JPH03181358A - Unmanned traveling control mechanism - Google Patents

Abstract

PURPOSE:To remote-control a control machine by stopping the machine when a pressure drop in a main hose is detected by a hose internal pressure sensor switch and providing a remote-controllable manual chemical stop valve on the power atomizer side. CONSTITUTION:The machine is traveled while drawing a main hose 5 wound on a hose winding reel 1 into a passing groove and spraying a chemical, abutted on a sensor check rod at the end of the groove, and traveled backward. A hose internal pressure sensor switch 31 for detecting the pressure of the main hose 5 is provided on the traveling device side, and the machine is stopped when a pressure drop in the main hose 5 is detected by the switch 31. A manual chemical stop valve capable of being remote-controlled is furnished on the power atomizer side. Consequently, an electrical remote-control mechanism such as radio control and cable control can be dispensed with, and the main hose 5 is used as a remote-control circuit, and the unmanned traveling control mechanism is remote-controlled.

Description

DETAILED DESCRIPTION OF THE INVENTION (a) Field of Industrial Application The present invention relates to a pest control device that sprays a disinfectant to exterminate diseases occurring in crops in garden greenhouses and pests breeding within the greenhouse.

(B) Prior Art Conventional technology has been known in the art, in which a chemical tank, a power sprayer, and a spray nozzle are mounted on a traveling device, and the vehicle travels unmanned while automatically detecting the position of the groove between crops. .

(c) Problems to be solved by the invention However, in the above-mentioned conventional technology, since the capacity of the drug tank mounted on the traveling device is limited, it is necessary to replenish the drug tank with drugs each time. Moreover, since the vehicle is completely unmanned and automatically steers using a steering sensor, there was a problem in that it was difficult to issue a command to return the unmanned vehicle prevention device when the vehicle stopped running due to an accident.

In order to solve the above-mentioned problems, the present invention has been developed by pulling out the main hose and placing it in the passage groove before spraying forward, and when it comes into contact with the sensor contact rod at the end of the passage groove, it moves backward and starts spraying. This is an unmanned running pest control mechanism that returns to the position shown in the figure.

In such an unmanned driving prevention mechanism, in order to stop the vehicle from running in the event of an emergency, the operator had to enter the house, approach the moving vehicle, and operate the stop switch.

Additionally, although it is possible to remotely control the aircraft using a wireless or wired mechanism, this has the disadvantage of being expensive.

The present invention is not an electrical remote control, but since the main hose 5 that connects the operator outside the house and the aircraft exists from the beginning, remote control is possible by using the drug in the main hose as a signal transmission medium. This is what I did.

In addition, in an emergency, if the machine is stopped inside the greenhouse, the residual pressure in the main hose may cause the chemical solution to drip from the nozzle, which may have a negative impact on the growth of crops. The system was configured to immediately stop spraying the chemical solution using the spray switching solenoid valve.

(d) Means for Solving the Problems The problems to be solved by the present invention are as described above, and the means for solving them will now be explained.

In this configuration, the main hose 5 wound on the hose take-up reel L is drawn out into the passage groove U while spraying travels, contacts the sensor abutting rod X at the end of the passage groove U, switches to reverse travel, and returns. A hose internal pressure sensor switch 31 for detecting the pressure of the main hose 5 is provided on the traveling device side, and when the hose internal pressure sensor switch 31 detects a decrease in pressure within the main hose 5, the aircraft is configured to stop traveling. , a manual chemical stop valve 43 is provided on the power sprayer P side to enable remote control.

Furthermore, when the machine is stopped by the hose internal pressure sensor switch 31, a spray switching solenoid valve 22 is provided that automatically stops the chemical liquid circuit in order to stop spraying from the nozzle 14 due to the residual pressure in the main hose 5. It is.

(E) Embodiment The problems to be solved by the present invention and the means for solving them are as described above.Next, the structure of the embodiment shown in the attached drawings will be explained.

FIG. 1 is a rear view of a gardening house during pest control by an unmanned pest control mechanism, FIG. 2 is a perspective view of the same, and FIG. 3 is a perspective view showing the overall configuration of the unmanned pest control mechanism.

