JP2018139519A - Spray system - Google Patents

Abstract

An object is to inform an operator of an unsprayed area that is out of a spray area sprayed by a sprayer vehicle so that additional spraying can be appropriately performed on the unspread area. In a spreading system using a spreading work vehicle 1 that spreads a spreading boom 5 provided with a plurality of ground spreading nozzles 4 to the left and right of a vehicle body 1B, a receiving antenna 50 provided on the spreading boom 5 is provided. The position is drawn with the position information from the GPS satellites SG1 and SG2 and a scatter movement trajectory is drawn on the field map, and the unscattered area SE0 is identified and displayed together with the field map on the display 11D of the display / operation panel 11 near the driver's seat 6. The characteristic spraying system. [Selection] Figure 12

Description

  The present invention relates to a spraying system for spraying agricultural chemicals and fertilizers dissolved in a solution to crops in a field.

  The spraying vehicle sprays solutions containing pesticides and fertilizers from the nozzles of the spraying boom that extends to the left and right of the aircraft. It is difficult for the operator who is maneuvering the aircraft to confirm that the spray is evenly distributed.

  For this purpose, in the spreading work vehicle described in Japanese Patent Application Laid-Open No. 2016-29947, a spreading work vehicle that performs control work by traveling in the field while spraying chemicals from a number of nozzles provided on a spreading boom that extends from the vehicle body to the left and right. , A receiving antenna for receiving signals from the GPS satellite S is provided at the left and right outermost sides of the spreading boom, the movement trajectory of the receiving antenna is stored, spreading is stopped at the edge of the field, and after revolving the aircraft, re-spreading is started In this case, the right and left reception antennas are positioned so as to be at or near the position of the reception antenna stored at the end of the previous spraying, and the scattering travel is started.

JP 2016-29947 A

  When stopping spraying at the edge of the field and starting respreading after turning the machine, the right and left receiving antennas are at or near the position of the receiving antenna stored at the end of the previous spraying. If the spraying resume position is matched with the previous spraying end position and spraying is resumed, the spraying resumes at the spraying restart position even if the end of the spraying boom is aligned with the previous spraying end. On the way, the end of the spraying boom deviates from the previous spraying trajectory and an unsprayed field is generated.

  An object of the present invention is to notify an operator of an unsprayed area that is out of the spray area sprayed by a spray work vehicle so that additional spraying can be appropriately performed on the unspread area.

  The problems of the present invention are solved by the following technical means.

Invention of Claim 1 spreads using the spreading work vehicle (1) which spreads the spreading | diffusion boom (5) which arrange | positioned the several ground spraying nozzle (4) to the right and left of the vehicle body (1B) In the system,
The position of the receiving antenna (50) provided on the spreading boom (5) is drawn on the farm map with the position information from the GPS satellites (SG1, SG2), and a display / operation panel (6) near the driver's seat (6) The display unit (11D) of (11) identifies and displays the unsprayed region (SE0) together with the field map.

  The invention according to claim 2 makes it possible to wirelessly control an unmanned aerial vehicle (60) having a solution tank (65), an aerial spray nozzle (66), and a flying GPS antenna (68) with a portable terminal (58), and Data of the non-spreading area (SE0) from the spraying work vehicle (1) is transmitted to the portable terminal (58) and displayed on the image display unit (59), and the non-spreading area (SE0) on the displayed field map is displayed. The spray system according to claim 1, wherein the unmanned aircraft (60) is operated based on a

  The invention according to claim 3 is the position information from the GPS satellites (SG1, SG2), the height of the ground spray nozzle (4) of the scattering work vehicle (1) and the aerial of the unmanned aircraft (60). The height of the spray nozzle (66) is measured, and the height of the aerial spray nozzle (66) of the unmanned aerial vehicle (60) is the height of the ground spray nozzle (4) of the spray vehicle (1) by additional spraying. The flight system according to claim 2, wherein flight control is performed so as to coincide with each other.

The invention according to claim 4 is an unmanned aerial vehicle (60) wirelessly steerable by a portable terminal (58), comprising a solution tank (65), an aerial spray nozzle (66) and a flying GPS antenna (68);
A spreading boom (5) provided with a plurality of ground spray nozzles (4) is extended to the left and right of the vehicle body (1B) to perform the spreading work, and the position of the receiving antenna (50) provided on the spreading boom (5) is determined by GPS. The scatter movement trajectory is drawn on the field map with the position information from the satellites (SG1, SG2), and the unscattered area (SE0) is displayed together with the field map on the display unit (11D) of the display / operation panel (11) near the driver's seat (6). A spraying work vehicle (1) for identifying and displaying)),
The data of the unspread area (SE0) transmitted from the scattering work vehicle (1) to the portable terminal (58) is displayed on the image display unit (59) of the portable terminal (58), and the unspread area Based on the data of (SE0), the unmanned aerial vehicle (60) performs a spraying operation.

  The invention according to claim 5 is based on the position information from the GPS satellites (SG1, SG2), the height of the ground spray nozzle (4) of the spray work vehicle (1) and the air spray of the unmanned aircraft (60). The height of the nozzle (66) is measured, and the height of the aerial spray nozzle (66) of the unmanned aerial vehicle (60) by the additional spraying is the height of the ground spray nozzle (4) of the spray work vehicle (1). 5. A spraying system according to claim 4, wherein the flight of the unmanned aerial vehicle (60) is controlled to match.

  In the invention according to claim 1, the operator who operates the spraying work vehicle 1 clearly shows the unsprayed area SE0 of the farm field by looking at the display unit 11D of the display / operation panel 11 at the end of the temporary spraying work. Therefore, additional spraying can be performed quickly.

  In the invention according to claim 2, after the temporary spreading work is finished with the spreading work vehicle 1, the unspread area SE0 is confirmed on the image display unit 59 of the portable terminal 58 and the unmanned aircraft 60 is set to the unspread area SE0. By skipping and performing additional spraying, the unsprayed area SE0 can be eliminated quickly and easily.

  In the invention according to claim 3, if the flying altitude of the unmanned aerial vehicle 60 is adjusted to the height of the nozzle of the spraying work vehicle 1, the spraying concentration in the unspreading region SE0 can be made equal to the spraying concentration in the spraying region. The difference in the growth of crops due to can be eliminated.

  In the invention according to claim 4, even after the completion of the temporary spraying work with the spraying work vehicle 1, even during the spraying work with the spraying work vehicle 1, additional spraying can be performed quickly, and the unsprayed region SE <b> 0 is eliminated. I can do it.

  According to the fifth aspect of the present invention, the additional height can be appropriately controlled promptly and automatically, so that additional spraying can be performed with high accuracy and the non-spreading area SE0 can be eliminated. It is possible to achieve the same spraying concentration as the spraying region SE with high accuracy.

