JPH0639593Y2 - Traveling direction switching device for pest control machines for cultivated crop houses - Google Patents

Description

[Detailed description of the device] "Industrial application field" This device is used for a pest control device that is self-propelled in a greenhouse and sprays a medicinal solution on cultivated crops such as fruits and vegetables to control pests. The present invention relates to a traveling direction switching device.

"Prior Art" A control machine is known that has a self-propelled mechanism that runs in a house and sprays a chemical solution on cultivated crops.

As shown in FIG. 4, this type of pest controller 30 includes a hose 33 for feeding a chemical solution from a chemical solution tank 32 installed outside a house 31.
A cord reel that draws out and winds up again (not shown)
And a boom 34 for spraying the fed chemical solution, and further provided with respective sensors 35, 36 for detecting the end points of forward traveling and backward traveling, and a controller (not shown) for switching the traveling direction. .

As is well known, the house 31 has many ridges 37 with cultivated crops.
a, 37b, 37c .. are provided, and the furrow grooves 38a, 38b ... In which working machines such as the control machine 30 travel are provided between these furrows.
There are also piles 39a, 39b ... In which the sensors 35, 36 of the pest control machine 30 abut at the positions in the house 31 on the extension of each furrow groove.
.. and 40a, 40b ...

The pest control machine 30 starts from the position of the furrow groove 38a in contact with the pile 39a, runs the furrow groove 38a while feeding the hose 33, and sprays the chemical solution on the cultivated crops in the furrows 37a, 37b on both sides.

When the control machine 30 travels and contacts the pile 40a, the sensor 36 attached to the front detects the contact with the pile 40a and sends a detection signal to the controller. As a result, the controller outputs the reverse signal after the stop signal to stop the exterminating machine 30 once and then to move backward.

The control machine 30 moves backward while winding up the hose 33, and travels until it comes into contact with the pile 39a at the start position. Starting position stake 3
Upon contact with 9a, the sensor 35 detects contact with the pile 39a and sends a detection signal to the controller.

At this time, the controller outputs a stop signal to stop the pest control device 30.The pest control device 30 that has self-propelled back and forth in the furrow groove 38a and finished spraying the chemical solution is manually moved to the next furrow groove 38b and set on the pile 39b. Then, the pest control device 30 is reciprocated in the same manner as above. In this manner, the pest control machine 30 is run in each of the furrow grooves 38a, 38b, ... And the chemical solution is sprayed on the cultivated crops of each furrow.

"Problems to be solved by the invention" However, in the above-described conventional control machine 30, the sensor 36 contacts the piles 40a, 40b ... to switch the traveling direction, and the sensor 35 causes the piles 39a, 39b. ····················································
・ Because it is necessary to install in advance, it is necessary to secure space and install piles in advance.

Further, since the movement to the next furrow groove must be performed manually every time, it is troublesome and the work efficiency is extremely poor.

Therefore, in the present invention, the pest control machine switches from forward to reverse at the tip position of the ridges, and when traveling backwards and past the rear end position of the ridges, the traveling direction is switched to the lateral movement so that the cultivated crops of each ridge are sequentially arranged. It is an object of the present invention to develop a traveling direction switching device of this type of control machine capable of spraying a chemical solution on the surface.

[Means for Solving the Problems] In order to achieve the above object, the present invention comprises a hose reel for feeding and hoisting a chemical solution feeding hose, and a boom for spraying the chemical solution fed from the hose. In a control machine that sprays a chemical solution while self-propelled through the furrows in the house, the hose is brought into contact with the hose and the hose is fed out or wound according to the running of the control machine, and the rotation of the rotor is detected. However, the detector that outputs the traveling position signal of the pest controller based on the length of the hose that has been fed or wound up, and the preset traveling data of the pest controller and the traveling position signal have a predetermined relationship. A traveling direction switching device for a control machine is provided, which is equipped with a controller that outputs a traveling direction switching signal and a traveling direction switching mechanism that responds to the switching signal. .

"Action" As the pest controller travels forward in the ridge, the hose is delivered from the hose reel, and the rotating body rotates in one direction by the passage of the hose. The detector detects the rotation of the rotating body and continues to send it to the controller as a traveling position signal for forward movement of the control machine.