Recently, there has been a strong desire to eat vegetables and fruits that are out of season, and most fresh vegetables and fruits are grown in garden greenhouses.

However, when forcing cultivation in a garden greenhouse, a high temperature and humidity atmosphere is forcibly created and cultivation is carried out in that environment, so the incidence of diseases is higher than when cultivation is done outdoors, and there are also pests. The growth rate is also faster than in the open field.

Therefore, it is necessary to perform pest control several times more often than in the case of normal outdoor cultivation.

In addition, dense cultivation is carried out in gardening areas, so
-The amount of chemical solution sprayed at each time is large, and in order to obtain sufficient efficacy against diseases and pests, a larger amount than the normal spray amount and highly toxic chemicals must be used. .

In addition to these adverse conditions, gardening greenhouses have an airtight structure, so if the operator carries out pest control work by walking back and forth inside the gardening greenhouse while holding the spray nozzle, the operator may be exposed to the chemicals in a single spraying operation. The problem was that he became ill as a result.

In order to eliminate such dangerous work, the operator is required to be outside the gardening house and be able to reliably and uniformly spray chemicals throughout the gardening house in an unattended condition.

The unmanned running pest control mechanism of the present invention is configured to achieve such an objective.

That is, ridges are created in the gardening house H, and the crops Y are grown in rows. A passage groove U is provided between the crops Y and Y, and the side of the unmanned running control a of the present invention is this passage groove U.
It travels back and forth.

The traveling mechanism is supported by four wheels, front wheels 3.3 and rear wheels 4.4, and is of a four-wheel drive type that drives both of the four wheels.

When the unmanned pest control device travels and reaches the end of the gardening house H, it is necessary to travel backwards, and the sensor contact rod
is erected at the end of the passage groove U.

Further, there is provided a nozzle support rod 12 which stands upright from the traveling mechanism and has a nozzle 14 attached thereto.

As shown in FIG. 3, a plurality of nozzles 14 are attached to the nozzle support rod 12, and a nozzle touch sensor 1 that detects when there is a fall or overgrown crop Y, etc.
3 project from the nozzle support rod 12 to the left and right.

Further, the entire outer periphery of the unmanned running pest control mechanism is covered with a body cover 1), and a transparent dome 10 protrudes from the upper part to cover the part from which the hose take-up reel 1 protrudes.

In addition, when the sensor contacting rod X reaches the end of the passage groove U in which the sensor contacting rod is erected and starts to move backwards accurately, a bag is installed to notify the operator outside the gardening house H that it has started moving backwards. A light 9 is arranged on the rear surface.

A hose winding limit stopper 18 and a hose connecting fitting 44 are attached to the end of the main hose 5 that is fed out rearward from the unmanned running pest control mechanism, and the hose connecting fitting 44 is fixed to a hose fixing stake 39. It can be attached with a hose connection fitting 40 and one-touch. Further, a manual chemical stop valve 43 is disposed on the auxiliary hose 42 between the power sprayer P and the hose connection fitting 40.

The power sprayer P is driven by the engine E, and pressure-feeds the liquid from the drug tank 41 and supplies it to the main hose 5 from the sub-hose 42.

FIG. 4 is a side sectional view of the unmanned running pest control device of the present invention, and FIG.
The figure is an enlarged plan view of the forward movement sensor 2 and the backward movement sensor 7.

In FIG. 4, the hose take-up reel 1 is inserted between the front wheels 3, 3 and the rear wheels 4, 4 so as to be lower than the outer peripheries of the front and rear wheels.

For this reason, the drive motor M is disposed at the front, and the counter shaft 48 for transmitting power from the drive motor M to the hose take-up reel I is also located at a low position between the front wheels 3.3 and the rear wheels 4.4. It is located in

By arranging the counter shaft 48 at a low position and inserting the hose take-up reel 1 between the front wheels 3, 3 and the rear wheels 4, 4, the overall height of the unmanned running pest control mechanism can be reduced. It was.