It is a right view of a spreading work vehicle. It is a top view of a spreading work vehicle. It is a front view which shows the 1st attitude | position at the time of a dispersion | spreading work vehicle spraying. It is a front view which shows the 2nd attitude | position at the time of a dispersion | spreading work vehicle spraying. It is a block diagram which shows an example of a solution supply system. It is a control block diagram of a solution spraying system. It is a control block diagram of a GPS receiving part. It is a front view of an operation panel. It is the figure which looked at the right spreading boom from the driver's seat side. It is a sectional side view of a right spreading boom. It is a front view of the operation panel at the time of spraying work. It is a dispersion | distribution movement locus | trajectory shown on the display part of an operation panel. It is a figure which shows the control state of an unmanned aerial vehicle. It is a transmission / reception block diagram of an information signal. It is a field division registration figure with an unmanned aerial vehicle. It is a field division registration figure with an unmanned aerial vehicle. It is a perspective view of the unmanned aircraft of another example. It is a perspective view of the return platform of an unmanned aerial vehicle. It is a sowing work figure in the pasture by an unmanned aerial vehicle. It is a field recognition figure by an unmanned aerial vehicle. It is a pasture monitoring chart by an unmanned aerial vehicle.

  DESCRIPTION OF EMBODIMENTS Embodiments (embodiments) for carrying out the present invention will be described in detail with reference to the drawings.

  In the following description, the left and right directions are referred to as left and right, respectively, and the forward direction is referred to as the forward direction and the reverse direction is referred to as the rear direction, but the configuration of the present invention is not limited. Moreover, a solution means liquid substances, such as the liquid which dissolved fertilizer, an agricultural chemical, etc. in the solvent (for example, water), and the liquid (for example, water) containing solid content, such as a fertilizer, an agricultural chemical.

  FIG. 1 is a side view of a scattering work vehicle according to the present embodiment. FIG. 2 is a plan view of the scattering work vehicle according to the present embodiment. The spreading work vehicle 1 is a working vehicle that travels with power generated by a power generation source and sprays a solution onto a farm field.

  The spreading work vehicle 1 is a spreading work in which a vehicle body 1B, an internal combustion engine (for example, a diesel engine or a gasoline engine) 2 as a power generation source mounted on the vehicle body 1B, and the power generated by the internal combustion engine 2 are transmitted to the ground G. It includes front wheels 3FL, 3FR and rear wheels 3RL, 3RR for driving the vehicle 1. The output of the internal combustion engine 2 is input to the hydraulic pump 2P. The hydraulic pump 2P is driven by the internal combustion engine 2 and discharges hydraulic oil for driving the hydraulic equipment.

  The front wheels 3FL, 3FR and the rear wheels 3RL, 3RR are attached to and support the vehicle body 1B. A hydraulic motor 3M is attached to each of the front wheels 3FL, 3FR and the rear wheels 3RL, 3RR. Further, as will be described later, the front wheels 3FL and 3FR are steering wheels of the scattering work vehicle 1. Thus, the vehicle body 1B has a steering wheel and a drive wheel. The hydraulic motor 3M is rotated by the hydraulic oil discharged from the hydraulic pump 2P, and rotates the front wheels 3FL, 3FR and the rear wheels 3RL, 3RR. With such a structure, the power of the internal combustion engine 2 is transmitted to the ground G, and the scattering work vehicle 1 is caused to travel. 1 shows a state where the hydraulic motor 3M is attached to the right front wheel 3FL and the rear wheel 3RL, but the hydraulic motor 3M is similarly attached to the left front wheel 3FR and the rear wheel 3RR. .

  In this embodiment, the spreading work vehicle 1 transmits the power of the internal combustion engine 2 to the front wheels 3FL, 3FR and the rear wheels 3RL, 3RR via the hydraulic pump 2P and the hydraulic motor 3M. May be transmitted to the front wheels 3FL, 3FR and the rear wheels 3RL, 3RR. In this case, a hydraulic continuously variable transmission HST (Hydro Static Transmission) is provided between the internal combustion engine 2 and the transmission, and the power from the internal combustion engine 2 is input to the variable hydraulic pump of the hydraulic continuously variable transmission HST. The power output from the fixed hydraulic motor of the continuously variable transmission HST may be input to the transmission and transmitted to the front wheels 3FL, 3FR and the rear wheels 3RL, 3RR via the auxiliary transmission in the transmission.

  The spray work vehicle 1 includes a plurality of ground spray nozzles 4 for spraying a solution, a left spray boom 5L and a right spray boom 5R as a pair of spray booms 5 to which a plurality of ground spray nozzles 4 are attached and support them. And a front spraying boom 5C. The left spreading boom 5L is arranged on the left side in the front-rear direction of the spreading work vehicle 1, and the right spreading boom 5R is arranged on the right side in the front-rear direction of the spreading work vehicle 1. Thus, the left spraying boom 5L and the right spraying boom 5R are a pair of spraying booms 5 provided on both sides with respect to the front-rear direction of the vehicle body 1B of the spraying work vehicle 1.

  The front spraying boom 5C is disposed on the traveling direction side of the spraying work vehicle 1 and between the left spraying boom 5L and the right spraying boom 5R. The left spraying boom 5L, the right spraying boom 5R, and the front spraying boom 5C each have a plurality of ground spraying nozzles 4. In the present embodiment, the plurality of ground spray nozzles 4 have spray ports for spraying the solution facing the ground G, but the direction of the spray ports is not limited to this, and the spray target for solution spraying It can be adjusted accordingly.

  The left spraying boom 5L includes a swirl spraying boom 5BL attached to the spraying work vehicle 1 so as to be able to swivel, and an extended spraying boom 5SL supported by the swirl spraying boom 5BL so as to extend and contract.

  Similarly to the left spraying boom 5L, the right spraying boom 5R includes a swirl spraying boom 5BR that is turnably attached to the spraying work vehicle 1, and an extended spraying boom 5SR that is supported by the swirl spraying boom 5BR so as to be extendable and contractible. As shown in FIG. 2, the left spraying boom 5L and the right spraying boom 5R are folded on both sides with respect to the front-rear direction of the vehicle body 1B of the spraying work vehicle 1 when the solution is not sprayed in the field. A reception antenna 50 is provided at the upper ends of the extended spreading boom 5SL and the extended spreading boom 5SR to receive radio waves transmitted from a plurality of GPS satellites SG1 and SG2. The GPS receiving unit 10 including the receiving antenna 50 will be described later.

