 35 is the drain, 36 is the sub-transmission shaft, 37 is the breather, and 38 is the drive output shaft that transmits the driving force to drive the rear wheel 3.

[0034] Furthermore, the inside of the transmission case 20 has the structure shown in Figures 6 and 7. Figure 6 is a schematic cross-sectional view of the whole, and Figure 7 is an enlarged view centered on the clutch 55.

[0035] First, let's explain the front case 21 in detail. Figure 8 is a perspective view of the front case 21 seen from the front, and Figure 9 is a perspective view of the front case 21 seen from the rear. In Figures 8 and 9, the ball bearings of the shaft are omitted. The input shaft 24 is held by the input bearing 21a. A gear 40 is connected to the rear end of the input shaft 24. A gear 41, which is fixed to the clutch drive shaft 42, meshes with the gear 40. The front end of the clutch drive shaft 42 is supported by the clutch front bearing 43 formed in the front case 21. Here, 55 is the clutch.

[0036] Furthermore, gear 41 meshes with gear 44 located below it, and this gear 44 is fixed to a gear pump drive shaft 45 that drives the first hydraulic pump 25. The gear pump bearing 46, which is the bearing for this gear pump drive shaft 45, is formed in the front case 21.

[0037] On the other hand, a gear 47 attached to a shaft 48 meshes with the gear 40 above it, and the tip of this shaft 48 is supported by a bearing 49 formed in the front case 21. Furthermore, the rear end of the shaft 48 is supported by a bearing 50a provided on a part of the bearing plate portion 50 attached to the central case 22. A gear 51 is attached near the center of the shaft 48, and a gear 52 meshes with the gear 51, and the gear 52 is fixed to the live PTO output shaft 33 described above. The front end of this live PTO output shaft 33 is supported by a bearing 54 formed in the front case 21, and the rear end is pivotally supported by a bearing 50b formed in the bearing plate portion 50, and is also able to protrude rearward and be used as a live PTO output shaft.

[0038] When engine power is input from the input shaft 24, gear 40 rotates. This rotation causes the meshing gear 47 to rotate, which in turn causes shaft 48 to rotate. The rotation of shaft 48 causes gear 51 to rotate, which in turn causes the meshing gear 52 to rotate.

[0039] As a result, the live PTO output shaft 33, which is fixed to the gear 52, rotates, and driving force from the engine is extracted to the outside. Since this driving force is extracted upstream (upper) of the clutch 55, it is not affected by whether the clutch 55 is engaged or disengaged, and driving force can be extracted as long as the engine is running.

[0040] Furthermore, gear 40 meshes with gear 41, and since gear 41 is fixed to the clutch drive shaft 42, the engine's driving force is also transmitted from the input shaft 24 to this clutch drive shaft 42. The clutch drive shaft 42 is connected to the clutch 55. Therefore, the driving force transmitted to the clutch drive shaft 42 is affected by whether the clutch 55 is engaged or disengaged.

[0041] Furthermore, gear 44 meshes with gear 41, and the engine's driving force is transmitted from the input shaft 24 to the gear pump drive shaft 45, to which gear 44 is fixed. The rotation of this gear pump drive shaft 45 drives the first hydraulic pump 25. The first hydraulic pump 25 pumps oil into the working hydraulic system. The second hydraulic pump 26, which is attached to the front case 21, is driven by a similar mechanism.

[0042] Next, the central case 22 and the rear case 23 will be described. As shown in Figures 10 and 11, the central case 22 is removable from the front case 21 and the rear case 23 by a bolt mechanism. As shown in Figure 6, A shows the interface between the front case 21 and the central case 22, and B shows the interface between the central case 22 and the rear case 23. The central case 22 is fixed to the frame of the running body 1' of the work vehicle 1 by a connecting part 53 (see Figure 11). Figure 12 is a perspective view of the rear case 23 seen from the inside, and Figure 13 is a perspective view seen from the rear outside.

[0043] Inside the central case 22, the aforementioned bearing plate portion 50 is formed at the front position, and the clutch bearing plate portion 57 is formed at the central position.

[0044] A clutch 55 is positioned between the front bearing plate portion 50 and the clutch bearing plate portion 57, and the clutch drive shaft 42 is pivotally supported by the bearing portion 60 of the clutch bearing plate portion 57 via the clutch 55. Furthermore, the rear portion of the clutch drive shaft 42 passes through the hole 61 (see Figure 11) in the bearing portion 60 and is pivotally supported by the clutch drive shaft bearing 62 of the rear case 23.

[0045] Furthermore, since the HST drive shaft is supported by the rear case 23, it is either cantilevered by the rear case 23 or fixed to the HST itself.

[0046] Furthermore, since the drive shaft is long in the front-to-back direction, it is supported by the front case 21, the middle case 22, and the rear case 23.

[0047] Furthermore, as shown in Figure 6, a speed change gear 70 is fixed to the clutch drive shaft 42, and this speed change gear 70 meshes with a gear 71 (loosely fitted gear) that is freely rotatably mounted on the shaft of the PTO shaft 32 for the work device.

[0048] The rotation of this gear 71 is transmitted to the PTO shaft 32 by a mechanism described later, which is the rotation of the clutch drive shaft 42. Therefore, the rotation of this working device PTO shaft 32 is controlled by the engagement and disengagement of the clutch 55. Note that 32a is a PTO bearing provided in the rear case 23.

[0049] On the other hand, a gear 63 is further attached to the clutch drive shaft 42, and this gear 63 meshes with the HST input gear 64. The HST output gear 65 is connected to the front wheel drive output shaft 29 and the rear wheel drive output shaft 38 via three gear mechanisms 66, 67, and 68. In Figure 8, 29a is the bearing for the front wheel drive output shaft 29. Therefore, the output shifted by the HST 30 is transmitted to the drive output shafts 29 and 38. Here, 30a is the HST input side, and 30b is the HST output side. Also, 72 and 73 are the HST input bearing and the HST output bearing, respectively.

[0050] In this way, the transmission case 20 is divided into front, middle, and rear sections, and the middle case 22 is fixed to the frame of the vehicle body 1' of the work vehicle 1 (connecting section 53), which allows maintenance work inside the case to be performed without removing the entire transmission case 20 from the machine.

[0051] Next, the clutch 55 in this embodiment has a wet structure rather than a so-called dry structure. That is, as shown in Figures 6 and 7, the clutch drive shaft 42 is supported at both ends (43, 62) by the front case 21 and the rear case 23, and an oil passage is formed between the shaft and the support part. Lubricating oil is supplied from the clutch lubrication hole 31. This lubricating oil returns the hydraulic pressure of the pest control machine (operating hydraulic system) back to the oil passage of the clutch drive shaft 42.

[0052] The clutch 55 is constructed by housing multiple clutch plates 55b inside a clutch case 55a, and mounting the clutch case 55a on a clutch drive shaft 42. Furthermore, the clutch drive shaft 42 has a passage for hydraulic fluid, which can supply hydraulic fluid to the inner circumference of the clutch plates 55b. In addition, the clutch case 55a has a return hole that returns the hydraulic fluid that has entered the clutch case 55a back to the hydraulic circuit. Figure 14 shows a clutch plate 55b, and as indicated by arrow C, a communication hole 92 is formed from the inner circumference to the outer circumference.

