JPH0532111B2 - - Google Patents

Description

[Detailed description of the invention]

[Industrial Field of Application] The present invention can be used, for example, in orchards, especially in row-planted crops for dwarf cultivation that require support facilities, for example, by moving on rails installed on row-planted crops for dwarf cultivation, and for controlling diseases during crop damage, irrigation, and fertilizer application. This invention relates to a track-type sprayer and its system that performs foliar spraying, etc. [Prior Art] Generally, in orchards, it is necessary to spray a chemical solution onto crops in order to control pests and diseases. In addition to chemical solutions, it is also necessary to irrigate the crop and apply fertilizer to the leaves. Japan is a small country, and many orchards are located on slopes of 15 degrees or less, cut into mountain slopes, and account for more than 50% of all orchards. As a result, pest control machines such as speed sprayers cannot be moved within the park, and pest control requires input from a power sprayer installed on the road via a long hose, which is labor-intensive. In addition, in facilities for cultivating vegetables, flowering trees, etc. outside of orchards, pest control work is performed using input, which is hard work and there were concerns about chemical damage to the human body. Traditionally, monorails have been used to transport harvested products in orchards, etc., but because they are installed low (approximately 50 cm above the ground), they can only be used to transport harvested products. [Problem to be solved by the invention] Therefore, in such steeply sloped orchards or in greenhouse cultivation, it is desirable to efficiently spray water or liquid agents without increasing the labor load, and further prevent chemical damage to workers. Countermeasures were desired. The present invention automatically sprays water or a liquid agent from a rail-type sprayer that moves on a rail that runs near the tree canopy, and also controls the amount of spray by detecting the position and density of the crop. Another object of the present invention is to provide a rail-type sprayer system that enables efficient spraying of liquid agents. [Means for Solving the Problems] In order to solve the above-mentioned problems, the rail-type sprayer of the present invention includes a power vehicle that moves on rails, and spraying nozzles that move on the rails in conjunction with the motor vehicle and are arranged at predetermined intervals. a boom having a boom, a tank containing water or a liquid agent to be supplied to the boom, a power sprayer for spraying the liquid agent from a spraying nozzle of the boom, and an air blowing pipe provided with an air blowing hole corresponding to the nozzle; The air blower is characterized by comprising a blower that supplies air to the air blowing pipe. Furthermore, the track-type sprayer system is equipped with an ultrasonic sensor that detects the distance to the ground and the presence or absence of crops, a capacitance sensor that detects the amount of crop growth, and the position of the water or liquid surface in the tank. Based on the level sensor and the detection data obtained by these sensors, the boom, power sprayer,
It is characterized by comprising an automatic control section that controls the blower and the motor vehicle. [Function] The track-type sprayer of the present invention includes a motor vehicle that moves on rails, a boom that moves on the rails in conjunction with the motor vehicle and has spray nozzles at predetermined intervals, and water or liquid to be supplied to the boom. A power sprayer for spraying the liquid agent from the spraying nozzle of the boom, an air blowing pipe provided with an air blowing hole corresponding to the nozzle, and a blower for supplying air to the air blowing pipe. Therefore, the water or liquid agent can be sprayed from both sides of the crop body, and the particles sprayed by the power sprayer can be carried by the air flow generated by the forced air, allowing the water or liquid agent to penetrate deeper into the crop body. It is equipped with an ultrasonic sensor that measures the distance to the crop, a capacitance sensor that detects the amount of leaf growth, a level sensor that detects the position of the liquid surface in the tank, and an automatic control unit that controls them. Spraying water or liquid to the body can be done completely unmanned, making it possible to spray water or liquid efficiently. [Examples] Examples of the present invention will be described below based on the accompanying drawings. FIG. 1 is a schematic explanatory diagram of a track type sprayer system of the present invention. When using the track type sprayer of the present invention, it is necessary for the crop to fit within the boom described below, so it is a prerequisite that the crop has the structure of an attraction fence as shown in FIG. 2. There is a 124m rail 1 on this tree (approximately 2m above ground).
Set up. The rail 1 is supported by a main vertical column 2 and an auxiliary column 3 tied to the column 2 at an angle of about 30° near the center of the column 2. The rail-type sprayer system is broadly divided into a power vehicle 4, a sprayer 5, and an automatic control section 6. The motorized vehicle 4 that moves on this rail 1 serves as the base of a boom 10 that suspends a boom 8 that is provided with a spray nozzle 7 that will be described next, and an air blowing pipe 9, and also has an ultrasonic sensor installed below one end of the boom 10. It has 11. A spraying nozzle 13 is attached to the vertical part of the double-shaped boom 8 which is fixed on the power vehicle 4 and suspended so as to hang down on both sides of the crop body with the crop body in between. There are 10 pieces arranged at 25cm intervals towards the target. Further, a boom 10 is fixed to the power vehicle 4 on the outside of the double-shaped boom 8, which is also double-shaped and suspended so that the vertical portion of the boom is parallel to the boom 8. This boom 10 is an air blowing pipe 9