  When spraying the solution, both the left spraying boom 5L and the right spraying boom 5R turn toward the front of the spraying work vehicle 1 to a position substantially parallel to the front spraying boom 5C (indicated by an arrow R in FIG. 2). direction). In FIG. 2, the left spraying boom 5L and the right spraying boom 5R turn in the direction indicated by the arrow R in FIG. At this position, the left spreading boom 5L and the right spreading boom 5R are fixed to the spreading work vehicle 1. Then, since the left spraying boom 5L, the right spraying boom 5R, and the front spraying boom 5C are arranged on a substantially straight line, the plurality of ground spraying nozzles 4 attached thereto are also arranged on the substantially straight line.

  In addition, the spray work vehicle 1 has independent angles between the left spray boom 5L or the right spray boom 5R and a reference plane (for example, a plane or a horizontal plane including the axles of the front wheels 3FL, 3FR and the rear wheels 3RL, 3RR). Can be adjusted. Since the spreading work vehicle 1 can adjust the distance between the left spreading boom 5L or the right spreading boom 5R and the right spreading boom 5R by adjusting the angle between the left spreading boom 5L or the right spreading boom 5R and the reference plane, The distance between the left crop and the left spraying boom 5L or the right spraying boom 5R can also be adjusted.

  9 and 10 show the telescopic structure of the right spraying boom 5R. Since the left spreading boom 5L has a symmetrical structure with the right spreading boom 5R, description thereof is omitted.

  A right support guide 17R, to which a right extension spraying boom 5SR is attached, is slidably mounted by a plurality of upper rollers 19A and lower rollers 19B on a right turn spraying boom 5BR whose base is pivotally supported by the vehicle body 1B. A sprocket 33S is fixed to an output shaft of a right slide motor 34R attached to a motor bracket 35R provided on the base of the right turning spraying boom 5BR, and a connecting chain 22C is wound around the sprocket 33S, and an upper part of the right support guide 17R is attached. A connecting wire 22W connected to the connecting chain 22C is wound around a pulley pulley 18P pivotally attached to a pulley bracket 18R2 provided on the front end side. In other words, the driven pulley 33P and the sprocket 33S are connected in a loop shape with the connecting chain 22C and the connecting wire 22W.

  Therefore, when the right slide motor 34R is driven, the right extension spraying boom 5SR slides and expands and contracts with respect to the right support guide 17R via the connection bracket 18R1 to which the connection wire 22W is attached.

  A right hose guide 36R is stretched on the upper side of the connecting chain 22C on the right guide struts 20R1 and 20R2 erected at the base and tip of the right support guide 17R, and the right flexible hose 23ER wound in a coil shape is suspended and supported. Yes.

  If an assist motor for driving the driven pulley 33P is provided in the pulley bracket 18R2, the slide of the right extension spraying boom 5SR becomes smoother.

  The spreading work vehicle 1 includes a left vertical actuator 12L as a left spraying boom height adjusting device and a right vertical actuator 12R as a right spraying boom height adjusting device on both the traveling direction side and the front-rear direction of the vehicle body 1B. And equipped. Further, the spreading work vehicle 1 is equipped with a left opening / closing actuator 13L as a left spreading boom opening / closing device and a right opening / closing actuator 13R as a right spreading boom opening / closing device on both the traveling direction side and the front-rear direction of the vehicle body 1B. doing. The left up / down actuator 12L, the right up / down actuator 12R, the left opening / closing actuator 13L, and the right opening / closing actuator 13R are, for example, a hydraulic cylinder or an air cylinder.

  The scattering work vehicle 1 has a horizontal valve 14 mounted on the front side of the vehicle body 1B. The horizontal valve 14 adjusts an angle formed by the left spraying boom 5L, the right spraying boom 5R, the front spraying boom 5C, and a predetermined plane of the vehicle body 1B (for example, a plane including the axles of the front wheels 3FL, 3FR and the rear wheels 3RL, 3RR). It is a device to do. For example, when the scatter work vehicle 1 is spraying on the field, the scatter work vehicle 1 is tilted with respect to the farming surface of the field (the surface of the part where the crop is planted in the field). The spreading boom 5L, the right spreading boom 5R, and the front spreading boom 5C may be inclined with respect to the field. In this case, the horizontal valve 14 adjusts the angle between the left spraying boom 5L, the right spraying boom 5R, the front spraying boom 5C, and the predetermined plane of the vehicle body 1B, and the left spraying boom 5L, the right spraying boom 5R, and the front spraying boom. 5C and the planting surface should be parallel. By doing in this way, even if the spreading work vehicle 1 is inclined with respect to the planting surface, the distance between the crop and the ground spreading nozzle 4 can be kept substantially constant.

  The spreading work vehicle 1 is equipped with a boom stroke sensor 95, a link angular velocity sensor 96, and a link inclination sensor 97 on the front side of the vehicle body 1B. Further, the scattering work vehicle 1 is equipped with a boom angle right sensor 98R and a boom angle left sensor 98L on the left and right sides in front of the vehicle body 1B, and further, a boom open / close right sensor 99R and a boom open / close left sensor 99L. .

  The boom stroke sensor 95 detects the lengths of the left spraying boom 5L and the right spraying boom 5R. The link angular velocity sensor 96 detects the angular velocity of the link that attaches the left spraying boom 5L, the right spraying boom 5R, and the front spraying boom 5C to the vehicle body 1B.

  The link inclination sensor 97 detects the inclination with respect to the horizontal plane of the link that attaches the left spraying boom 5L, the right spraying boom 5R, and the front spraying boom 5C to the vehicle body 1B. The boom angle right sensor 98R detects the inclination angle of the right spreading boom 5R with respect to the reference plane, and the boom angle left sensor 98L detects the inclination angle of the left spreading boom 5L with respect to the reference plane.

  The boom opening / closing right sensor 99R detects whether the right spraying boom 5R is closed or open, and the boom opening / closing left sensor 99L detects whether the left spraying boom 5L is closed or open. The boom stroke sensor 95, the link angular velocity sensor 96, the link tilt sensor 97, the boom angle right sensor 98R, the boom angle left sensor 98L, the boom open / close right sensor 99R, and the boom open / close left sensor 99L are electrically connected to a control device 9 described later. Has been. The control device 9 acquires values detected by these sensors and uses them to control the scattering work vehicle 1.

  The spreading work vehicle 1 includes a control device 9, a display / operation panel 11, a vehicle speed sensor 90 as speed detecting means for detecting a speed (vehicle speed or vehicle speed) at which the spreading work vehicle 1 travels, and a steering angle of a steered wheel. And a steering angle sensor 91 as a steering angle detection means for detecting.

  The control device 9 obtains an entry position when the scattering work vehicle 1 enters the region where the solution of the agricultural field is sprayed based on control of the scattering work vehicle 1, for example, information obtained from the GPS receiver 10, or a ground spray nozzle The amount of solution supplied from 4 is controlled, and the internal combustion engine 2 is controlled.

