JP2001245511A - Farm work machine - Google Patents

Abstract

(57) [Summary] [PROBLEMS] To effectively utilize state detection means used for attitude control of a ground work device in an agricultural work machine. SOLUTION: The state detecting means 3 includes state detecting means 36 for detecting a posture change from a reference posture of the ground working device.
6. An attitude control means for controlling the attitude of the ground working device based on the detection result of No. 6 and an alarm control means for activating the alarm device 28 when the attitude change detected by the state detection means 36 becomes large.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an agricultural work machine such as a rice transplanter in which a ground working device is mounted on a traveling machine so that the posture thereof can be freely changed (for example, a rolling posture or an elevating posture), and the posture of the ground working device can be controlled.

[0002]

2. Description of the Related Art In an agricultural work machine in which the attitude of a ground working device is controllable, for example, when rolling control of the ground working device is performed as one form of attitude control of the ground working device,
A rolling sensor is attached to the ground working device, and rolling control of the ground working device is performed so as to maintain the ground working device at a set rolling angle based on a detection result of the rolling sensor.

[0003]

In the configuration described in the prior art, the rolling sensor is used only for the rolling control of the ground working device, so that it tends to be enlarged in terms of the configuration of the equipment, and the parts between It is worth considering effective utilization. SUMMARY OF THE INVENTION It is an object of the present invention to effectively utilize a state detection unit used for controlling the attitude of a ground work device in an agricultural work machine.

[0004]

[Means for Solving the Problems] [Structure] A feature of claim 1 is that an agricultural working machine is constituted as follows.
Equipped with a ground work device on the traveling body so that the posture can be freely changed, and equipped with state detection means for detecting a change in posture from the reference posture of the ground work device, and controlling the posture of the ground work device based on the detection result of the state detection means. And a warning control means for activating a warning device when a change in the posture detected by the state detection means becomes large.

According to the first aspect of the present invention, the state detecting means, as a detection sensor in the attitude control means, detects a change in the attitude of the ground working device from the reference attitude, and the state in the alarm control means is determined. The detection sensor detects a change in the attitude of the traveling body. As a result, the state detecting means can be shared.

According to a second aspect of the present invention, in the agricultural work machine having the features of the first aspect, the state detecting means is configured to detect a rolling operation of the ground work device, and the detection result of the state detecting means is provided. The attitude control means is configured to perform rolling control for maintaining the rolling attitude of the ground working device at the reference attitude based on the ground attitude.

[Action and Effect of the Invention] According to the feature of the second aspect, similar to the case of the first aspect, the [action and the effect of the invention] of the first aspect is provided. [Functions and Effects of the Invention] According to the feature of the second aspect, the rolling operation of the ground working device is detected by the state detecting means, and the state detecting means can be used for the rolling control (posture control means) of the ground working device. It can also be used as an alarm control means for preventing falling over. As a result, the state detecting means can be shared.

According to a third aspect of the present invention, there is provided an agricultural working machine having the features of the second aspect, wherein the ground working device is provided on the traveling machine body so as to be able to move up and down, and the ground working device is provided with a grounding sensor which is swingable. A lifting control means for controlling the lifting and lowering of the ground working device so that the ground sensor is maintained in the reference posture based on a posture change from the reference posture of the ground sensor, and a posture change in the front-rear direction from the reference posture. Is provided, and elevation correction control means for correcting the elevation control means based on the detection result of the state detection means is provided.

[Action and Effect of the Invention] According to the feature of the third aspect, similar to the case of the second aspect, the function and the effect of the second aspect are provided. [Functions and Effects of the Invention] The lifting / lowering control means includes a ground sensor swayably provided on the ground working device, and based on a change in posture of the ground sensor from the reference posture of the ground sensor with respect to the ground working device, the ground sensor moves to the reference posture of the ground sensor with respect to the ground working device. There is a device configured to control the lifting and lowering of the ground working device so that is maintained.
In such a lifting control means, when the ground attitude of the traveling machine body is maintained at a predetermined attitude, appropriate lifting control of the ground working device is performed.

