JP-7854846-B2 - Control method for a sprayer, control program for a sprayer, and sprayer

Inventors

• 上野 草

Assignees

• ヤンマーホールディングス株式会社

Dates

Publication Date

20260507

Application Date

20220427

Claims (10)

1. A mobile aircraft, Supported by the aforementioned aircraft, a spray nozzle for spraying liquid materials, A control method for a sprayer comprising an electrostatic imparting device that charges the material sprayed from the spray nozzle by applying a voltage to a load including electrodes, To acquire the operating status of the aircraft , including position information relating to the current position of the aircraft , The electrostatic device is controlled to change the voltage applied to the load by determining the automatic start position and automatic end position of the machine from the position information among the operating status of the machine . Control method for a sprayer.
2. The system further comprises automatically driving the aircraft along a target path while spraying the material from the spray nozzle. A method for controlling a sprayer according to claim 1.
3. After the operation of the control device for controlling the aforementioned machine is completed, the electrostatic application device is controlled to start applying voltage to the load. A method for controlling a sprayer according to claim 2.
4. The electrostatic application device is controlled to start applying voltage to the load when the automatic movement of the machine begins. A method for controlling a sprayer according to claim 2 or 3.
5. The start of automatic driving of the aircraft is determined to occur when the aircraft reaches the starting position for automatic driving. A method for controlling a sprayer according to claim 4.
6. After the automatic movement of the aforementioned machine is completed, the electrostatic application device is controlled to stop the application of voltage to the load. A method for controlling a sprayer according to claim 2 or 3.
7. The further includes presenting the state of voltage application to the aforementioned load. A method for controlling a sprayer according to any one of claims 1 to 3.
8. The voltage application status to the load is displayed on a display unit in a manner that is visible from outside the unit. A method for controlling a sprayer according to claim 7.
9. A control method for a sprayer according to any one of claims 1 to 3, A control program for a sprayer, designed to be executed by one or more processors.
10. A mobile aircraft, Supported by the aforementioned aircraft, a spray nozzle for spraying liquid materials, An electrostatic charging device that charges the material being sprayed from the spray nozzle by applying a voltage to a load including electrodes, An acquisition processing unit that acquires the operating status of the aircraft , including position information relating to the current position of the aircraft , The system includes an electrostatic application processing unit that controls the electrostatic application device to change the voltage application state to the load by determining the automatic driving start position and automatic driving end position of the machine from the position information among the operating status of the machine . Spreader.

Description

This invention relates to a control method for a sprayer capable of spraying materials while in motion, a control program for the sprayer, and the sprayer itself. As a related technology, a sprayer (agricultural vehicle) is known that comprises a running section (crawler running section) including a pair of crawlers arranged in the left-right direction, a machine body (left body and right body), an engine, and a spray nozzle (chemical spraying section) (see, for example, Patent Document 1). In the sprayer according to the related technology, the pair of crawlers in the running section travel by sandwiching the plant, which is the target of spraying, from the left and right. The left body of the machine is mainly supported by the left crawler. The right body of the machine is mainly supported by the right crawler. The engine is located on the left side of the machine body. In the sprayer related to this technology, spray nozzles are provided on both the left and right sides of the vehicle. Each spray nozzle sprays pesticide to both the right and left sides. This allows the sprayer to simultaneously spray pesticide on plants passing between the pair of left and right crawlers, on plants located to the left of the sprayer, and on plants located to the right of the sprayer. This sprayer can spray pesticide on plants while automatically driving (autonomously) based on its current position and autonomous driving path. Japanese Patent Publication No. 2020-152285 Figure 1 is an external view of the sprayer according to Embodiment 1, as seen from the left front side.Figure 2 is a rear view of the sprayer according to Embodiment 1, as seen from the rear side.Figure 3 shows an example of a crop row in which the sprayer according to Embodiment 1 is used.Figure 4 is a schematic diagram showing the overall configuration of an automated driving system using a sprayer according to Embodiment 1.Figure 5 is a schematic block diagram showing the main components of the sprayer according to Embodiment 1.Figure 6 is an external view of the left side of the sprayer according to Embodiment 1, as seen from the left side.Figure 7 is an external view of the right side of the sprayer according to Embodiment 1, as seen from the right side.Figure 8 is an external view of the top surface of the sprayer according to Embodiment 1, as seen from above.Figure 9 is a rear view of the sprayer according to Embodiment 1, as seen from the rear side.Figure 10 is a schematic diagram showing the sprayer according to Embodiment 1 as viewed from the rear at an oblique angle.Figure 11 is a schematic diagram illustrating the configuration of the spraying device of the sprayer according to Embodiment 1.Figure 12 is a schematic diagram illustrating the configuration of the electrostatic device for a sprayer according to Embodiment 1.Figure 13 is an explanatory diagram showing an example of a target route for automatic driving of a sprayer according to Embodiment 1.Figure 14 is a flowchart showing an example of the electrostatic application process, which is part of the control method for a sprayer according to Embodiment 1. The embodiments of the present invention will be described below with reference to the attached drawings. The following embodiments are examples that embody the present invention and are not intended to limit the technical scope of the invention. (Embodiment 1) [1] Overall Configuration First, the overall configuration of the sprayer 1 according to this embodiment will be described with reference to Figures 1 to 4. In this embodiment, the sprayer 1 performs spraying work, such as spraying chemical solutions, water, or fertilizers onto crops V1 (see Figure 2) being grown in field F1. This sprayer 1 is an example of a "work machine" that performs various tasks within a work area such as field F1. In other words, sprayer 1 is a work machine capable of performing spraying operations, such as spraying chemicals, water, or fertilizer. The term "work machine" in this disclosure includes not only sprayers but also work vehicles such as tractors, rice transplanters, sprayers, seeders, transplanters, and combine harvesters. In short, work machines include work vehicles. Work machines are not limited to "vehicles"; they may also include, for example, drones or multicopters used for spraying chemicals, water, or fertilizer. Furthermore, the term "work machine" in this disclosure is not limited to agricultural machinery; it may also include, for example, construction machinery. Furthermore, the term "field" as used in this disclosure refers to an example of a work area where the sprayer 1, a work machine, performs various operations such as spraying while moving, and includes orchards, pastures, rice paddies, and fields where agricultural products are grown. In this case, the crop V1 grown in field F1 is an agricultural product. Additionally, if trees are grown in a nursery, the nursery becomes field F1, and if trees for timber are grown in a forest