  The display / operation panel 11 receives input from the operator, displays the operating conditions of the scatter work vehicle 1, displays the state of the scatter work vehicle 1, and displays the movement trajectory of the scatter work vehicle 1. The unsprayed area is displayed from the movement trajectory of the scattering work vehicle 1. The control device 9 and the display / operation panel 11 will be described later.

  The vehicle speed sensor 90 detects the speed (vehicle speed) of the scattering work vehicle 1 from, for example, the rotational speed of the front wheels 3FL, 3FR, the rear wheels 3RL, 3RR or the rotation of gears in the transmission. The steering angle sensor 91 detects the steering angle of the front wheels 3FL and 3FR from the rotation angle of the handle 7. That is, in the scatter work vehicle 1, the front wheels 3FL and 3FR are the steering wheels.

  An operator sits in a driver's seat 6 provided at the center of the vehicle body 1B and operates the steering wheel 7 to operate.

  FIG. 3 and FIG. 4 are front views showing the posture of the spraying vehicle when spraying the solution. FIG. 3 shows a state where the extension spraying booms 5SL and 5SR are not extended from the turning spraying booms 5BL and 5BR shown in FIG. FIG. 4 shows a state in which the extension spraying booms 5SL and 5SR are extended from the turning spraying booms 5BL and 5BR. In any state, the spreading work vehicle 1 on the ground G is configured so that the left spraying boom 5L, the right spraying boom 5R, and the front spraying boom 5C are arranged in a substantially straight line from the plurality of ground spraying nozzles 4. Spray. In other words, the spray work vehicle 1 sprays the solution from the plurality of ground spray nozzles 4 with the left spray boom 5L and the right spray boom 5R opened to the left and right. In addition, the spreading work vehicle 1 exists between the state in which the left spreading boom 5L and the right spreading boom 5R provided on both sides in the front-rear direction of the vehicle body 1B are housed in the vehicle body 1B and the state in which they are opened to the left and right. Even in the state, the solution can be sprayed from the plurality of ground spray nozzles 4.

  As shown in FIG. 4, when the extension spray booms 5SL and 5SR extend from the swing spray booms 5BL and 5BR, respectively, the distance between the tip of the left spray boom 5L and the tip of the right spray boom 5R is the same as that of the extension spray booms 5SL and 5SR. It becomes larger than the case where it does not stretch. The boom stroke sensor 95 determines the distance between the base of the left spraying boom 5L (the connection part with the front spraying boom 5C) and the tip and the distance between the base of the right spraying boom 5R (the connection part with the front spraying boom 5C) and the tip. To detect.

  As described above, the distance that the extension spray booms 5SL, 5SR extend from the swirl spray booms 5BL, 5BR can be adjusted steplessly or stepwise, and the swirl spray booms 5BL, 5BR and the extension spray booms 5SL can be adjusted. It is configured so that the supply of the solution to the nozzles existing on the sides of the swirl spray booms 5BL and 5BR where 5SR overlaps can be shut off. As such a configuration, for example, each nozzle of the swirling spray booms 5BL and 5BR is provided with a switching cock, and a switching member for operating switching of the switching cock is disposed outside the machine, and the extension spraying booms 5SL and 5SR side. An operating piece is provided in As such a configuration, the cock can be switched by contacting the switching cock when the extended spreading booms 5SL and 5SR are moved back and forth. With such a structure, the spreading work vehicle 1 can adjust the width (spreading width) for spraying the solution according to the spraying area of the solution in the field.

  Moreover, the spraying work vehicle 1 can select the nozzle which sprays a solution from the some ground spray nozzle 4, and can spray a solution. Thus, the spreading work vehicle 1 can cope with various spraying conditions of the solution by adjusting the spraying width of the solution and the number and position of the nozzles for spraying the solution.

  Next, the solution supply system 8 will be described.

  FIG. 5 is a configuration diagram illustrating an example of a solution supply system included in the scattering work vehicle according to the present embodiment. The spreading work vehicle 1 has a solution supply system 8. The solution supply system 8 is a system that supplies a solution to the plurality of ground spray nozzles 4. The solution supply system 8 includes a control tank 20, a water supply hose 21, a water discharge hose 22, a spraying hose 23, a stirring hose 24, a residual water hose 25, a water supply cock 26, a pump 27, a filter 28, A flow control valve 29, a branch device 30, a safety valve 31, a pressure sensor 92, a flow sensor 93, and a valve opening sensor 94 are included.

  In the following, “water” includes a solution.

  The control tank 20 stores a solution containing a chemical solution sprayed by the ground spray nozzle 4. The water supply hose 21 is a pipe for guiding the solution in the control tank 20 from the control tank 20 through the filter 28 to the pump 27.

  The water discharge hose 22 is a pipe for guiding the solution from the pump 27 to the branch device 30. The spray hose 23 is a pipe for guiding the solution from the branch device 30 to the left spray boom 5L, the right spray boom 5R, and the front spray boom 5C. The spray hose 23 for guiding the solution to the plurality of ground spray nozzles 4 attached to the extended spray boom 5SL of the left spray boom 5L and the extended spray boom 5SR of the right spray boom 5R has flexible hoses 23EL and 23ER, respectively. Yes.

  With such a structure, the flexible hoses 23EL and 23ER allow the movement of the extended spreading booms 5SL and 5SR even when the extended spreading booms 5SL and 5SR expand and contract. The stirring hose 24 is a pipe for constantly flowing a solution having a predetermined flow rate into the control tank 20 in order to stir the chemical solution in the control tank 20. The stirring hose 24 branches from the water discharge hose 22 and is connected to the control tank 20. The remaining water hose 25 is a pipe for returning the solution that has not been used for spraying and stirring to the inside of the control tank 20.

  The water supply cock 26 is provided between the control tank 20 and the filter 28 and is used to stop water supply from the control tank 20 when the filter 28 is exchanged, cleaned, or the like. The filter 28 removes dust and the like from the solution in the control tank 20. The pump 27 applies pressure after sucking the solution that has passed through the filter 28, and discharges the solution toward the flow control valve 29 through the water discharge hose 22. The flow rate control valve 29 is a device that adjusts the flow rate of the solution flowing to the branching device 30 and is controlled by the control device 9 shown in FIGS. 1 and 2. The branching device 30 branches the solution sent from the flow control valve 29 to the three spraying hoses 23, and a plurality of ground spraying nozzles respectively included in the left spraying boom 5L, the right spraying boom 5R, and the front spraying boom 5C. 4. Supply solution to 4.