[0053] Because the clutch 55 has this structure, by supplying hydraulic fluid into the clutch case 55a from the passage of the clutch drive shaft, it is possible to prevent the clutch plate 55b from seizing and becoming immobile, thereby ensuring reliable switching of the drive transmission and the work transmission.

[0054] Furthermore, by forming a return hole in the clutch case 55a, the hydraulic fluid that has entered the clutch case 55a can be returned to the transmission case 20, thereby preventing an increase in internal pressure and a shortage of hydraulic fluid.

[0055] Furthermore, by forming the communication hole 92, the hydraulic fluid that has entered between the clutch plate 55b and the clutch case 55a can be moved to the outside of the clutch case 55a, thus preventing problems from occurring due to the hydraulic fluid becoming old and no longer returning to the flow path.

[0056] In other words, since the communication holes 92 are formed by penetrating the clutch plate 55b in one or more places toward the outer edge, when it is immersed in the hydraulic fluid stored in the transmission case 20, the hydraulic fluid can enter the communication holes 92 from that point and permeate the inside of the clutch case 55a (this phenomenon occurs especially when the vehicle is stopped). Also, when the centrifugal force caused by the rotation of the clutch drive shaft 42 causes the hydraulic fluid that has entered the communication holes 92 to be scattered to the outside of the clutch case 55a, the hydraulic fluid will be sent into the transmission case 20. In other words, the configuration allows for both the entry of hydraulic fluid into the interior and the release of hydraulic fluid to the outside.

[0057] Figure 15 is a partially enlarged view of Figure 6, focusing on the PTO shaft 32 for work equipment such as a boom sprayer.

[0058] As described above, a speed change gear 70 is fixed to the clutch drive shaft 42, and this speed change gear 70 meshes with a gear 71 (loosely fitted gear) that is freely rotatably mounted on the shaft of the PTO shaft 32 for the working device. This gear 71 meshes with a first counter gear 75 fixed to the counter shaft 76. Another second counter gear 77 is fixed to this counter shaft 76, and this second counter gear 77 meshes with a gear 78 fixed to the shaft of the PTO shaft 32. Note that 71a is a grooved washer.

[0059] Therefore, the rotation of the clutch drive shaft 42 causes the gear 70 to rotate, which is transmitted to the loosely fitted gear 71, which is transmitted to the first counter gear 75, which is transmitted to the counter shaft 76, which is transmitted to the second counter gear 77, which is transmitted to the gear 78, and as a result, is transmitted to the PTO shaft 32 and rotates.

[0060] On the other hand, 90 is a lubrication oil supply pipe that returns and discharges hydraulic fluid from the work hydraulic system into the transmission case 20. 79 is the outlet 79 of the lubrication oil supply pipe 90, which is provided in the rear case 23. The outlet 79 of the lubrication oil supply pipe 90 is located on the upper side inside the transmission case 20, above the work drive force transmission mechanism. Here, the transmission mechanism is a mechanism for transmitting drive force to the work mechanism, and is, for example, a PTO shaft 32, which is an example of the work drive shaft of the present invention.

[0061] This structure allows for reliable lubrication of the upper transmission mechanism, which is prone to lubrication shortages, by draining the hydraulic fluid from the upper side of the transmission case 20. This reduces wear and seizure, thus preventing a decrease in the durability of the transmission case 20.

[0062] In this case, the transmission case 20 itself also serves as the oil tank. The aforementioned first hydraulic pump 25 pumps the oil from this oil tank back to the drive cylinder as hydraulic fluid.

[0063] Furthermore, a diffusion member is rotatably mounted on the PTO shaft (work transmission shaft) 32 to receive and diffuse the hydraulic fluid discharged from the discharge port 79. An example of the diffusion member of the present invention is the free-rotating gear 71 described above.

[0064] The rotation of the gear 71 of the diffusion member provided on the PTO shaft 32 allows the hydraulic fluid to be diffused over a wide area by centrifugal force, further preventing wear and seizure due to insufficient hydraulic fluid.

[0065] Furthermore, the gear 71, which is the diffusion member, has oil passages 91 into which hydraulic fluid can enter. This makes it easier to diffuse the hydraulic fluid over a wide area, not just in the direction of rotation. It is desirable to provide multiple oil passages 91. For example, four at 90-degree intervals around the shaft. This also has the effect of allowing lubricating oil to flow into the inside of the gear 71.

[0066] Since the gear 71, which acts as a diffusion member, rotates in a certain direction, the hydraulic fluid tends to be sprayed somewhat unevenly in the direction of rotation. However, by forming the oil passage hole 911 through the gear 71, the hydraulic fluid that enters the interior from the discharge port 79 is discharged by centrifugal force at locations other than where it is repelled by the blade portion (corresponding to the gear teeth) of the gear 71, making it easier for the hydraulic fluid to diffuse to the downstream side in the direction of rotation.

[0067] The lubrication oil supply pipe 90 is mounted on the front or rear side of the transmission case 20, and an orifice is formed in the discharge port 79 of the lubrication oil supply pipe 90, with the orifice facing the inside of the transmission case 20. This allows the hydraulic fluid to be scattered over a greater distance.

[0068] As described above, the hydraulic fluid that returns from the spraying machine to the transmission case 20 (operating hydraulic system) has two systems: one that returns from the clutch lubrication hole 31 via the clutch 55, and another that returns from the outlet 79 of the lubrication oil supply pipe 90 on the rear case 23 of the transmission case 20. In addition, there is also a system in which the hydraulic fluid discharged from the lifting valve and the lower link cylinder returns to the transmission case 20 from the main valve located on the side of the transmission case 20.

[0069] The left and right side booms 10, 10 are configured to be extendable and retractable in order to adjust the range over which pest control chemicals are sprayed. As shown in Figures 1, 2, 16(a)(b), and 17(a)(b), base booms 101 are provided at the left and right ends of the front frame 11 so as to be rotatable in the vertical and horizontal directions, respectively. A slide frame 102 is provided on the upper part of the base boom 101 so as to be slidable along the base boom 101, and a movable boom 103 is provided on the slide plate 102. By sliding the slide plate 102 left and right, the extension of the movable boom 103 in the horizontal direction of the machine can be changed, thereby changing the amount of extension and retraction, in other words, the range over which chemicals are sprayed.

[0070] Specifically, a driven pulley 104 is rotatably provided on the end side (rear side of the machine body or outside of the machine body) of the base boom 101, and a boom extension motor 106 that drives a drive pulley 105 is provided on the base side (front side of the machine body or inside of the machine body) of the base boom 101, and an extension wire 107 is brought into contact with the drive pulley 105 and the driven pulley 104, and both ends of the extension wire 107 are connected to the mounting bends 102a, 102a at the left and right ends of the slide plate 102, respectively. Furthermore, a rotary encoder 108 is provided on the side of the drive pulley 105 to calculate the amount of sliding of the moving boom 103 from the rotation caused by contact with the extension wire 107.