For example, if the traveling position signal is configured to output one pulse each time the rotating body makes one rotation, the pulse period becomes the length of the hose fed out by one rotation of the rotating body.
Therefore, the pulses that are sequentially output according to the rotation of the rotating body can be sent to the controller as the length of the extended hose, that is, the traveling position signal of the forward movement of the control machine.

The traveling position signal is compared with traveling schedule data (for example, data regarding the length of the ridge, the number of the ridge, and the distance between the ridges) of the pest control device set in the controller in advance.

Here, since the pest control machine is moving forward, when the vehicle travels to the end position of the ridge, the traveling position signal and the planned traveling data reach the first detection stage, and the controller signals the traveling direction switching signal for moving the pest control machine from forward to backward. Is output.

The extermination machine has a forward traveling and reverse traveling self-propelled mechanism, which temporarily stops in response to the traveling direction switching signal and then switches to reverse traveling.

When the pest controller moves backward, the hose is wound up by the hose reel, and the rotating body rotates in the other direction. Therefore, the controller compares the traveling position signal of the rear of the control machine sent from the detector with preset traveling schedule data.

When the rearward movement of the pest controller progresses and returns to the start position, the traveling schedule data and the traveling position signal reach the second detection stage, and the control outputs the traveling direction switching signal following the stop signal.

The extermination machine has a self-propelled mechanism for lateral traveling in addition to forward and backward traveling, and after temporarily stopping the reverse traveling, it laterally moves toward the next furrow groove in response to the switching signal in the second detection stage.

As the pest controller moves to the next furrow groove, the hose is paid out, and the detector outputs a traveling position signal by the rotation of the rotating body. Therefore, when the pest control machine laterally moves to the next travel preparation position in the furrow groove, the preset travel schedule data and the travel position signal reach the third detection stage, and the controller signals the stop signal followed by the travel direction switching signal. Is output. In this case, the pest controller stops at the travel preparation position and is switched so as to move forward, and then travels forward through the next furrow groove.

After that, the same reciprocation is performed in each furrow groove in the same manner.

Regarding spraying of chemicals, when the pest control machine moves forward,
The cultivated crops of the ridges on both sides may be sprayed, or the cultivated crops of the ridges on one side may be sprayed when the pest control machine is advanced, and the cultivated crops of the ridges of the other side may be sprayed when the protector is advanced.

[Example] Next, an example of the present invention will be described with reference to the drawings.

FIG. 1 is a partial schematic view of a traveling direction switching device provided in a pest control machine.

In this figure, 11 is a hose for feeding a chemical liquid, which is wound up by a hose reel 12 like the conventional example, and this hose 11 is pulled out from a hose inlet / outlet 14 provided in a frame plate 13 of a pest control machine. Connected to the chemical tank.

The rotating drums 15 and 16 provided between the hose reel 12 and the hose inlet / outlet 14 sandwich the hose 11 so that the hose 11 can be rotated by being fed or wound.

That is, the rotary drum 15 is rotatably attached to the fixed part of the pest control machine, while the rotary drum 16 is rotatably attached to the long hole 18 of the mounting plate 17 and the position of its support shaft is adjusted. ,
These rotary drums 15 and 16 are brought into contact with the hose 11 with an appropriate pressure contact force.

Further, a detector 19 is provided at a position around the upper surface of the rotary drum 15. The detection unit 19 and a sensor 20 fixed to the frame plate 13 constitute a detector that detects the number of rotations of the rotary drum 15. It should be noted that this detector is configured as one that detects the detection unit 19 and performs photoelectric conversion, and one that performs magnetoelectric conversion, and outputs one pulse for each rotation of the rotary drum 15.

That is, since the length of the hose 11 that is unwound and hoisted according to the running of the pest controller is the travel distance of the pest controller that is measured from the start position, a rotation equal to the length of the hose 11 that is unwound and hoisted. The rotation speed of the drum 15 is output from the sensor 20 as a traveling position signal of the pest controller.

On the other hand, as shown in FIG. 2, the pest controller has a controller 21 for processing signals based on preset traveling schedule data and traveling position signals output by the sensor 20 to output traveling direction switching signals. Is equipped with.