  A right spray cock 32L, a left spray cock 32R, and a third spray cock 32C are provided on the outlet side of the branching device 30. The right spray cock 32L is disposed between the branch device 30 and the ground spray nozzle 4 of the left spray boom 5L, and supplies and does not supply the solution from the branch device 30 to the ground spray nozzle 4 of the left spray boom 5L. Switch. The left spray cock 32R is disposed between the branching device 30 and the ground spray nozzle 4 of the right spray boom 5R, and supplies and does not supply the solution from the branch device 30 to the ground spray nozzle 4 of the right spray boom 5R. Switch. The third spray cock 32C is disposed between the branch device 30 and the ground spray nozzle 4 of the front spray boom 5C, and supply and non-supply of the solution from the branch device 30 to the ground spray nozzle 4 of the front spray boom 5C. Switch.

  The right spreading cock 32L, the left spreading cock 32R, and the third spreading cock 32C may be a system in which an operator directly opens and closes them, or an actuator opens and closes them. The right spray cock 32L, the left spray cock 32R, and the third spray cock 32C are provided with an open / close sensor for detecting these states (closed or open). The output of the sensor is acquired, and the states of the right spray cock 32L, the left spray cock 32R, and the third spray cock 32C are grasped. The safety valve 31 is a device for returning the solution to the control tank 20 and suppressing an increase in the pressure of the solution in the water discharge hose 22 when the pressure of the solution in the water discharge hose 22 increases excessively.

  The flow sensor 93 is provided between the flow control valve 29 and the branch device 30. The flow rate sensor 93 detects the flow rate of the solution flowing into the branch device 30, that is, the flow rate of the solution sprayed from the ground spray nozzle 4, and transmits it to the control device 9 shown in FIGS. 1 and 2. The pressure sensor 92 is provided in the branch device 30.

  The pressure sensor 92 detects the pressure of the solution sent to the spray hose 23 and transmits it to the control device 9 shown in FIGS. The valve opening sensor 94 is provided in the flow control valve 29. The valve opening sensor 94 detects the opening of the flow control valve 29 and transmits it to the control device 9 shown in FIGS. The control device 9 controls the pump 27 and the flow rate control valve 29 based on the information detected by the pressure sensor 92, the flow rate sensor 93, and the valve opening degree sensor 94 to adjust the flow rate of the solution to be sprayed.

  Next, the control device 9 will be described.

  FIG. 6 is a control block diagram of a control device included in the scattering work vehicle 1 according to the present embodiment.

  The control device 9 includes a control processor 40, a storage unit 41, input interfaces 42a to 42q, an input / output interface 43, and output interfaces 44a to 44n. The control processor 40 is an arithmetic device (hardware) that operates software in a computer, and has a function of interpreting and executing instructions of a computer program.

  The control processor 40 controls the entire spray work vehicle 1 by interpreting and executing instructions of a computer program for controlling the internal combustion engine 2 and the solution supply system 8 and the like included in the spray work vehicle 1. In addition, the control processor 40 controls the raising and lowering and opening / closing of the left spraying boom 5L and the right spraying boom 5R, and controls the inclination of the left spraying boom 5L, the right spraying boom 5R, and the front spraying boom 5C. It also functions as a control unit. In this case, the control processor 40 interprets and executes the instructions of the computer program in which the instructions for realizing the control of the operations of the left spraying boom 5L, the right spraying boom 5R, and the front spraying boom 5C are executed, thereby executing the above-described operation. The functions of the control unit are realized.

  The storage unit 41 includes a RAM (Random Access Memory) 41A, a ROM (Read Only Memory) 41B, and an EEPROM (Electrically Erasable Programmable Read Only Memory) 41C. The RAM 41A is a volatile memory whose stored contents are lost when the supply of power is cut off, and the ROM 41B and the EEPROM 41C are non-volatile memories that retain the stored contents without supplying power. The EEPROM 41C can electrically erase stored contents and store new information. The storage unit 41 stores a computer program and data for realizing the control of the scattering work vehicle 1 and a computer program and data for realizing a function as a scattering control device.

  In the present embodiment, the ROM 41B stores a computer program and the like, and the EEPROM 41C stores data and the like obtained during the operation of the control device 9. The RAM 41A expands the computer program stored in the ROM 41B during the operation of the control device 9.

  The input interfaces 42a to 42q are a telescopic switch 88, a steering angle sensor 91, a pump switch 81, a vehicle speed sensor 90, a pressure sensor 92, a flow rate sensor 93, a valve opening sensor 94, a setting switch 82, a boom stroke sensor 95, and a link, respectively. An angular velocity sensor 96, a link tilt sensor 97, a boom angle right sensor 98R, a boom angle left sensor 98L, a boom opening / closing right sensor 99R, and a boom opening / closing left sensor 99L are connected. The input interfaces 42 a to 42 q convert information input to the input interface 42 a to 42 q into a form that can be used by the control processor 40 and inputs the converted information to the control processor 40.

  The input / output interface 43 is connected to the transmission / reception circuit 56 of the GPS receiver 10. As will be described later, the GPS receiver 10 generates a GPS vehicle speed Vg. The transmission / reception circuit 56 transmits the GPS vehicle speed Vg to the input / output interface 43, and receives a command from the control processor 40 via the input / output interface 43. The input / output interface 43 is interposed between the GPS receiver 10 and the control processor 40 so that information can be exchanged between them.

  The output interfaces 44a, 44c to 44m are respectively a flow control motor 29M, a pump 27, a buzzer 83, a display unit 11D, a horizontal valve 14, a right up / down actuator 12R, a left up / down actuator 12L, a right open / close actuator 13R, a left open / close actuator 13L, Connected to the right telescopic actuator 15R and the left telescopic actuator 15L. The output interface 44n is connected to the entire lifting / lowering actuator 16. The flow control motor 29M is a device for adjusting the valve opening degree of the flow control valve 29 shown in FIG.

  The output interface 44b converts the information generated by the control processor 40 for switching the rotation direction of the flow control motor 29M into a motor rotation direction switching output RD and outputs it. The rotation direction of the flow control motor 29M is switched by a motor rotation direction switching output RD.

  The output interfaces 44a to 44m provide commands for controlling the flow rate control motor 29M generated by the control processor 40, the pump 27, the right up / down actuator 12R, the left up / down actuator 12L, the entire up / down actuator 16 and the like. Convert to usable form and output.

  The spraying work vehicle 1 controls the spraying amount of the solution in conjunction with the vehicle speed. Such control is referred to as vehicle speed-linked spray control. The control processor 40 implements vehicle speed-linked spray control using an arithmetic expression using the flow rate of the solution sprayed from all the ground spray nozzles 4 (spraying amount per unit time) as a parameter. That is, the control processor 40 sprays the solution in conjunction with the vehicle speed of the spraying work vehicle 1 based on the solution spraying conditions.