[0071] Furthermore, the sensor for the extension and retraction amount of the side boom 10 may be replaced with a sensor that calculates the amount of sliding of the moving boom 103 from the reflection time of the emitted ultrasonic or laser, instead of the rotary encoder 108 described above.

[0072] With the above configuration, when the boom extension motor 106 is activated, the extension wire 107 slides along the slide frame 102 in the left-right direction, thereby changing the amount of left-right protrusion of the mobile boom 103 supported by the slide frame 102, and thus changing the spraying range of the chemical.

[0073] The base boom 101 and the mobile boom 103 are provided with the aforementioned nozzles 100 at predetermined intervals, and a set amount of chemical is sprayed by adjusting the opening degree of each nozzle 100 and the output setting of the chemical pump 9a that delivers the chemical from the chemical tank 9.

[0074] When the side boom 10 is fully extended, that is, when the amount of the mobile boom 103 protruding outwards from the machine body is at its maximum, it becomes possible to supply the chemical to the set range by spraying the chemical from all nozzles 100. However, when the left and right lengths of the side boom 10 are not at their maximum, the spraying range of some nozzles 100 may be the same, or may largely overlap, and if all nozzles 100 are open, there is a problem that the chemical will be used excessively. Furthermore, there is a problem that the excessive supply of chemicals will cause poor crop growth or chemical residue in the harvested crop, reducing its market value.

[0075] To prevent the occurrence of the above-mentioned problems, as well as problems such as pesticide shortages and uneven application leading to pests and diseases, the nozzle 100 installed on the base boom 101 is configured as follows. As shown in Figures 18 to 20, a chemical flow path 122 through which the chemical passes is formed inside the opening / closing nozzle body 121, and a switching pivot shaft 123 with a switching flow path 123a is rotatably inserted into the chemical flow path 122 to enable switching between an open state and a closed state. The bent portion (corner) of an L-shaped (or V-shaped, or V-shaped) switching cock 124 is inserted into the switching pivot shaft 123, and the opening / closing nozzle 120 is configured such that the opening and closing state of the chemical flow path 122 is switched by rotating the switching cock 124.

[0076] As shown in Figures 19(a) to (d) and 20(a) to (d), the switching cock 124 is configured to rotate within a range of approximately 180 degrees and has a first contact portion OC that contacts the spray switching pin 112 when switched from the open state to the closed state, and a second contact portion CO that contacts the spray switching pin 112 when switched from the closed state to the open state, with either the first contact portion OC or the second contact portion CO facing the movement path of the spray switching pin 112. Furthermore, as shown in Figures 19(a) to (d), when the switching cock 124 is rotated 90 degrees, the switching flow path 123a is rotated 45 degrees, and when it is rotated 180 degrees, it is rotated 90 degrees.

[0077] Furthermore, as shown in Figures 21 and 22, limit pins 125 may be provided at least two times on the opening / closing nozzle base 121 to prevent misalignment between the drug flow path 122 and the switching flow path 123a due to excessive rotation.

[0078] Furthermore, a spray switching pin 112 is provided at the lower part of the slide frame 102, protruding toward the base boom 101. The spray switching pin 112 contacts a portion of the switching cock 124 that protrudes downward, thereby switching between the on and off states of each opening / closing nozzle 120.

[0079] As shown in Figures 16(a)(b) and 17(a)(b), the mobile boom 103 is not equipped with the above-mentioned opening / closing nozzle 120, but is instead equipped with a continuously spraying nozzle 130 that can only be adjusted for opening degree, so that the chemical is continuously sprayed while the side boom 10 is in spraying operation, regardless of the change in the spraying range of the side boom 10.

[0080] As described above, nozzle 100 is a component name that includes the on / off nozzle 120 and the continuously spraying nozzle 130. Furthermore, the spraying range of the on / off nozzle 120, the continuously spraying nozzle 130, and the front nozzle 110 is cone-shaped in the plan view shown in Figure 23(b), and triangular in the front (rear) view shown in Figure 23(a) during operation.

[0081] As shown in Figures 24 and 25, the boom extension motor 106 operates in response to manual operation by the operator or extension / retraction signals from a control program, moving the mobile boom 103 and extending / retracting the side boom 10. The manual adjustment switch (not shown), which adjusts the length by manual operation, is activated only during operation by the control device 200 sending a signal to the boom extension motor 106. When the operation is stopped, the boom extension motor 106 stops at a position corresponding to a predetermined nozzle pitch P, as described later, and the spraying range of the mobile boom 103 is changed.

[0082] This allows the operator to visually monitor the condition of the crops and spray pesticides to the optimal area. On the other hand, the operator must operate the extension and retraction of one or both of the side booms 10, 10 while driving the vehicle 1, which places a significant burden on the operator.

[0083] The extension and retraction of the side boom 10 by the control program shall be performed by moving the distance between multiple open / closed nozzles 120 or continuously spraying nozzles 130, i.e., the nozzle pitch P (e.g., 300 mm), in units of the left-right distance between them, or the nozzle pitch P (e.g., 300 mm), with each signal.

[0084] This allows the spraying width of the side boom 10 to be automatically switched, so the operator can concentrate on operating the work vehicle 1, and deviations in the direction of travel are less likely to occur.

[0085] Furthermore, this prevents the spraying area from becoming too wide, leading to overlapping areas being supplied with pesticides and causing poor crop growth. It also prevents the occurrence of pests in areas not sprayed, thus preventing crops from wilting and becoming unharvestable due to pests and diseases.

[0086] The boom extension motor 106 is connected to the control device 200 and operates or stops in response to control signals. When a stop signal is issued from the control device 200, the boom extension motor 106 is intended to operate for at least the duration of extension or retraction of the nozzle pitch P.

[0087] Furthermore, when the mobile boom 103 moves in the extension direction, the control configuration stops while switching the opening / closing nozzle 120, which is located furthest outside the machine body within the extension range, from the closed state to the open state. Similarly, when the mobile boom 103 moves in the retraction direction, the control configuration stops while switching the opening / closing nozzle 120, which is located furthest outside the machine body within the retraction range, from the open state to the closed state. In other words, the intermediate state is the state shown in Figures 19(c) and 20(c), where the spray switching pin 112 is located between the left and right sides of the first contact point OC and the second contact point CO.

[0088] The boom extension motor 106 is configured to stop abruptly when it receives a signal from the control device 200 due to a manual stop operation or the fulfillment of stop conditions, at the point when the rotary encoder 108 detects a predetermined rotation angle. The rotation angle of the rotary encoder 108 is detected either by providing a separate angle-detecting sensor (not shown) or by calculating it from the rotation angle of the rotating body that the rotary encoder 108 is reading.

[0089] Alternatively, the system may be configured to stop after receiving a stop signal, and then rotate to a predetermined angle by inertia.

[0090] In this stop control configuration, when the operation to move the mobile boom 103 stops, the spray switching pin 112 rotates the switching cock 124 by approximately 45 degrees, stopping in an intermediate position between the open and closed states.