[0010] On the other hand, when the traveling body changes to a forward lowered posture or the like due to unevenness, the ground working apparatus also changes its posture with respect to the ground. In such a state, the reference attitude of the ground sensor with respect to the ground work device is changed, and the elevation control of the ground work device is performed so that the ground sensor is maintained at the reference attitude of the ground sensor with respect to the ground work device. Will be Thus, the lifting / lowering control of the ground working device is performed using the changed reference posture of the ground sensor with respect to the ground working device as the reference posture of the new ground sensor with respect to the ground working device.

According to a third aspect of the present invention, there is provided state detecting means for detecting a posture change from a reference posture in the front-back direction,
Since the lifting and lowering correction control means for correcting the lifting and lowering control means based on the detection result of the state detecting means is provided, the correction is performed based on the detection result of the state detecting means, and the lifting and lowering control means of the ground working device is properly adjusted. It works.

According to a fourth aspect of the present invention, in the agricultural work machine having the features of the third aspect, the elevation correction control means changes a link ratio of a link mechanism that connects the ground operating device to the traveling body so as to be able to move up and down. Is what you do.

[Action and Effect of the Invention] According to the feature of claim 4, similar to the case of claim 3, the function and effect of the invention of claim 3 are provided. [Functions and Effects of the Invention] According to the fourth aspect of the present invention, by changing the link ratio of the link mechanism, the attitude of the grounding sensor with respect to the traveling body can be changed integrally with the grounding work device. You can change your posture. Thus, even if the posture of the traveling machine body in the front-rear direction changes, the reference posture of the ground contact sensor with respect to the ground work apparatus can be maintained by changing the link ratio of the link mechanism accordingly.

According to a fifth aspect of the present invention, in the agricultural machine having the features of the third aspect, the elevation correction control means changes a reference attitude of the grounding sensor with respect to the ground work apparatus.

[Action and Effect of the Invention] According to the feature of claim 5, as in the case of claim 3, the function and effect of the invention of claim 3 are provided. [Functions and Effects of the Invention] According to the fifth aspect of the present invention, since the reference posture of the ground sensor with respect to the ground work device can be changed to the reference posture of the new ground sensor with respect to the ground work device, the posture of the traveling body in the front-rear direction changes. Even so, the elevation control means of the ground working device can operate properly.

[0016]

Embodiments of the present invention will be described below with reference to the drawings. As shown in FIG. 1, an engine 4 is mounted on a front part of a traveling body 3 having a drive type front wheel 1 and a rear wheel 2. A hydrostatic stepless transmission 5 to which the power of the engine 4 is transmitted and a transmission case 6 are disposed at the rear of the traveling body 3. A driver's seat 7 is arranged at the center of the traveling machine body 3, and a seedling is freely rolled around an axis Y in a front-rear posture through a link mechanism 9 driven up and down by a lift cylinder 8 at a rear portion of the traveling machine body 3. The apparatus A is connected to form a riding type rice transplanter.

As shown in FIG. 1, a forward / reverse speed change lever 19 is mounted on a handle post for supporting the steering handle 11.
And a lifting lever 10 is provided on the right side of the driver's seat 7. On the right side of the driver's seat 7, there is provided an elevating lever 10 for controlling the elevating and lowering of the seedling planting apparatus A and engaging and disengaging the planting clutch 53, and a steering handle 11 at the front of the traveling machine body 3. The planting clutch 53 is housed in the transmission case 6, and only when the transmission shaft for transmitting power from the transmission case 6 to the seedling planting device A is in a predetermined rotational phase, the planting clutch 53 is provided.
Cutting operation is allowed and the planting arm 1 of the seedling planting device A
The planting clutch 53 is configured such that the power is shut off in a posture where the contact with the field scene S is avoided.