A battery B is arranged at the front of the hose take-up reel 1, and a control box 21 and a hose alignment device 6 are arranged at the rear of the hose take-up reel 1.

The hose alignment device 6 has a gaiter threaded rod installed in the left-right direction, and when the piece in the threaded groove on the outer periphery of the gaiter threaded rod moves left and right, the main hose 5 is aligned with the hose take-up reel l. The positions are moved so that they are lined up left and right and wound up.

A single passage groove U is provided between the rear wheels 4, 4 and the hose alignment device 6.
Moving wheels 8 are provided for changing direction when moving to the next passage groove U after completion of the process.

The drive system from the drive motor M will be explained.

From the pulley 29 attached to the shaft of the drive motor M,
Power is transmitted to the front axle 16 of the front wheels 3 through a belt 28, and power is transmitted through the belt 27 from a pulley 29 to a slip clutch mechanism 47 on a counter shaft 48.

Further, power is transmitted from the counter shaft 48 to the rear wheel axle 17 of the rear wheels 4 through the belt 26.

Power is transmitted from the rear wheel axle 17 to the hose alignment device 6 via a chain.

Further, the winding speed is adjusted by a slip clutch mechanism 47 attached to the counter shaft 48. This is because as the main hose 5 is wound onto the hose take-up reel 1, the diameter of the hose take-up reel 1 becomes larger and the winding speed gradually becomes faster than the running speed. It is necessary to temporarily stop the winding in order to adjust the values.

Therefore, when the winding speed becomes faster than the running speed and the main hose 5 cannot be wound, the driving force for rotating the hose winding reel 1 from the drive motor M is slipped and released. counter shaft 48 so that
A slip clutch mechanism 47 is interposed above the clutch mechanism 47 so that the driving force can be caused to slip at this portion.

In addition, a pulley 46 with a one-way clutch is configured on the reel drive shaft 23 that drives the hose take-up reel l, and when the machine moves forward, the rotational force of the drive motor M is applied to the hose winding. The configuration is such that the driving force is not transmitted to the take-up reel 1, but is transmitted from the reel drive shaft 23 to the hose take-up reel 1 only when the machine moves backward.

This eliminates the need for a separate forward/reverse motor to drive the hose take-up reel 1.

The end of the main hose 5 is communicated with the reel drive shaft 23 , and the final hose 24 carries the chemical liquid under pressure from the reel drive shaft 23 to the hose internal pressure sensor switch 31 , the diverter valve 30 , and the spray switching solenoid valve 22 . supply

The nozzle support rod 12 protrudes from the body frame, and the nozzle support rod 12 is provided with a nozzle 14 facing left and right.

Further, a jet tube tuff sensor 13 is fixed to the jet port support rod 12 and protrudes from side to side.

An operating handle 19 protrudes from the upper rear end of the fuselage cover 1), and a reverse manual switch 20R is fixedly installed on one side of the operating handle 19, and a forward manual switch 2 is fixed on the other side.
0F is placed.

Next, in FIG. 5, forward movement sensor 2 and reverse movement sensor 7 are shown.
It is shown. The forward movement sensor 2 also serves as a front bumper, and the reverse movement sensor 7 also serves as a rear bumper.

A biasing spring 37 that constantly projects the forward movement sensor 2 forward is fitted around the guide rod 35, 3'5.
Further, a forward movement proximity switch 33 is arranged, which is activated when the forward movement sensor 2 is pushed against the biasing spring 37.

Similarly, a biasing spring 38 and a guide rod 36 are provided to constantly push the reverse sensor 7 backward, and a reverse proximity switch 34 is activated when the reverse sensor 7 is pushed.
is located.

FIG. 6 is a diagram of an electrical circuit related to the control box 21. As shown in FIG.

A battery meter 51, a pilot lamp 50, and a power switch 49 are arranged on the upper surface of the control box 21, and charging terminals 45, 45 for charging the battery B from a household power source are arranged.

Further, signals are transmitted from the control box 21 to the bank light 9, the drive motor M, the forward proximity switch 33, the backward proximity switch 34, and the jet pipe touch sensor 13.

