PROBLEM TO BE SOLVED: To provide a chemical spraying vehicle, lessening the load of a worker by the boom elevating control using rotation synchronization without causing unexpected boom elevation while enabling the correction for the position and direction of a machine body at need, and also traveling to spray chemical with a uniform spray density on the whole surface of a field.SOLUTION: This chemical spraying vehicle includes right and left booms (9a, 9b) for spraying a chemical to be switched to a working position for spraying at a low position and a standby position for retreating to a high position, wherein in the boom elevation control using rotation synchronization, according to the detection of a rudder angle in rotational traveling at every field end for transition from the linear spraying travel to the linear spraying travel in the opposition direction for an adjacent region, lifting of the outside boom (9b) for the start of rotation and the lowering of the outside boom (9b) for the travel to the adjacent region and the end of rotation are sequentially performed, and in determining the above end of rotation, the application range of the synchronization control can be limited on the condition of a lapse of predetermined time from the traveling start at a predetermined speed.COPYRIGHT: (C)2013,JPO&INPIT【課題】必要に応じて機体の位置や方向の修正を可能としつつ、不測のブーム昇降を招くことなく、旋回連動によるブーム昇降制御によって作業者の負担軽減を図るとともに、隣接行程の薬剤散布領域との重複や隙間を生じることなく、圃場全面を一様な散布密度で薬剤散布走行することができる薬剤散布車を提供する。【解決手段】薬剤散布車は、薬剤散布用の左右のブーム(9b,9b)それぞれを低位散布のための作業位置と高位待避のための待機位置に切替え可能に備え、直線散布走行から隣接域の逆方向の直線散布走行に移行する圃場端毎の旋回走行時の舵角検出により、旋回開始による外側ブーム(9b)の上昇、隣接域への走行、旋回終了による外側ブーム(9b)の下降を順次行う旋回連動のブーム昇降制御を備えて構成され、上記旋回終了の判定は、所定速度による走行開始から所定時間の経過を条件とすることにより、連動制御の適用範囲を限定することができる。【選択図】図10