As shown in FIG. 1 and FIG.
Is a pair of right and left transmission cases 14 to which the power of a transmission shaft (not shown) is transmitted,
A rotary case 16 that is rotated by power transmitted from the transmission case 14 via the chain case 15, planting arms 17 provided in pairs on the rotary case 16, a center float 18 </ b> C, and two on each side of the center float 18 </ b> C A grounding float 18 (see FIGS. 6, 7, 8, and 9) configured to include a set side float 18S is configured in a ten-row type. A fertilizer applicator B is provided, and seedlings are cut out from the lower end of the mat-shaped seedlings W placed on the seedling mounting table 13 at the time of planting operation, and the planting claws of the planting arm 17 are cut out one by one to produce a field scene S. Simultaneously with the planting, the fertilizer application device B supplies the fertilizer to the field scene S near the planted seedling.

As shown in FIGS. 1 and 2, the link mechanism 9
Is provided with a top link 9T on the upper side and a lower link 9L on the lower side. The seedling is rotatably mounted around the axis Y on the rolling boss 21 at the lower end of the vertical frame 9V at the rear end of the link mechanism 9. Device A is supported. As shown in FIG. 2, a main frame 22 is supported by a rolling boss 21 so as to be freely rollable, and a support arm 23 is provided so as to be swingable around a first axis X <b> 1 in a vertical orientation at both left and right ends of the main frame 22. A tool frame 25 is provided at the outer end of the support arm 23 via a bracket 24 so as to be swingable around a second axis X2 in a vertical position. The support frame 26 is provided on the bracket 24, and the transmission case 14 and the chain case 1 are mounted on the tool frame 25.
5. The seedling mounting table 13 and the ground float 18 which are configured to be splittable are supported. The seedling planting apparatus A is divided into a pair of left and right divided parts AR and AL, and swings the support arm 23 backward around the first axis X1 and simultaneously swings the tool frame 25 around the second axis X2. By doing so, the seedling planting apparatus A is configured to be switched to the storage position.

As shown in FIG. 2, a screw shaft 31 in a horizontal position is supported on a vertical frame 9V via a frame 30. A rolling motor 32 for driving the screw shaft 31 in both forward and reverse directions and a moving member 33 screwed to the screw shaft 31 are provided.
, An extension rod 34 and a rolling spring 35 are interposed, and the driving force of the rolling motor 32 drives the seedling transplanting apparatus A to roll. A gravity sensor is attached to the columnar frame 26, and a rolling sensor 36 for detecting the rolling operation of the seedling planting device A in the left-right direction is configured. The seedling planting device A is detected based on the detection result of the rolling sensor 36. Is performed.

As shown in FIG. 3, a support arm 39 extends rearward from a planting depth adjusting shaft 38 that is supported laterally by the seedling planting apparatus A, and the center float 18C is connected to the support arm 39. At the tip, it is swingably supported around an axis P in a lateral posture. A bending link member 40 extends forward from the planting depth adjusting shaft 38, and the front end of the center float 18 </ b> C is supported at the front end of the bending link member 40, and receives a ground reaction force from the field scene S. Refraction link member 4
Due to the expansion and contraction of 0, the center float 18C swings around the axis P.

As shown in FIG. 3, a box-shaped mounting frame 37 is supported by a supporting arm 39 so as to be swingable around a laterally operating shaft 41, and a potentiometer-type float sensor 42 is fixed to the mounting frame 37. I have. A gear mechanism (not shown) is provided on the mounting frame 37, and the gear mechanism is linked to the operation shaft 41. An operation arm 41A that rotates integrally with the operation shaft 41 and a fixed arm 43 fixed to the center float 18C are connected in a quadruple link manner by an operation rod 44, and the swing of the center float 18C around the axis P is operated. It is measured by the float sensor 42 via the shaft 41 and the gear mechanism. The rod 4 extends over the member 45 fixed to the planting depth adjusting shaft 38 and the mounting frame 37.
6 are provided. When the planting depth adjusting shaft 38 is rotated to adjust the planting depth, the fixed arm 43 does not change the measurement value of the float sensor 42 even if the support arm 39 swings, so that the mounting frame 37 is used. Is reversed.