FIG. 7 is a diagram showing a drug supply circuit.

The medicine sucked into the power sprayer P from the medicine tank 41 and subjected to pressure is supplied from the manual medicine stop valve 43 to the hose take-up reel l via the main hose 5. The hose is then sent from the passage in the reel drive shaft 23 of the hose take-up reel 1 to the final pipe 24, and a hose internal pressure sensor switch 31, a flow divider valve 30, and a spray switching solenoid valve 22 are interposed in the middle of the final pipe 24, and a nozzle A plurality of nozzles 1 provided on the support rod 12
Pressure chemical liquid is being sent to 4.

FIG. 8 is an electrical circuit diagram of the unmanned running prevention mechanism of the present invention, which includes a forward auxiliary timer 53, a reverse auxiliary timer 54, a reverse display timer 52, and an automatic start switch 57 in addition to the configuration explained in the previous drawings. It is located.

The vehicle travels through a passage groove U of about 40 am installed in a gardening house H or in an open field while following the steering by a following mechanism provided on the shafts of the front wheels 3.3 and rear wheels 4.4, and the curved passage groove The U also follows suit.

A forward movement sensor 2 provided at the front and a backward movement sensor 7 provided at the rear automatically switch between forward and backward movement at the edge of the ridge.

It is driven by a DC motor that rotates in forward and reverse directions using the power from battery B, so there is no noise even inside the gardening house H, and there is no worry about exhaust gas being generated. Furthermore, since the area around the machine body is covered with the machine body cover 1) and the transparent dome 10, the crops Y are less likely to be damaged.

In addition, the winding diameter of the hose winding reel 1 increases as winding of the main hose 5 progresses, and does not match the running speed. By releasing the driving force of the reel 1, winding can be performed at a winding speed that matches the traveling speed.

(f) Effect of invention Next, the operation based on the above configuration will be explained.

First, at the start of work, the drive motor M is not driven because the hose internal pressure sensor switch 31 is not turned on until the pressure within the main hose 5 rises to the appropriate spray pressure. On the other hand, if the power sprayer iP stops during work,
When the hose connection fitting 40 or the hose joint comes off, or when the manual chemical stop valve 43 stops supplying the medicine,
Even when the medicine tank 41 runs out of medicine, the hose internal pressure sensor switch 31 detects this and stops the machine on the spot.

When the machine is stopped due to a decrease in the pressure of the chemical solution, the spray switching solenoid valve 22 is switched to the stop side to stop the flow of the chemical solution so that the chemical solution does not drip from the nozzle 14 due to residual pressure. That's what I do.

Thereafter, when the stopped state of the chemical liquid is released and the pressure is restored to a certain level or higher, the emergency stop is canceled and the vehicle starts running.

The jet nozzle touch sensor 13 also stops when it detects that there is an obstacle that cannot be removed in the direction of travel, and the jet nozzle touch sensor 13 also stops when the aircraft overturns due to unevenness in the passing vnU. is detected and the aircraft is stopped.

Even when the machine is stopped by the jet pipe touch sensor 13 in this manner, the solenoid valve of the spray switching electromagnetic valve 22 is switched to stop spraying of the chemical solution.

The solenoid valve of the spray switching electromagnetic valve 22 is a solenoid valve that can switch between discharge on one side and discharge on both sides of the left and right nozzles 14.

Further, an opening/closing cock is provided inside the nozzle 14, and by opening and closing this cock, it is possible to switch between spraying on one side.

Also, when the forward movement sensor 2 comes into contact with the sensor contact rod X,
The drive motor M reverses and starts moving backwards.

Further, when the reverse sensor 7 comes into contact with the sensor abutment rod X, all functions of the machine stop and the machine also stops.

In addition, a forward auxiliary timer 53 is installed so that driving starts after a certain period of time has elapsed after pressing the forward manual switch 20F, and the reverse manual switch 20R and the forward sensor 2 are in contact with the sensor contact rod X. A reversing assist timer 54 is provided so that reversing is started only after a certain period of time (approximately 1 second) has elapsed.