[0091] The above intermediate state is one in which the switching channel 123a is obliquely in contact with the chemical channel 122 in the vertical direction of the machine, that is, the channels are in communication, albeit narrow, and if the chemical flow rate and pump pressure are sufficient, a smaller amount of chemical than the set amount is sprayed from the on / off nozzle 120 due to the internal pressure. At this time, the amount of chemical sprayed is less than when the on / off nozzle 120 is in the open state, and the spraying area is in the shape of an isosceles triangle with a small apex angle, or a cylindrical shape.

[0092] As described above, when the boom extension motor 106 stops, the selector valve 124 of the on / off nozzle 120, which is located furthest outside the machine in the modified spraying range, moves to the intermediate position. This allows the chemical to be sprayed from this on / off nozzle 120 in a smaller amount and over a narrower area than the set amount.

[0093] This ensures that when the spraying range of the side boom 10 is changed, sufficient pesticide can be supplied even near the outer edge of the spraying range. This prevents crops from being affected by pests and diseases due to pesticide shortages, thus preventing a decrease in market value and yield.

[0094] Furthermore, since less pesticide is supplied to the outer edges than to other areas, the consumption of excess pesticide is suppressed, and the adverse effects on crop growth due to excessive pesticide supply are prevented.

[0095] As shown in Figures 16 and 17, at least one continuously spraying nozzle 130 is provided on the base side of the base boom 101, and when the mobile boom 103 is retracted to its maximum extent, the front end of the mobile boom 103 and the slide frame 102 will stop at a position closer to the end than the continuously spraying nozzle 130 provided at the outermost end of the base frame 101. At this time, as shown in Figures 16 and 17, the continuously spraying nozzles 130 provided at predetermined intervals on the mobile boom 103 and the opening / closing nozzles 120 provided at predetermined intervals on the base frame 101 will be arranged to overlap in the front-rear direction of the machine during spraying work and in the left-right direction of the machine when stored.

[0096] Furthermore, of the continuously spraying nozzles 130 provided on the mobile boom 103, at least one, two in this application, from the end side shall be spaced apart from the end of the base boom 101 and shall not overlap with the opening / closing nozzles 120.

[0097] With the above configuration, when the mobile boom 103 is retracted to its maximum extent, the pesticide is sprayed only by the continuously spraying nozzles 130 which are arranged at a constant nozzle pitch P, thus preventing excessive consumption of pesticide. This helps to prevent crop growth problems and reduce operating costs.

[0098] Furthermore, by providing continuous spray nozzles 130 that do not overlap with other nozzles on the base side of the base boom 101 and the end side of the mobile boom 103, a set amount of chemical agent can be stably supplied to the left and right sides of the traveling vehicle body 1 and the outer ends of the side booms 10, regardless of the extension and retraction amount of the side booms 10.

[0099] As shown in Figure 26, one possible scenario in which the side boom 10 described above is automatically extended and retracted using the control device 200 is to overlap the end of an adjacent work row that has finished spraying chemicals with the end of the current work row by a predetermined distance. Chemicals are sprayed from the end of the work row from a normally open nozzle 130 located near the outer end of the mobile boom 103. However, the spraying range of the outermost normally open nozzle 130 does not overlap with other normally open nozzles 130 or open / closed nozzles 120, so the amount of chemicals sprayed may be reduced due to the influence of wind direction, etc.

[0100] However, if the goal is to reduce the amount of pesticide sprayed, it is desirable to use the end of the adjacent sprayed row as a boundary line, and to control the extension and retraction of the side boom 10 so that the outer end of the boom always stays as far away from the adjacent row as possible, using this boundary line as a reference. With this spraying control, the overlap of pesticide spraying locations is minimized, and the amount of pesticide used is reduced.

[0101] On the other hand, although the amount of chemical used will increase, in order to perform chemical spraying at the end of the work row in the same way as the chemical spraying positions of the other nozzles 100 (open / close nozzles 120, continuous spray nozzles 130), it is desirable to position the outermost continuous spray nozzle 130 near the end of the adjacent row so that the chemical spraying positions overlap.

[0102] To control the extension and retraction of the side boom 10 as described above, as shown in Figures 1, 2, and 24, the vehicle body 1 is equipped with a receiving antenna 140 that communicates with a satellite to acquire positional information. The control device 200 performs processing to record the coordinates received by the receiving antenna 140 and the amount of movement of the mobile boom 103 detected by the rotary encoder 108 at the time of reception, and also installs a spraying record application 201 on a virtual field work map FM, or makes it available via a cloud server, which displays the work rows where chemical spraying work was performed and the ends of these work rows using coloring, differences in linearity, etc.

[0103] Regarding the control device 200 described above, since it is necessary to perform various control calculations simultaneously, a high-performance device is required to do this with a single unit. However, if the processing load is large, there is a risk that it will need to be replaced in a short period of time.

[0104] Therefore, the control device 200 is configured by combining a first CPU 202 that controls the extension and retraction control and deployment and storage control of the side booms 10, 10, a second CPU 203 that processes signal information obtained from the receiving antenna 140, and a third CPU 204 that determines whether the side booms 10, 10 are in a spraying state or a non-spraying state and controls the coloring of the spraying record application 201.

[0105] As described above, by distributing different controls to multiple CPUs, each CPU only bears the load of its own control processing, and since multiple controls are executed in parallel, the aircraft's actions in response to the controls are performed accurately.

[0106] However, each of the CPUs 202-204 mentioned above may not perform single tasks, but rather perform parallel processing depending on the situation.

[0107] Furthermore, when one of the left or right side booms 10, 10 is extended and spraying is stopped, the first CPU 202 can grasp the posture of the side boom 10, and the third CPU 204 can determine whether spraying is being performed. This prevents the spraying record application 201 from coloring and recording areas where spraying has not been performed. This increases the reliability of the spraying record.

[0108] In the above example, when the side boom 10 is determined to be in a non-spraying state, the spraying record application 201 is not colored in that area. However, it is also possible to color it with a different color to indicate that it is in a non-spraying state.

[0109] Furthermore, the satellites that the receiving antenna 140 communicates with should be GNSS, GLONAS, Michibiki, etc., which allow for stable reception of satellite signals at the work site. An IMU or similar device may be installed near the receiving antenna 140 or at another location on the vehicle body 1 to allow for control of operations other than chemical spraying.

[0110] Furthermore, in order to improve reception accuracy, it is desirable to install the receiving antenna 140 as high as possible on the upper part of the vehicle body 1. If a cabin is provided to surround the seat 8, the receiving antenna 140 should be installed on the roof of this cabin and near the center in the left-right direction of the vehicle. If a locating device is provided behind the seat 8, the receiving antenna 140 should be installed on top of the locating device and near the center in the left-right direction of the vehicle. At this time, there is a certain distance between the receiving antenna 140 and the side boom 10 in the front-rear direction, so if accuracy is to be further improved, the control device 200 should be made to correct the front-rear distance between the receiving antenna 140 and the side boom 10.

[0111] To minimize the front-to-rear distance between the side boom 10 and the receiving antenna 140, the antenna pole can be erected with the antenna protruding upward from the bonnet 4, or an antenna frame can be provided that straddles the bonnet 4.