As shown in FIG. 3, an adjusting arm 47 fixed to the planting depth adjusting shaft 38 is connected to a balance member 48 supported on the chain case 15 so as to be vertically swingable. A compression coil type sensing spring 49 is interposed between the balance member 48 and the front end bracket of the center float 18C. The configuration is such that the urging force of the sensing spring 49 does not change as long as the posture of the center float 18C with respect to the seedling planting device A is kept constant during the rotation operation of the planting depth adjusting shaft 38.

A control system is configured as shown in FIG. 4, and the control system includes a control device 5 having a microprocessor.
6, the signal of the potentiometer type sensitivity setting device 57 operated by the dial 57A, the signal of the float sensor 42,
A signal from a potentiometer type rolling angle setting device 58 operated by a dial 58A, and a rolling sensor 36
The input system to which the signal is input is configured. The signal input to the input system is transmitted from the control device 56 to the lift cylinder 8.
, And a signal to the driver 60 for the rolling motor 32.

During the planting operation, the center float 18
When C receives the ground reaction force and swings around the axis P, the lift cylinder 8 is driven such that the center float 18C is maintained in the reference posture with respect to the seedling planting device A set by the sensitivity setting device 57. The seedling planting apparatus A is driven up and down to control the raising and lowering of the seedling planting apparatus A. Rolling angle setting device 5
8 is set to the horizontal position, the rolling motor 32 is driven, the seedling planting apparatus A is driven to roll, and the seedling planting is performed with the state in which the side floats 18S at the left and right outer ends are maintained at the same level as the control target. The rolling control of the attachment device A is performed.

As shown in FIG. 4, the more the dial 57A of the sensitivity setting device 57 is operated more quickly, the more the center float 18 is moved.
The reference posture of C is changed to the front lower side, and the sensing spring 49 is moved.
, The urging force acting on the center float 18C decreases,
The sensing performance of the center float 18C is improved. As the dial 57A of the sensitivity setting device 57 is operated to the blunt side, the reference posture of the center float 18C is changed to the front rising side,
The urging force acting on the center float 18C from the sensing spring 49 is increased, and the sensing performance of the center float 18C is reduced. When the dial 58A of the rolling angle setting device 58 is set to a position outside the horizontal position, the rolling sensor 3
Rolling control of the seedling plant A is performed so that the detected value of 6 corresponds to the set angle of the dial 58A.

When the seedling planting device A is at the center in the left-right direction,
It is configured so that it can be divided into left and right divided articles AR and AL for each strip, and can switch between the working posture for maintaining the seedling planting apparatus A in the coupled state and the divided storage posture. As shown in FIGS. 6, 7, 8, and 9, each part of the seedling planting apparatus A is configured to connect the left and right divided objects AR and AL and to allow separation. As shown in FIG. 2, an actuator (not shown) that swings the rear end of the support arm 23 that swings around the first axis X1 toward the inside of the traveling machine body 3 is provided. What is supported by the tool frame 25 around the second axis X2 in conjunction with the swing of the support arm 23,
Reverse direction by twice the swing amount of the support arm 23 (the outer end of the tool frame 25 faces the front of the traveling machine body 3).
There is provided an interlocking mechanism (not shown) for swinging.

Thus, when the seedling placement apparatus A is switched to the storage position, the raising and lowering lever 10 is operated to drive the seedling placement apparatus A up to the upper limit, and as shown in FIG.
3 is moved to the left moving end and stopped. After releasing the lock of the lock mechanism (not shown), the divided right seedling placing table 13R is moved to the right moving end as shown in FIG. 7 (the control operation is not described in detail. Then, the interval between the left and right divided seedling mounting stands 13R and 13L reaches about 30 cm).