  From the display / operation panel 11, the operator uses the nozzle constant (spray amount L / min per nozzle at a spray pressure of 10 kgf / cm 2), spray pressure (kgf / cm 2), and target spray amount per 10 ares (L / 10a). The processor 40 for control calculates the setting pressure of the solution sent to the spraying hose 23 shown in FIG. 5 using the vehicle speed of the spraying work vehicle 1 and the target spraying amount. And the processor 40 for control adjusts the quantity of the solution supplied to the spraying hose 23 so that it may become the set pressure calculated. The amount of the solution is adjusted by the control processor 40 adjusting the opening degree of the flow control valve 29 by driving the flow control motor 29M. Here, the vehicle speed of the scattering work vehicle 1 is the vehicle speed of the scattering work vehicle 1 generated by the GPS receiver 10 or the vehicle speed of the scattering work vehicle 1 detected by the vehicle speed sensor 90.

  Next, the GPS receiving unit 10 will be described.

  FIG. 7 is a schematic diagram illustrating a configuration example of a GPS receiver included in the scattering work vehicle according to the present embodiment. The GPS receiving unit 10 outputs information (positioning information) on the planar position and altitude of the receiving antenna 50 and the ground spray nozzle 4, the GPS vehicle speed Vg, and the like based on radio waves received from a plurality of GPS satellites SG1, SG2, and the like. The GPS receiver 10 is provided right next to the driver's seat 6 and includes a reception circuit 51, a signal processing circuit 52, a clock circuit 53, a memory 54, a GPS processor 55, and a transmission / reception circuit 56.

  The receiving antenna 50 is provided at the distal ends of the left and right extended spreading boom 5SL and the extended spreading boom 5SR of the spreading work vehicle 1, and receives radio waves transmitted from a plurality of GPS satellites SG1, SG2, and the like. The receiving circuit 51 is connected to the receiving antenna 50, and converts radio waves transmitted by the GPS satellites SG1, SG2, etc. received by the receiving antenna 50 into electrical signals. The signal processing circuit 52 converts the electrical signal output from the receiving circuit 51 into a form that can be used by the GPS processor 55 and outputs the converted signal. The clock circuit 53 measures the time and inputs it to the GPS processor 55. The memory 54 stores data necessary for the processing of the GPS processor 55 and develops a computer program necessary for the processing of the GPS processor 55.

  The GPS processor 55 calculates information about the position of the receiving antenna 50 and the position of the vehicle body 1 </ b> B based on the radio waves transmitted by the plurality of GPS satellites SG <b> 1 and SG <b> 2 and outputs the information to the transmission / reception circuit 56. Further, the GPS processor 55 calculates the speed of the GPS receiving unit 10 based on the information on the position of the GPS receiving unit 10, and outputs it to the transmission / reception circuit 56. Since the GPS receiving unit 10 is mounted on the scattering work vehicle 1, the information about the position of the GPS receiving unit 10 is information (position information) regarding the position of the scattering working vehicle 1. Moreover, the said speed is the vehicle speed of the spreading work vehicle 1 obtained based on the radio wave of GPS satellite SG1, SG2, and this is the GPS vehicle speed Vg mentioned above.

  The transmission / reception circuit 56 is connected to the control processor 40 included in the control device 9 via the input / output interface 43 of the control device 9. The transmission / reception circuit 56 outputs the position information obtained by the GPS processor 55 to the control processor 40 via the input / output interface 43 of the control device 9. The control processor 40 controls the scattering work vehicle 1 or transmits a data change request to the GPS receiver 10 using the position information. Note that the GPS vehicle speed Vg may be obtained based on the position information obtained from the GPS receiver 10 by the control processor 40 of the control device 9.

  FIG. 8 is a schematic diagram illustrating an example of an operation panel included in the scattering work vehicle according to the present embodiment.

  The display / operation panel 11 includes a display unit 11D, a manual switch 80, a pump switch 81, a setting switch 82, a cumulative reset switch 87, a display changeover switch 85, an automatic switch 86, and a telescopic switch 88. .

  The display unit 11 </ b> D displays the approach position where the scattering work vehicle 1 enters the region where the solution in the field is sprayed, obtained by the control processor 40 shown in FIG. 6, or based on the positioning information measured by the GPS receiver 10. Thus, when the spraying work vehicle 1 is performing the chemical solution spraying work in the field, the current position of the spraying work vehicle 1 and the movement track of the spraying work vehicle 1 are displayed as shown in FIG.

  FIG. 12 shows the movement trajectory of the spreading work vehicle 1 on the display unit 11D during the spreading work, showing the spraying area SE sprayed by the left spraying boom 5L, the front spraying boom 5C, and the right spraying boom 5R, and the forward path At the boundary between the spraying and the return spraying, an unsprayed region SE0 and an overlapping sprayed region SE2 are generated and displayed.

  In addition, the display unit 11D displays information related to the farm field on which the spray work vehicle 1 sprays the solution, information on the solution to be sprayed, information on the operation state of the spray work vehicle 1, and the like. Examples of the information on the field include the position and area of the field. Information on the latter includes, for example, the type of solution, the amount of spray, the set value (set pressure) of the discharge pressure of the pump 27 shown in FIG. 5, the cumulative value of the sprayed solution, and the like.

  By doing in this way, display part 11D guides an operator's operation. As the display unit 11D, for example, a liquid crystal display, an organic EL display, or the like can be used.

  The manual switch 80 is an input means that is operated when the operator changes the spraying condition of the solution or adjusts the spraying width in the spraying of the solution. When the manual switch 80 is operated, the control device 9 shown in FIG. 6 sets the setting switch 82 to accept the change of the spraying condition or the adjustment of the spraying width. The pump switch 81 is an input means for starting the pump 27 shown in FIG. When the pump switch 81 is operated, the pump 27 is activated, and spraying of the solution is started by operating the right spray cock 32L, the left spray cock 32R, and the third spray cock 32C to the open side.

  The setting switch 82 is an input means for inputting a solution spraying condition. The setting switch 82 is a spray amount setting switch 82A for setting the spray amount of the solution, a pressure setting switch 82B for setting the discharge pressure of the pump 27, an increase / decrease switch 82C for increasing / decreasing the set value, and confirming the setting. A confirmation switch 82D. The accumulated reset switch 87 is an input unit used when resetting the accumulated amount of the sprayed solution.

  The display changeover switch 85 is an input unit used when switching information displayed on the display unit 11D. The automatic switch 86 is an input means that is operated when the solution is automatically sprayed under the set spraying conditions. When the automatic switch 86 is operated so as to be turned on while the airframe is stopped, the pump 27 is driven (pump switch 81 is turned off). When the right spray cock 32L, the left spray cock 32R, and the third spray cock 32C are operated to the open side, preparation for automatic spraying is completed.