[0112] Alternatively, as shown in Figures 1 and 2, a receiving antenna 140 that provides high reception accuracy even at a low position may be attached to the surface of the bonnet 4. In either case, if the receiving antenna 140 is placed near the center of the left and right sides of the aircraft, it is possible to achieve a nearly equal distance between it and either of the left and right side booms 10, 10, thereby preventing bias in position detection accuracy.

[0113] Furthermore, a steering potentiometer 141 is provided to detect the amount of operation of the steering handle 6 of the vehicle body 1. When an amount of operation is detected that can be considered as causing the vehicle body 1 to turn by operating the steering handle 6, the control device 200 determines whether the left or right side is outward in the direction of the turn.

[0114] Furthermore, when the handle potentiometer 141 detects an amount of operation that can be considered as a slewing operation, the control device 200 retracts the boom rotation cylinder 109 of the side boom 10 corresponding to the outward side in the slewing direction, switching the side boom 10 to an upward tilted position toward the outward side in the slewing direction. This prevents the outward side boom 10 from contacting and being damaged by the slope or wall at the edge of the furrow.

[0115] Furthermore, depending on the planting arrangement of crops near the turning position at the edge of the field, the automatic shut-off button during turning may be operated to stop the supply of chemicals to the left and right side booms 10, 10 and the front boom 110 during turning, or the spraying of chemicals from the left and right side booms 10, 10 and the front boom 110 may be arbitrarily turned off.

[0116] With the above configuration, under working conditions where it is necessary to spray pesticides while turning, sufficient pesticides can be supplied to crops near the turning position, preventing them from being affected by pests and diseases due to pesticide shortages.

[0117] On the other hand, if there are no crops near the turning position, the supply of pesticides can be stopped, thus reducing pesticide consumption and lowering agricultural costs.

[0118] The control device 200 records the left-right width of the vehicle body 1 and the length of the base boom 101 when it is extended to the side of the vehicle. The distance from the left-right center position of the vehicle body where the receiving antenna 140 is mounted to the outer end of the base boom 101 is output as a constant value. If the mounting position of the receiving antenna 140 and the outer end of the extended base boom 101 are offset in the front-rear direction of the vehicle, a correction value using trigonometric functions shall be applied.

[0119] Furthermore, although the left-right position of the mobile boom 103 fluctuates with the amount of extension and retraction, the mounting distance between the spray nozzles 130, the so-called nozzle pitch P, is always set to 30 cm, and this 30 cm is used as one unit detected by the rotary encoder 108, allowing the control device 200 to calculate the current amount of extension and retraction.

[0120] After the above-described turning travel control, when it is determined that the next work condition has been reached, as shown in Figure 27, that is, when the detected value of the handle potentiometer 141 can be considered as a non-turning operation, the control device 200 calculates the extension and retraction amount of the outer end of the side boom 10 on the turning side, i.e., the moving boom 103, which is calculated from the position coordinates currently received via the receiving antenna 140 and the detected value of the rotary encoder 108 on the side that was located on the turning side during turning travel.

[0121] Then, the difference in the left-right direction between the end position of the adjacent row where the chemical spraying work was previously performed, corresponding to the acquired current position coordinates, and the center position in a plan view of the continuously spraying nozzle 130 located on the outermost part of the current moving boom 103 is calculated. Based on the calculated difference, the boom extension motor 106 is activated, and the operation of the boom extension motor 106 is stopped in accordance with the detection by the rotary encoder 108.

[0122] As shown in Figure 28, when the continuously spraying nozzle 130, which is located at the outer end of the mobile boom 103, is located within the width of the current work row and does not extend into the adjacent row, the control device 200 extends the mobile boom 103 toward the adjacent row by the nozzle pitch P, i.e., 300 mm, at regular intervals.

[0123] Then, as shown in Figure 30, if the detection value indicates that the continuously spraying nozzle 130 is positioned above the adjacent row beyond its end EX, that is, if it is calculated that the spraying range of the continuously spraying nozzle 130 extends 150 mm or more into the end EX of the adjacent row, the control device 200 calculates the distance X between the center of the continuously spraying nozzle 130 and the recorded end position of the adjacent row. If this distance X is 150 mm or more, the control device 200 stops the boom extension motor 106 because it has adequately secured an overlapping spraying position for one continuously spraying nozzle 130 in the adjacent row.

[0124] Furthermore, if the boom extension motor 106 continues to operate due to inertia even after being stopped, the system may be configured to emit a stop signal for the boom extension motor 106 approximately 20-30 mm before reaching its destination (this value may vary depending on factors such as the motor's performance and the structure of the boom extension mechanism).

[0125] On the other hand, as shown in Figure 29, when the separation distance X is less than 150 mm, the spraying range of approximately 300 mm, which is the size of one spray nozzle 130, does not fully cover the adjacent row. Therefore, in order to ensure that it covers the entire area, the boom extension motor 106 is activated to move the nozzle by one nozzle pitch P, i.e., 300 mm.

[0126] For each position coordinate that matches the position coordinate obtained from the adjacent row, the boom position is calculated as described above. The boom extension motor 106 is not operated as long as the spraying range of approximately 300 mm, which is the size of one spray nozzle 130, is within the adjacent row. However, if it is detected that the spraying range of the outermost spray nozzle 130 extends from the end of the adjacent row into the current work area, the boom extension motor 106 is activated to move the boom 103, which moves 300 mm + distance X, towards the adjacent row.

[0127] Furthermore, since position coordinates are often acquired multiple times in a short period of time, calculating the boom spraying range each time would place a heavy load on the control device 200. Additionally, if extension signals are continuously transmitted, the mobile boom 103 of the side boom 10 repeatedly extends and retracts in a short period of time, which could prevent the continuously spraying nozzle 130 from remaining in the appropriate spraying position. Therefore, if the comparison of position information between adjacent rows and the current work row is performed at predetermined intervals or after passing a predetermined number of points, the calculation frequency of the control device 200 will be reduced, alleviating the load. Moreover, the mobile boom 103 can be kept in a position where the outermost continuously spraying nozzle 130 can spray chemicals in the appropriate location, enabling the supply of a sufficient amount of chemical to overlapping spraying locations.

[0128] Alternatively, the control device 200 may be configured to calculate the difference in coordinates between at least two points in the left-right direction caused by the lateral displacement of the vehicle body 1, and if the difference in coordinates exceeds an acceptable range, even if the number of points is within a predetermined time or within a predetermined value, the control device 200 may send an operation signal to the boom extension motor 106.

[0129] With the above configuration, the pesticide can be automatically sprayed in overlapping manner near the ends of adjacent rows. As a result, the pesticide is supplied in the same way as other on / off nozzles 120s, continuously spraying nozzles 130s, or in places where an on / off nozzle 120 and a continuously spraying nozzle 130 are adjacent to each other. This prevents the crop from being affected by pests and diseases due to a shortage of pesticide, which can lead to a decrease in commercial value and yield.

[0130] Further details about the spraying record application 201 will be provided below.