This is forward manual switch 20F and reverse manual switch 20
If the drive motor M is reversed immediately after R is ONL, the aircraft may still be running inertia, and if you force the drive motor M to reverse against this inertia, the drive motor M will be overloaded. This is because it imposes a heavy load.

In addition, at the point where the unmanned running pest control mechanism has advanced through the passage groove U and reached the end, the root of the crop Y has become so close that it is impossible to determine whether it has contacted the sensor contacting rod X and started moving backwards normally. Since it may be dark, the hack light 9 is configured to turn on for a certain period of time set by the reverse display timer 52 after starting to reverse.

However, since the backlight 9 consumes a lot of power, it is configured so that it is only lit for a certain period of time (approximately 10 seconds) set by the backward display timer 52.

Further, when pressure is applied in the main hose 5 and the hose internal pressure sensor switch 31 is turned on, the automatic start switch 57 is operated to reciprocate while spraying in both forward and backward directions.

Hose internal pressure sensor switch 31 and automatic start switch 5
7 can be operated even if the order of operations is reversed.

Furthermore, when spraying is only carried out in forward motion, this setting allows the spray switching solenoid valve 22 to be opened only when moving forward, and closed when moving backward.

(G) Effects of the Invention Since the present invention is configured as described above, it has the following effects.

By configuring as claimed in claim (1), radio control,
It is now possible to remotely control the unmanned pest control mechanism by using the main hose 5 as a remote control circuit without providing an electrical remote control mechanism such as wired control.

Therefore, in an emergency such as when the chemical solution runs out or when the hose connection fitting 40 etc. comes off, stop the machine at the relevant position, resolve the problem again, and then operate the manual chemical stop valve 43 to restart the main unit. This makes it possible to increase the pressure inside the hose 5 and start work.

Since the structure is configured as in claim (2), when the pressure inside the main hose 5 decreases, the hose internal pressure sensor switch 31 stops the machine, but if this continues, the chemical solution will drip from the nozzle 14 due to residual pressure. . This means that the chemical solution will drip into one place in the gardening house H, so the crop Y
This has a negative impact on the growth of the children.

In the present invention, when a stop is caused by the hose internal pressure sensor switch 31 or by the nozzle drain sensor 13, the spray switching solenoid valve 22 is automatically operated to stop spraying due to residual pressure, so such problems can be avoided. I was able to resolve the issue.

[Brief explanation of drawings]

Fig. 1 is a rear view of a gardening house during pest control by an unmanned pest control mechanism, Fig. 2 is a perspective view of the same, Fig. 3 is a perspective view showing the overall configuration of the unmanned pest control mechanism, and Fig. 4 is an unmanned pest control mechanism of the present invention. 5 is an enlarged plan view of the forward movement sensor 2 and the backward movement sensor 7, FIG. 6 is a drawing of an electric circuit related to the control box 21, and FIG. 7 is a drawing showing a drug supply circuit. FIG. 8 is an electrical circuit diagram of the unmanned running pest control mechanism of the present invention.・Hose take-up reel ・Forward sensor ・Main hose ・Reverse sensor ・・Spray switching solenoid valve ・・Hose internal pressure sensor switch ・・Manual drug stop valve

Claims (2)

[Claims] (1) The main hose 5 wound on the hose take-up reel 1 is pulled out into the passage groove U while spraying travels, and the end of the passage groove U contacts the sensor abutment rod X and switches to reverse travel. In the returning configuration, a hose internal pressure sensor switch 31 that detects the pressure of the main hose 5 is provided on the traveling device side, and when the hose internal pressure sensor switch 31 detects a decrease in pressure within the main hose 5, the traveling of the aircraft is stopped. A manual chemical stop valve 43 is configured to enable remote control on the power sprayer P side.
An unmanned running pest control mechanism characterized by having the following features: (2) When the machine is stopped by the hose internal pressure sensor switch 31 according to claim (1), the chemical liquid circuit is automatically stopped in order to stop the dripping spray from the nozzle 14 due to the residual pressure in the main hose 5. An unmanned running pest control mechanism characterized by being provided with a spray switching solenoid valve 22.