  Even if the right spray cock 32L, the left spray cock 32R, and the third spray cock 32C are operated to the open side, the solution is not sprayed because the electromagnetic clutch integrated with the pump 27 is OFF. When the traveling state of the airframe is detected from the vehicle speed sensor, the electromagnetic clutch integrated with the pump 27 is turned on, and the spray amount is adjusted to be uniform based on the information from the vehicle speed sensor and automatically sprayed. In the traveling stop state, the spraying is automatically stopped. The manual switch 80 may not be provided. In this case, manual spraying is performed when the automatic switch 80 is turned off.

  The telescopic switch 88 is a switch for expanding and contracting the left spraying boom 5L and the right spraying boom 5R. The expansion / contraction switch 88 includes a first expansion / contraction switch 88L and a second expansion / contraction switch 88R. The first telescopic switch 88L extends and contracts the left spraying boom 5L, and the second telescopic switch 88R extends and contracts the right spraying boom 5R.

  FIG. 11 is a display in which the display unit 11D of the display / operation panel 11 is switched from the state shown in FIG. 8, in the case where the spraying work is performed with two spraying work vehicles A1 and B1 on the same field. B1 shares information on controlled fields with a communication function.

  The spreading work vehicle A1 proceeds while making a right U-turn from the left side, and the scattering work vehicle B1 proceeds while making a left U-turn from the right side. When the right spraying work vehicle B1 moves from the spraying area BE1 to the spraying area BE2, and the left spraying work vehicle A1 moves from the spraying area AE1 to the spraying area AE2, the left spraying work vehicle A1 is moved to the upper right corner of the controlled field AE1 ( The position of the right receiving antenna 50 is aligned with the position of the right receiving antenna 50 at the end of spraying), and the left receiving antenna 50 is positioned so that the position of the left receiving antenna 50 is the upper left corner of the controlled field BE2 of the right spraying work vehicle B1. The extended spray boom 5SL is expanded and contracted to determine the spray area AE2. The alignment of the right receiving antenna 50 is determined in consideration of the spray area of the ground spray nozzle 4.

  When the right spraying work vehicle B1 reaches the end of the field, the left spraying work vehicle A1 is spraying the remaining field, and thus the spraying work is finished.

  Since the spraying work vehicle 1 of the present embodiment is configured to perform additional spraying in the unsprayed area using the unmanned aerial vehicle 60 shown in FIG. 13, the additional spraying by the unmanned aircraft 60 will be described below.

  The unmanned aerial vehicle 60 transmits and receives signals to and from a portable terminal 58 such as a tablet. The portable terminal 58 is configured to be communicable with the scattering work vehicle 1 and also has a function as a controller for remotely operating the unmanned aerial vehicle 60 using operation sticks 58L and 58R.

  Further, the portable terminal 58 reads the scatter locus stored in the control device 9 to the portable terminal 58 by the Bluetooth communication with the control device 9 of the scatter work vehicle 1 and displays the unscattered area on the image display unit 59.

  There is an image display unit 59 in the center of the portable terminal 58, and an image taken by a camera 61 of the unmanned aircraft 60 described later, a control button of the unmanned aircraft 60, and the like are displayed.

  The attitude of the unmanned aerial vehicle 60 is controlled by the output balance of a plurality of motors 63 equipped with a prober 62, and can be freely moved and hovered by flying. The attitude control of the body is performed simultaneously with control by an operation signal transmitted from the portable terminal 58 and automatic control by a built-in acceleration sensor or the like.

  A landing leg 64, a camera 61 for photographing the lower part, and a solution tank 65 for loading a solution for dispersion are mounted at the lower part of the unmanned aerial vehicle 60, and an aerial spray nozzle 66 is provided at the lower center of the solution tank 65. It is provided so that it can fly in a well-balanced manner. The aerial spray nozzle 66 is provided with a spray shutter 67, and spraying can be interrupted at an arbitrary timing while viewing the video of the camera 61 displayed on the image display unit 59 of the portable terminal 58. A flying GPS antenna 68 is mounted on the upper part of the unmanned aircraft 60.

  FIG. 14 is a control block diagram of the solution spraying system. The scattering work vehicle 1 is equipped with a vehicle ECU (ElCronicC Control Unit) 70 as a control unit that controls the traveling of the vehicle and a position information processing ECU 79 that processes the positioning information obtained by the in-vehicle receiving antenna 50.

  The vehicle ECU 70 has a signal from a vehicle speed sensor 71 that detects a traveling vehicle speed, a signal from a steering sensor 72 that detects the steering angle of the front wheels 3FL and 3FR, a signal from a shift sensor 73 that detects a shift position, and control. A signal from a remaining solution sensor 74 for detecting the remaining solution in the tank 20 is input. From the vehicle ECU 70, a signal for controlling the output of the engine E, an operation signal for the steering motor 75 for controlling the steering angle of the steering wheel 7, a shift operation signal for the transmission 76, and a brake for stopping the vehicle are operated. The brake operation signal to the brake cylinder 77 to be output is output.

  The position information processing ECU 79 and the vehicle ECU 70 can transmit and receive information to each other through wired communication, and can also perform various controls according to the position of the vehicle. The vehicle ECU 79 can transmit and receive information to and from the mobile terminal 58 by wireless communication, and can display the vehicle state and work status on the image display unit 59 of the mobile terminal 58.

  The portable terminal 58 can also transmit / receive information to / from a control unmanned aerial vehicle (UAVUNMAnned AiriVehicle) ECU 100 mounted on the unmanned aircraft 60 by wireless communication. The position information signal from the flight GPS antenna 68, the video signal from the camera 61, and the attitude information from the acceleration sensor 69 are output from the unmanned aerial ECU 100 to the portable terminal 58, and the attitude information from the acceleration sensor 69 is output from the portable terminal 58 to the unmanned aircraft ECU 100. Open / close signal and an output control signal of the motor 63 are output.

  The worker finishes the spraying work on the spraying work vehicle 1 and flies the unmanned aircraft 60 to the unspreading area SE0 sent from the control device 9 of the spraying work vehicle 1 and displayed on the image display unit 59 of the portable terminal 58, By opening the spraying shutter 67 and performing additional spraying, spraying omission can be eliminated. In this additional spraying, the altitude of the spraying shutter 67 of the unmanned aerial vehicle 60 is set to be the same as the altitude of the ground spray nozzle 4 of the spraying boom 5, and the unmanned aircraft 60 is allowed to fly to have the same spraying concentration as the spraying region SE. I can do it.