is connected to. These booms are driven and controlled by a boom drive motor 12. In particular, the boom may move on low-lying tracks until it reaches the target crop.
In such cases, the long, hanging boom may come into contact with the ground or surrounding objects, impeding movement. In such a case, the structure is such that the boom can be rotated approximately 90° to 120° backward and upward by the drive motor 12, and the tip of the boom can be rotated and moved backwards from the power vehicle and slightly above the rails. There is. Water or a liquid agent placed in a tank 14 is sprayed from the spray nozzle 7 by a power sprayer 15, and is sprayed onto the crops. At this time, air is blown out from the air blowing hole 13 behind each spraying nozzle 7 at the same time as the water or liquid is being sprayed from the spraying nozzle 7, so that the water or the liquid is evenly sprayed on the crop. This will assist in dispersing water or liquids. This tank 14 is installed on a pendulum type pedestal 18, so that it can remain horizontal even on a steeply inclined track. Unlike deciduous trees, evergreen trees such as mandarin oranges have hard petioles and are difficult to spray, but by injecting air, a turbulent flow is forcibly generated inside the crop, and the water or liquid agent is absorbed inside the crop. Adhesion to the leaf surface can be done uniformly and efficiently. Further, the finer the spray particles, the more effective the spraying effect can be expected, but the smaller the spray particles, the shorter the horizontal reach and the disadvantages of drifting and scattering. However, even with fine particles, the effective dispersion distance can be extended by assisting with an air stream, so the above-mentioned disadvantages can be overcome by assisting with an air stream. Furthermore, since the spray particles can be carried by airflow, they are less affected by wind, and the working time can be extended. Then, by emitting ultrasonic waves from the ultrasonic sensor 11 installed at the lower end of the power vehicle 4 and detecting the sound waves returned from the crop, the distance to the ground and the presence or absence of the object ahead are detected, and the boom is raised and lowered. . This makes it possible to spray water or liquids according to the height of the crop. In this way, by detecting the distance to the crop, it is possible to spray warm water or a liquid agent onto the crop, thereby preventing wasteful spraying. Further, a capacitance sensor 16 detects the amount of vegetation and increases or decreases the spray amount or the moving speed of the motor vehicle. In a tree shaped like an attracting fence, the branches of the acrosome that protrude laterally are connected, and there are no gaps between the trees, reducing wasted water or liquid spraying. A level sensor 17 is also provided in the tank 14 to measure the surface position of the water or liquid, and when the water or liquid runs out, the power sprayer and blower are stopped. The amount of water or liquid agent decreased can be easily grasped. The motor vehicle 4 that pulls the spraying machine 5 including the tank 14 has a continuously variable transmission mechanism in order to increase the traction force in steep slopes and at the same time adjust the spraying speed. This continuously variable speed power vehicle 4 is a spraying work machine 5.
It is also easy to automatically control gear shifts, stopping/starting, and forward/reverse movement based on instructions from various sensors. The automatic control unit 6 uses a limit switch (not shown) and the results of detection by the ultrasonic sensor 11 to control the boom and elevation by the drive motor, stop of the power sprayer and blower by the level sensor in the tank, movement of the motor vehicle, and static electricity. A capacitive sensor 16 controls the spray pressure of the power sprayer. More specifically, a rail fog machine having the specifications shown in Table 1 is considered appropriate.

[Table] Material PVC pipe
Hole diameter (mm) 12

Claims (1)

[Scope of Claims] 1. A motor vehicle that moves on a rail, a boom that moves on a rail in conjunction with the motor vehicle and has spray nozzles at predetermined intervals, and a tank that holds water or a liquid agent to be supplied to the boom; A rail type sprayer comprising: a power sprayer for spraying a liquid agent from a spraying nozzle of the boom; an air blowing pipe provided with an air blowing hole corresponding to the nozzle; and a blower supplying air to the air blowing pipe. Machine. 2. An ultrasonic sensor that detects the distance to the ground and the presence or absence of crops, a capacitance sensor that detects the amount of vegetation, and a level sensor that detects the position of the water or liquid surface in the tank. The rail-type sprayer system using a rail-type sprayer according to claim 1, further comprising an automatic control section that controls the boom, the power sprayer, the blower, and the motor vehicle based on the detection data obtained by the sensor.