[0131] As shown in Figure 24, the base booms 101 of the left and right side booms 10 and the front boom 110 are provided with left and right side spray switches 301L, 301R and a center spray switch 302, which are used to determine whether or not the device is in a state to spray chemicals.

[0132] As shown in Figure 32, the on / off determination of these side spray switches 301L, 301R and center spray switch 302 is determined by whether or not a signal is sent to the third CPU 204. This third CPU 204 then replaces the area corresponding to the location where spraying has been determined to be on, as shown in Figure 31, with a specified color and line on the virtual map FM recorded in the spraying record application 201.

[0133] This replacement is performed in real time as the vehicle body 1 moves forward, so if the operator is watching the display, it will appear as if the screen is being repainted; therefore, the replacement can also be described as coloring. At this time, in order to make the coloring in real time in conjunction with the forward movement of the vehicle body 1, the signal information acquired from the receiving antenna 140 is processed by the second CPU 203, and the range to be colored is changed in association with the on / off switching of the left and right side spray switches 301L, 301R and the center spray switch 302 each time the signal is acquired.

[0134] Furthermore, since the amount of extension of the mobile boom 103, which constitutes the side booms 10, 10, differs depending on the settings and extension / retraction control, the current extension / retraction amount of the mobile boom 103 input to the first CPU 202 is transmitted to the third CPU 204, and the colored range indicating spraying work in the left-right direction of the machine is increased or decreased.

[0135] When the rotary encoder 108 is used to detect the extension and retraction amount of the mobile boom 103, the first CPU 202 determines the current protrusion amount based on the rotational speed detected by the rotary encoder 108. For example, if the distance between adjacent opening and closing nozzles 120 is defined as the nozzle pitch P (e.g., 300 mm), and one rotation detected by the rotary encoder 108 is defined as the same distance as the nozzle pitch P, the protrusion amount can be calculated from the rotational speed.

[0136] The third CPU 204 then expands or contracts the colored range in accordance with the rotational speed detected by the rotary encoder 108. The rotational speed detected by the rotary encoder 108 when the mobile boom 103 is not extended at all, in other words, when it is fully retracted, is set to 0. By adding this rotational speed, the amount of extension of the mobile boom 103 and the corresponding colored range can be determined.

[0137] When using lasers or ultrasound for detection, the distance is calculated from the time required for reflection, and the first CPU 202 determines the most approximate protrusion amount.

[0138] With the above configuration, the field work map FM can be colored according to the actual pesticide application work, making it easier to visually determine how the pesticide application work was carried out in the field. For example, if there are many uncolored areas, it becomes easier to determine that there is some problem with the extension control settings of the side booms 10,10 or the operation of the vehicle body 1, as well as where the effects of pesticide shortage are likely to occur, making it easier to plan subsequent work and countermeasures.

[0139] On the other hand, when the side booms 10,10 are extended and retracted to intentionally create overlapping spray positions with adjacent rows, it becomes easier to visually determine whether the width of the overlapping spray position is appropriate, making it easier to identify areas for improvement in the pesticide spraying operation.

[0140] Furthermore, as shown in Figures 26 and 31, the overlapping areas can be made clearer by changing the intensity of the color used (e.g., making it darker) or by adding shading lines, which will make it easier to understand the work content.

[0141] The side booms 10, 10 described above may result in uneven operation and boom posture on the left and right sides, such as automatically raising the outer side during rotation or stopping spraying on one side near the edge of the field. Therefore, if the automatic extension control is to operate continuously, it will place an unnecessary operating load on the boom extension motor 106 and may cause the mobile boom 103 to come into contact with walls or other objects at the edge of the field, leading to damage.

[0142] To prevent this, as shown in Figures 24 and 33, the control device 200 (first CPU 202) is configured to allow automatic extension and retraction control when the electromagnetic clutch 205 that switches the chemical pump 9a on and off is on, one of the side spray switches 301L, 301R and the center spray switch 302 is ON, and the detection angle of the boom potentiometer 206 that detects the inclination angle of the side boom 10 is less than 20 degrees (when the maximum lowering is considered 0 degrees; when the maximum raising is considered 0 degrees, it is 70 degrees or more). The condition also includes the fact that the operator has turned on the automatic extension and retraction control switch 303.

[0143] The angle of the boom potentiometer 206 described above should be based on the range in which it can be moved up and down while considering crop growth and field shape during pesticide application. Making it adjustable will make it easier to adapt to changes in working conditions.

[0144] There are situations where, for the purpose of explaining to workers or conducting simulations, chemicals are not sprayed, but the automatic extension and retraction control of the side boom 10 is desired. In this case, as shown in Figure 34, when the simulation switch 304 on the control unit 5 is turned on, the control device 200 is configured to allow automatic extension and retraction control even if the electromagnetic clutch 205 is off, as long as any of the side spray switches 301L, 301R and the center spray switch 302 are ON, and the detection angle of the boom potentiometer 206 that detects the tilt angle of the side boom 10 is less than 20 degrees.

[0145] This allows workers to visually observe or feel the behavior of the automatic extension control without consuming any chemicals, making it easier to determine whether the automatic extension control is functioning correctly during chemical spraying.

[0146] Therefore, abnormalities in the control system can be detected early, reducing unnecessary consumption of chemicals and preventing shortages in certain areas. In addition, the operator can concentrate on controlling the vehicle 1, making it easier to drive straight and turn at appropriate positions.

[0147] Furthermore, depending on the working conditions, there may be situations where it is desirable to activate the boom extension motor 106 before the detection angle of the boom potentiometer 206 falls below 20 degrees while the side boom 10 is rotating outward, thereby automatically extending and retracting the mobile boom 103.

[0148] To enable automatic extension and retraction control even when the basic conditions for automatic extension and retraction control are not met, a manual control switch 305 is provided on the control unit 5, as shown in Figures 1, 2, and 24. When this manual control switch 305 is operated, the boom extension and retraction motor 106 operates without delay, and automatic extension and retraction control of the mobile boom 103 begins. After operating the manual control switch 305, even if the user releases the switch 305, the control device 200 continues automatic extension and retraction control until the conditions for stopping automatic extension and retraction are met again.

[0149] This allows the mobile boom 103 to extend and retract even when the side boom 10 is in a downward motion, such as at the end of a turning maneuver, thus ensuring that the spraying width of the side boom 10 corresponding to the work position is secured.

[0150] Furthermore, as shown in Figures 26 and 31, the appropriate spraying area can be colored on the field work map FM, which reduces the discrepancy between the acquired work data and the actual work, thereby improving the accuracy of the work data.

[0151] On the other hand, when the side boom 10 is rotated toward the vehicle body 1, there may be situations where it is desirable to activate the boom extension motor 106 and automatically extend or retract the mobile boom 103 even if the detection angle of the boom potentiometer 206 exceeds 20 degrees.

[0152] In this configuration, the manual control switch 305 is configured as a toggle switch or the like, so that automatic extension and retraction control continues not only when descending but also when ascending.