  The unmanned aerial vehicle 60 automatically determines the flight course to the unspread area SEO based on the data of the unspread area SEO transmitted from the control device 9 of the scatter work vehicle 1 to the portable terminal 58, It is also possible to adopt a configuration in which the inside of the spray area SEO automatically flies and the spray shutter 67 is automatically opened and closed. In the case of this configuration, the data of the unscattered area SEO transmitted from the control device 9 of the scattering work vehicle 1 to the portable terminal 58 is displayed on the image display unit 59 of the portable terminal 58 and the flight trajectory of the unmanned aircraft 60 is superimposed. The operator can determine whether or not the additional spraying is properly performed.

  Further, by automatically flying so that the altitude of the spraying shutter 67 of the unmanned aerial vehicle 60 is the same as the altitude of the ground spray nozzle 4 of the spraying boom 5, the quick additional spraying and the spraying height are appropriately controlled automatically. Therefore, additional spraying can be performed with high accuracy and the non-sprayed area SE0 can be eliminated. It is possible to achieve the same spraying concentration as the spraying region SE with high accuracy.

  It is also possible to attach a marker to the spraying boom 5 so that the unmanned aircraft 60 performs additional spraying while following and flying at a constant altitude during the spraying operation of the spraying work vehicle 1 so as to eliminate spraying omission.

  Further, a liquid amount sensor for detecting the weight of a strain gauge or the like may be provided in the solution tank 65 so that the unmanned aircraft 60 is automatically returned to the return platform 102 shown in FIG. 18 when the solution is exhausted. The return platform 102 is provided with landing platforms 102 a, 102 b, 102 c, 102 d for landing the unmanned aircraft 60, and the supply / drainage pipe 103 connected to the supply / discharge port of the solution tank 65 is opened upward. The supply / discharge port of the solution tank 65 is provided at the center or the periphery.

  The liquid remaining amount in the solution tank 65 can also be measured by detecting the load of the motor 63 that drives the prober 62.

  It is also possible to set the flight height by suspending a winding positioning rope from the unmanned aircraft 60 and measuring the height to the crop.

  Further, the altitude of the ground spray nozzle 4 of the spray work vehicle 1 can be calculated by providing two cameras 61 in the unmanned aircraft 60.

  In the embodiment of the unmanned aerial vehicle 60 shown in FIG. 17, an aerial spray nozzle 66 is provided at the lower end of the telescopic hose 101 so that the solution can be sprayed near the crop. With this configuration, it is preferable to provide a second camera together with the aerial spray nozzle 66 so that the crop condition, the weeds condition, and the leaf color of the crop are reflected on the image display unit 59 of the portable terminal 58 for use in growth management. With this configuration, it is possible to record a field map of chemical spraying and fertilizer spraying for reference to later crop growth.

  15 and 16 are schematic views when registering the field shape before the start of spraying. When the position information and shape information of the field are measured using the unmanned aircraft 60 and registered in the portable terminal 58, the unmanned aircraft 60 is used as shown in FIG. While confirming the image captured by the camera 61 with the image display unit 59, the unmanned aircraft 60 is manually blown above the corner KA of the field to be measured, and the position of the unmanned aircraft 60 is adjusted based on the marker 37. When the position setting button 39 is tapped, the position of the unmanned aircraft 60 at that time is stored as a point. The coordinates at that time are displayed on the coordinate display unit 38.

  Similarly, the corners KB and KC are registered, and when the setting end button 45 is tapped after the last corner is registered above the corner KD as shown in FIG. 16, the field shape is fixed.

  The above-described spraying operation using the unmanned aerial vehicle 60 is carried out by confirming a region with little pasture on the pasture as shown in FIG. By measuring and recording the moisture content, it can be used for pasture management.

DESCRIPTION OF SYMBOLS 1 Spreading work vehicle 1B Car body 4 Ground spraying nozzle 5 Spraying boom 6 Driver's seat 11 Display / operation panel 11D Display part 50 Reception antenna 58 Mobile terminal 59 Image display part 60 Unmanned aircraft 66 Aerial spray nozzle SG1, SG2 GPS satellite SE0 Unspreading area

Claims (5)

In a spraying system using a spraying work vehicle (1) that performs a spraying work by extending a spraying boom (5) having a plurality of ground spraying nozzles (4) to the left and right of the vehicle body (1B),
The position of the receiving antenna (50) provided on the spreading boom (5) is drawn on the farm map with the position information from the GPS satellites (SG1, SG2), and a display / operation panel (6) near the driver's seat (6) 11) A spraying system characterized in that an unscattered area (SE0) is identified and displayed together with an agricultural field map on the display unit (11D).   An unmanned aerial vehicle (60) having a solution tank (65), an aerial spray nozzle (66), and a flying GPS antenna (68) can be wirelessly operated by a portable terminal (58), and is not sprayed from the spray work vehicle (1). Data of the region (SE0) is transmitted to the portable terminal (58) and displayed on the image display unit (59), and the unmanned aircraft (60) is based on the unspread region (SE0) on the displayed field map. The spraying system according to claim 1, wherein the spraying operation is performed by steering the   The height of the ground spray nozzle (4) of the spray work vehicle (1) and the height of the aerial spray nozzle (66) of the unmanned aerial vehicle (60) are determined from the side position information from the GPS satellites (SG1, SG2). Flight measurement is performed so that the height of the aerial spray nozzle (66) of the unmanned aerial vehicle (60) coincides with the height of the ground spray nozzle (4) of the spray work vehicle (1) by additional spraying. The spraying system according to claim 2. An unmanned aerial vehicle (60) wirelessly maneuverable with a portable terminal (58) having a solution tank (65), an air spray nozzle (66) and a flying GPS antenna (68);
A spreading boom (5) provided with a plurality of ground spray nozzles (4) is extended to the left and right of the vehicle body (1B) to perform the spreading work, and the position of the receiving antenna (50) provided on the spreading boom (5) is determined by GPS. The scatter movement trajectory is drawn on the field map with the position information from the satellites (SG1, SG2), and the unscattered area (SE0) is displayed together with the field map on the display unit (11D) of the display / operation panel (11) near the driver's seat (6). A spraying work vehicle (1) for identifying and displaying)),
The data of the unspread area (SE0) transmitted from the scattering work vehicle (1) to the portable terminal (58) is displayed on the image display unit (59) of the portable terminal (58), and the unspread area A spraying system in which the unmanned aerial vehicle (60) performs a spraying operation based on the data of (SE0). Measure the height of the ground spray nozzle (4) of the spray vehicle (1) and the height of the aerial spray nozzle (66) of the unmanned aerial vehicle (60) from the side information from the GPS satellites (SG1, SG2). The unmanned aerial vehicle (60) is configured such that the height of the aerial spray nozzle (66) of the unmanned aerial vehicle (60) coincides with the height of the ground spray nozzle (4) of the scattering work vehicle (1) by additional spraying. The flight system of claim 4 is controlled.

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