A keyboard 22 is used to input data regarding the length of the ridges, the number of the ridges (first ridge, second ridge, ...) and the interval of each ridge groove to the controller 21, and these data are run by the control machine. It is preset as schedule data.

Further, the controller 21 performs signal processing based on the traveling schedule data and the traveling position signal (pulse) from the sensor 20, and a stop signal of the traveling motor 23 provided as a self-propelled mechanism, a forward / reverse switching signal, And a signal for changing the direction of the control wheel.

Next, the operation of this pest controller will be described based on the flowchart of FIG.

First, in step # 1, as initial settings, the initial value of the ridge number, the initial value of the number of pulses, the expected number of detections for lateral movement for comparison with the number of detection pulses during lateral movement of the control machine,
The expected number of detections for returning the start position, which is referred to when returning to the start position, is set. The first ridge number is set as the ridge number and 0 is set as the number of pulses.

Next, in step # 2, the ridge length of the ridge number that has been set is read from the storage unit of the controller 21, and the number of pulses to be detected corresponding to the ridge length is set.

In step # 3, the forward movement of the pest control machine is started in accordance with the operation of the traveling motor 23 that has started driving, and the counting of the pulses output from the sensor 20 is started.

In step # 4, the counted number of pulses is compared with the set expected number of detected pulses, and the counting of pulses continues until the counted number of pulses reaches the set expected number of detected pulses, That is, the pest controller moves forward.

When the number of counted pulses becomes equal to or greater than the number to be detected, as shown in step # 5, a stop signal is output to the traveling motor 23 to stop the forward movement of the pest controller, and at the same time the number of pulses becomes 0. Will be reset. This corresponds to the first detection stage.

Next, at step # 6, a switching signal for rotating the traveling motor 23 in the reverse direction is output, and the pest control machine starts the backward movement.
At the same time, the counting of the number of pulses is started again.

Then, in step # 7, the number of pulses counted with the backward movement of the pest controller is compared with the preset number of pulses to be detected, and the counted number of pulses is the preset number of pulses to be detected. Until the pulse count is reached, that is, the control machine moves backward.

In step # 8, when the detected count number becomes equal to the set expected detection number, it is assumed that the pest control machine has returned to the forward start position, the driving motor 23 is stopped, and the pulse number is set to 0 again. Set. This corresponds to the second detection stage.

At step # 9, a direction switching signal for turning the insect control wheels sideways is output.

In step # 10, the ridge number is compared with the ridge number stored in the storage unit of the controller 21,
It is determined whether or not it is the final ridge number.

If it is not the final ridge number, lateral movement is started and counting of the number of pulses is started in step # 11.

In step # 12, it is determined whether or not the number of detected pulses has reached the planned detection number for lateral movement, and the lateral movement is continued until it reaches the planned detection number.

When the number of counted pulses becomes equal to or larger than the detection expected number, the driving of the traveling motor 23 is stopped and the lateral movement of the pest controller is stopped, as shown in step # 13. At the same time the number of pulses is 0
Is reset to. This corresponds to the third detection stage.

After that, in step # 14, an operation of returning the insect control wheel to the forward posture is performed.

In step # 15, 1 is added to the ridge number to make a new ridge number, and the process returns to step # 2.

If the determination result in step # 10 is YES, that is, if it is the final ridge number, in step # 16, the traveling motor 23 is reversely rotated and lateral movement is started in the reverse direction, and the pulse number is counted. To start.

In step # 17, it is judged whether or not the number of detected pulses has reached the planned detection number for returning to the start position, and the lateral movement is continued until it reaches the planned detection number for returning.

When the number of counted pulses becomes equal to or larger than the number of detections for returning to the start position, as shown in step # 18, the stop signal is output to the traveling motor 23, the lateral movement of the pest controller is stopped, and the work is completed. .

FIG. 3 shows an example of the work of spraying a chemical solution in which a pest controller provided with the above-mentioned traveling direction switching device is made to self-propell in a house in the same manner as the conventional example shown in FIG.

The extermination machine 100 is provided with a boom 24 for spraying the chemical liquid fed from the hose 11, and the controller 21 provided in this extermination machine 100 is planned to travel a ridge length L, a furrow groove interval D, and a ridge number. It is preset as data.