[0153] When the manual control switch 305 is operated during the raising operation, the boom extension motor 106 is activated without delay, and automatic extension control of the mobile boom 103 is started. However, when the side boom 10 is rotated toward the vehicle body 1, the spraying operation is finished, so when the manual control switch 305 is released, the system should be configured to either perform an extension or retraction movement of one nozzle pitch P, or stop the automatic extension and retraction control after a predetermined time has elapsed. Furthermore, if the side boom 10 rises to an angle where spraying is no longer possible, the boom extension motor 106 should stop operating after performing an extension or retraction movement of one nozzle pitch P, even if the control is still in progress.

[0154] The manual control switches 305 described above may be provided separately on the control unit 5, as shown in Figure 35(a), to allow separate operation of the left boom extension motor 106 and the right boom extension motor 106. On the other hand, since the situation in which the side boom 10 extends or retracts beyond a predetermined angle basically occurs only on either the left or right side, as shown in Figure 35(b), if there is only one manual control switch 305 and the side of the side boom 10 that is moving up or down is automatically controlled to extend or retract, the wiring of harnesses and the like can be simplified.

[0155] The left and right side booms 10, 10 described above are deployed for spraying when rotated downward toward the outside of the machine body, and retracted when rotated upward toward the vehicle body 1 to prevent spraying. This operation can be performed by rotating the booms to the predetermined positions using the boom raising and lowering operation switches 306, 306, but to allow the operator to concentrate on other tasks, left and right deployment switches 307, 307 and left and right retraction switches 308, 308 may be provided on the control unit 5.

[0156] One possible working condition is that when one of the side booms 10 is in the retracted state, and the other side boom 10 is in the extended state and under automatic extension / retraction control, the retracted side boom 10 is also extended to perform the spraying operation.

[0157] When the deployment switch 307 is operated, the corresponding side boom 10 is rotated downward. The control device 200 interrupts the automatic extension and retraction control during descent and activates a notification device 309, such as a buzzer, to indicate that descent is in progress. After descent is complete, the notification device 309 is activated in a different pattern than during descent after a predetermined time (e.g., 3 seconds) has elapsed, and the automatic extension and retraction control of the left and right side booms 10, 10 is resumed after the notification device 309 stops.

[0158] On the other hand, when the storage switch 308 is operated, the corresponding side boom 10 is rotated upward. The control device 200 interrupts the automatic extension and retraction control while the boom is rising and activates a notification device 309, such as a buzzer, to indicate that it is rising. Once the rise is complete, the notification device 309 is activated in a different pattern than when it was rising after a predetermined time (e.g., 3 seconds) has elapsed, and after the notification device 309 stops, the automatic extension and retraction control of the side boom 10 on the deployed side is resumed.

[0159] This notifies the operator that the side boom 10 has finished switching to the deployed or retracted state and that automatic extension / retraction control has resumed, thus preventing the operator from performing unnecessary automatic extension / retraction control.

[0160] Furthermore, if the deployment switch 307 and the storage switch 308 are operated incorrectly, problems may occur such as chemicals being sprayed in areas where work is not needed, chemicals not being sprayed in areas where spraying is needed, or the side boom 10 coming into contact with an obstacle and being damaged.

[0161] To prevent this, the deployment switch 307 and the retraction switch 308 may be configured to react only when pressed for a predetermined time (e.g., 1 second) or longer. This reduces responsiveness, but prevents damage to the side boom 10 and improper supply of chemicals.

[0162] The manual control switch 305 is designed to allow switching the operation of the mobile boom 103, i.e., the operation of the boom extension motor 106, even when the side boom 10 is not being raised or lowered, with priority over the control of the control device 200.

[0163] When the manual control switch 305 is operated to extend or retract the boom, the control device 200 interrupts the automatic extension / retraction control and operates the boom extension / retraction motor 106 in accordance with the amount or duration of operation of the manual control switch 305. When the manual control switch 305 is no longer operated, the notification device 309 is activated after a predetermined time (e.g., 3 seconds), and the automatic extension / retraction control of the side boom 10 is resumed after the notification device 309 stops.

[0164] This prevents interference with the automatic extension / retraction control when manually adjusting the extension amount of the side boom 10, allowing for smooth extension / retraction operations and enabling the spraying of chemicals over an appropriate range.

[0165] Furthermore, after adjusting the protrusion amount, the automatic extension control is automatically restarted, and the restart is notified by the notification device 309, eliminating the need to reset the automatic extension control and improving work efficiency.

[0166] As described above, the movable boom 103 that constitutes the side boom 10 opens the opening and closing nozzles 120 of the fixed boom 101 one by one from the end when it extends and retracts, so there is no point in stopping the extension and retraction between nozzle pitches P, and it is desirable that the automatic extension and retraction control program basically be set to the nozzle pitch P unit, for example 300 mm as one section of movement. In addition, each opening and closing nozzle 120 is provided with a nozzle sensor 310 that detects the open or closed state, and the first CPU 202 is configured to determine which section is in the open state by detecting the nozzle sensor 310.

[0167] While the current section can be roughly determined from the rotation speed detected by the rotary encoder 108, the opening and closing nozzle 120's switching cock 124 stops extending and retracting midway between the open and closed positions when the moving boom 103 is not fully extended. Therefore, there is a possibility of misjudging the section, and it is advisable to use this only as a supplement.

[0168] Based on the position information acquired by the second CPU 203, in accordance with the section determination made by the first CPU 202 as described above, the second CPU 203 determines how many sections the boom extension motor 106 should be operated in the extension or retraction direction.

[0169] As shown in Figure 37, the first CPU 202 of the control device 200 determines that the mobile boom 103 is in its most retracted position when the section information is section 0, and when a signal to move to section 0 is sent, it operates the boom extension motor 106 in the retraction direction until the mobile boom 103 reaches section 0, regardless of which section it is currently in. A retraction detection switch 311 is provided at the inner end of the mobile boom 103, which is compressed and detected when it moves to its maximum retracted position. When this retraction detection switch 311 detects a signal, the boom extension motor 106 is stopped.

[0170] The signal to move to section 0 is transmitted, for example, when the manual control switch 305 is operated continuously or when the storage switch 308 is pressed and held down.

[0171] Furthermore, even if section information is not transmitted to the control device 200 and power can be supplied to the boom retraction motor 106, the boom extension motor 106 may be operated to move to section 0. In this case, the control device 200 will operate the notification device 309 in a pattern that notifies of a malfunction, or display the malfunction of the side boom 10 on an LCD panel or tablet, etc.

[0172] As a result of the above, the left and right lengths of the side boom 10 can be shortened to the maximum extent possible, preventing the side boom 10 from being damaged by contact with its surroundings when stored.

[0173] Furthermore, if section determination is not possible, the side boom 10 is automatically retracted to its maximum extent, preventing the side boom 10 from coming into contact with an obstacle and being damaged, and preventing chemicals from being continuously sprayed in areas where spraying is not necessary.

[0174] Contrary to the above, if signals from some sections are interrupted but signals from other sections continue to be transmitted, it is highly likely that the nozzle sensor 310 is partially malfunctioning or experiencing false detection. In such cases, the boom extension motor 106 is configured to extend or retract so that the mobile boom 103 moves to the outermost section from which a signal is being transmitted.