When the control machine 100 is started from the position shown by the solid line in the figure, the ridges 37
Drive forward while spraying chemicals on the a and 37b cultivated crops. When the extermination machine 100 travels forward to the end position of the ridge as shown by the chain line 100a in the figure, the controller 21 outputs the switching signal output when it reaches the first detection stage, and the controller 21 temporarily stops and then travels from the forward travel to the reverse travel. Switch to.

When the control machine 100 moves backward in the furrow groove 38a and returns to the start position,
The switch signal output by the controller 21 when it reaches the second detection stage causes the wheels of the pest control machine to rotate 90 ° when the pest control machine 100 is stopped.

Subsequently, the pest control machine 100 laterally moves as shown by an arrow in the figure, and reaches a running preparation position of the next furrow groove 38b as shown by a chain line 100b in the figure. By moving sideways in this way, the controller 21
Has reached the third detection stage, and the switching signal causes the pest controller 10
0 stops and the insect control wheel is returned to the front.

After that, the pest control machine 100 advances in the furrow groove 38b to move the furrows 37b, 37c.
Spray the chemical solution on the cultivated crops of. When the pest control device 100 advances to the end position of the ridge, the traveling direction is switched in the same manner as described above and the ridge groove 38b is moved backward.

Thereafter, similarly, the respective furrow grooves 38c, 38d ... 38n
The control machine 100 reciprocates and sprays the chemical solution on the cultivated crops of each ridge.

When the extermination machine 100 moves backward in the furrow groove 38n and the spraying of the chemical solution is finished, the controller 21 switches the extermination machine 100 to run toward the start position and stops the extermination machine 100 at the start position.

The embodiment of the present invention has been described above. However, if the rotary drum 15 is provided with a plurality of detectors, the resolution of the rotation speed detection is enhanced, and the reliability of the traveling position signal output by the sensor 20 is further enhanced. be able to.

[Advantage of the Invention] As described above, the traveling direction switching device according to the present invention detects the rotation of the rotating body brought into contact with the chemical liquid supply hose that is fed out and wound up as the pest control machine travels. Since a detector that outputs the traveling position signal of the extermination machine is provided,
The traveling direction of the pest controller can be switched by the controller that outputs a switching signal according to the traveling position signal and preset traveling schedule data of the pest controller.

Therefore, unlike the conventional case, it is not necessary to drive a pile for switching the traveling direction for each furrow groove, and therefore, pre-work for that and extra space for the pile position are unnecessary.

In addition, the pest control device equipped with the traveling direction switching device of the present invention sequentially self-propels the furrow groove until all the cultivated crops on the furrow are completely sprayed with the chemical solution, which is extremely labor-saving and extremely effective for improving work efficiency. Be advantageous.

[Brief description of drawings]

FIG. 1 is a partial schematic view showing an embodiment of a traveling direction switching device provided in a pest control machine, FIG. 2 is a block diagram of a controller provided in the pest control machine, and FIG. 3 is provided with the traveling direction switching device described above. FIG. 4 is an explanatory view showing a working example of the pest control machine, and FIG. 4 is an explanatory view showing a working example of the conventional pest control machine. 5 (a) and 5 (b) are flowcharts showing the control state of the operation of the controller of the pest control machine. 11 …… Hose 12 …… Hose reel 14 …… Hose entrance / exit 15, 16 …… Rotating drum 19 …… Detector 20 …… Sensor 21 …… Controller 22 …… Keyboard

Claims (1)

[Scope of utility model registration request] 1. A pest control system, which comprises a hose reel for feeding and hoisting a chemical solution feeding hose and a boom for spraying the chemical solution fed from the hose, and spraying the chemical solution while self-propelled through the ridges in the house. In the machine, contact the hose,
Detecting a rotating body that rotates by hoisting or hoisting according to the running of the pest control machine and the rotation of this rotating body, and detecting the running position signal of the pest control machine from the length of the hose that has been unwound or wound up. A controller, which outputs a switching signal for the traveling direction when the preset traveling data of the pest control device and the traveling position signal have a predetermined relationship, and a traveling direction switching mechanism which responds to the switching signal. A traveling direction switching device for a pest controller.