[0175] This allows the side boom 10 to continue extending and retracting with the position where the signal is being transmitted normally as the outermost point, preventing the vehicle 1 from traveling without the chemical being supplied to the area where spraying is required. As a result, the separate supply of chemicals becomes unnecessary, reducing working time and labor.

[0176] When the control device 200's third CPU 204 is unable to send a signal to the boom extension motor 106 due to a broken wire in the harness or the like, or when it is unable to exchange signals with the nozzle sensor 310, it continues to color the field work map FM according to the previously colored range until the operator stops the vehicle 1 from moving or turns off the automatic extension control.

[0177] This allows for the coloring of the work area on the field work map FM even if a part of the machine malfunctions, making it possible to record spraying work information. In particular, it makes it easier to identify the location of the malfunction as being beyond the point where the side boom 10 stops extending or retracting. [Industrial applicability]

[0178] This invention is ideal for a spraying machine for chemicals and other substances, equipped with an extendable side boom for spraying chemicals onto a field. [Explanation of symbols]

[0179] 1. Running vehicle 6. Steering handle (steering component) 10. Side boom (liquid spraying device) 101 Base boom (base-side spraying device) 102 Slide plate (sliding support member) 103 Mobile boom (sliding spraying device) 106 Boom extension motor (sliding actuator) 108 Rotary encoder (sliding amount detection member) 110 Front boom (central spraying device) 112 Spray switching pin (switching component) 120 Opening / closing nozzle (discharge device) 121 Opening / closing nozzle base (liquid discharge member) 123 Switching pivot shaft (rotating pin) 124 Switching valve (discharge switching arm) 130 Continuous spray nozzle (continuous discharge device) 141 Steering potentiometer (steering detection component) 200 Control device 204 Third CPU (Recording Device) 301L Side spray switch (left-side spray switching component) 301R Side spray switch (right-side spray switching component) 302 Center spray switch (central spray switching component) 305 Manual control switch (manual extension / retraction member) 307 Storage Switch 308 Deployment Switch 310 Nozzle sensor (open / close detection member)

Claims

1. In a spraying machine, a liquid spraying device (10, 10) for spraying liquid is provided on the side of the traveling vehicle body (1), and the liquid spraying device (10, 10) is equipped with a discharge device (120) for turning the discharge of liquid on and off at predetermined intervals, and the liquid spraying device (10, 10) is extendable and retractable, The discharge device (120) is configured to be switched to an open state sequentially from the base side by the extension of the liquid spraying devices (10, 10) and to be switched to a closed state sequentially from the end side by the contraction of the liquid spraying devices (10, 10), and an open / close detection member (310) for detecting the open and closed states of the discharge device (120) is provided on each discharge device (120). The liquid dispensing device (10, 10) consists of a central dispensing device (110) that supplies liquid across the left and right sides of the front of the vehicle body (1), and a left-side dispensing device (10) and a right-side dispensing device (10) that are rotatable and extendable on the left and right sides of the vehicle body (1), respectively. A central spraying switching member (302), a left-side spraying switching member (301L), and a right-side spraying switching member (301R) are provided to switch the supply of liquid to the central spraying device (110), the left-side spraying device (10), and the right-side spraying device (10), respectively. A recording device (204) for recording the locations where the liquid agent has been sprayed by the liquid agent spraying device (10, 10) is provided in the control device (200). When the central spraying switching member (302) is in the ON state, the control device (200) causes the recording device (204) to record the operation of the central spraying device (110). When the left-side spraying switching member (301L) is in the "on" state and the open / close detection member (310) of the left-side spraying device (10) detects that it is in the "open" state, the operation of the left-side spraying device (10) is recorded in the recording device (204), A spraying machine characterized in that, when the right-side spraying switching member (10) is in the "on" state and the open / close detection member (310) of the right-side spraying device (10) detects that it is in the "open" state, the operation of the right-side spraying device (10) is recorded in the recording device (204).

2. The left-side spraying device (10) and the right-side spraying device (10) are each provided to be able to move up and down. A steering member (6) is provided for steering and turning operations of the vehicle body (1), and a steering detection member (141) is provided for detecting the amount of operation of the steering member (6). When the steering detection member (141) detects a turning operation of the steering member (6), the control device (200) is configured to raise the left-side spraying device (10) and the right-side spraying device (10) that are located on the outside of the turn until the turn is completed. The spraying machine according to claim 1, characterized in that when the left-side spraying device (10) or the right-side spraying device (10) starts to rise, the extension control is interrupted, and when the left-side spraying device (10) or the right-side spraying device (10) starts to descend at the end of the turn, the extension control is performed.

3. The control device (200) is instructed to record a program for automatically extending and retracting the left-side spraying device (10) and the right-side spraying device (10), A manual telescopic member (305) is provided to manually extend and retract the left-side spraying device (10) and the right-side spraying device (10), respectively. The spraying machine according to claim 1 or 2, characterized in that when the manual telescopic member (305) is operated to extend or retract the left-side spraying device (10) and the right-side spraying device (10), the control device (200) does not perform automatic extension or retraction control of the left-side spraying device (10) and the right-side spraying device (10) until a recorded set time has elapsed.

4. The left-side spraying device (10) and the right-side spraying device (10) are configured to be switchable between a retracted state and an extended state, Storage switches (307, 307) are provided to switch the left-side spraying device (10) and the right-side spraying device (10), which are in an extended state, to a retracted state, Deployment switches (308, 308) are provided to switch the left-side spraying device (10) and the right-side spraying device (10), which are in a stored state, to an unfolded state, respectively. When the left-side spraying device (10) and the right-side spraying device (10) are under automatic extension / retraction control, the control device (200) stops the automatic extension / retraction control of the corresponding left-side spraying device (10) or right-side spraying device (10) and switches to the retracted state when the storage switch (307, 307) is operated for a predetermined time or longer. The spraying machine according to claim 3, characterized in that when the deployment switch (308, 308) is operated for a predetermined time or longer, the corresponding left-side spraying device (10) or right-side spraying device (10) is switched to the deployed state, and automatic extension and retraction control is started after the predetermined time has elapsed.

5. The liquid dispensing device (10) comprises a base-side dispensing device (101) rotatably mounted on the vehicle body (1), and a sliding dispensing device (103) that slides along the base-side dispensing device (101). A switching member (112) is provided that slides together with the sliding dispensing device (103) to switch between the open and closed states of the discharge device (120). The discharge device (120) consists of a liquid discharge member (121) that discharges liquid from the base-side spraying device (101) and the sliding spraying device (103), and a discharge switching arm (124) that contacts the switching member (112) to switch between the open and closed states of the liquid discharge member (121). The base-side spraying device (101) is provided with a sliding support member (102) that slides along the base-side spraying device (101) and supports the sliding spraying device (103), and a sliding actuator (106) is provided on the base-side spraying device (101) that moves the sliding support member (102) in the extension or contraction direction. A spraying machine according to any one of claims 1 to 4, characterized in that a sliding amount detection member (108) is provided to calculate the amount of sliding of the sliding spraying device (103), and the control device (200) turns the sliding actuator (106) on and off based on the detected value of the sliding amount detection member (108).

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