By actuating the actuator to the retracted side, the rear end of the support arm 23 swings inwardly of the traveling machine body 3 by swinging around the first axis X1 as shown in FIG. Is supported by the tool frame 25 around the second axis X2 in the opposite direction at twice the swinging speed of the support arm 23 (the side where the outer end of the tool frame 25 faces the front of the traveling machine body 3). ) To reach the retracted posture of the seedling planting apparatus A as shown in FIG. In the retracted posture of the seedling placement device A, the left and right divided seedling mounts 13R and 13L approach the traveling body 3 and reach a posture where the upper edges of the left and right divided seedling mounts 13R and 13L are parallel to each other in a close state. Therefore, the entire weight of the seedling planting device A is brought closer to the traveling machine body 3 to improve the overall weight balance of the rice planting machine, and the size of the seedling planting device A in the left-right direction can be reduced. When switching the seedling planting apparatus A in the storage position to the work position, the actuator is operated in the opposite direction.

Next, control for preventing the traveling body 3 from falling over using the rolling sensor 36 will be described. As described above, the rolling control of the seedling planting apparatus A using the rolling sensor 36 has been described. However, this rolling control is referred to as posture control, and the control for preventing the falling of the traveling body 3 to be described below is performed by alarm control. Called. As the alarm control described here, two types of alarm control, that is, an alarm control for preventing the traveling body 3 from falling in the left-right direction and an alarm control for preventing the traveling body 3 from falling in the front-rear direction, will be described.

Switching means for switching between rolling control and alarm control is provided, and artificial mode switching means 20 using a snap switch or the like is provided as switching means. As shown in FIG. 4, artificial mode switching means 2
The control is switched from the rolling control to the alarm control by 0, and the right and left inclination angles of the traveling machine body 3 are detected by the rolling sensor 36. When detecting the left-right inclination angle of the traveling body 3,
The rolling operation of the seedling planting apparatus A with respect to the traveling machine body 3 in the working posture is regulated so that the seedling planting apparatus A performs the rolling operation integrally with the traveling machine body 3.

As shown in FIG. 1, a pair of right and left arms 27 extend from the front end of the seedling planting apparatus A, and the arms 27 are connected to the lower link 9.
L. When the link mechanism 9 is driven to rise, the arm 27 abuts the lower link 9L from below at the ascending limit position, and the traveling body 3 of the seedling planting apparatus A in the working posture is moved.
Attitude is determined. Next, a rolling angle setting device 5 is used to set the overturn prevention angle of the left and right inclination angles of the traveling body 3.
Although 8 is used, a fall prevention angle setting device may be separately provided.
When the value detected by the rolling sensor 36 reaches the overturn prevention angle, the alarm device 28 is activated to notify the worker.

As described above, the mode in which the warning device 28 is activated when the traveling body 3 is rolled by using the rolling sensor 36 has been described, but the rolling sensor 36 is used to move the traveling body 3 in the front-rear direction. It may be used for alarm control for preventing a fall. As shown in FIG. 9, in the retracted posture of the seedling placement apparatus A, the seedling mounting table 13 is divided and extends along the front-back direction. In this case, the rolling sensor 36 attached to the columnar frame 26 has a detection direction along the front-rear direction, and can be used to prevent the traveling body 3 from tipping over in the front-rear direction. As described above, the rolling sensor 36 is referred to as state detecting means for detecting a state changed from the reference posture.

Although the artificial mode switching means 20 is employed as means for switching between the rolling control and the alarm control, it is also possible to automatically detect and switch between the planting operation state and the non-planting operation state. . As shown in FIG. 4, the seedling planting apparatus A is provided with an elevating lever 10 that can be set at an arbitrary height at the height of the planting operation, at the upper limit position, or at an intermediate position. Whether or not the vehicle is at the position may be detected by the lever sensor 29, and the rolling control and the alarm control may be automatically switched based on the detection of the lever sensor 29. A shift position detecting sensor 54 for detecting a shift position of the forward / reverse shift lever 19 for switching and setting the forward / reverse state as an artificial mode switching means 20 is provided. A determination may be made as to whether the work is in the attached work state or the non-planting work state, and the rolling control and the alarm control may be automatically switched.

[Another Embodiment of the Invention] (1) Another configuration in which a sensor for attitude control is also used for the attitude control of the seedling planting apparatus A and the alarm control for preventing the running machine 3 from tipping over will be described. [Embodiment of the Invention]
In the above, the mode in which the rolling sensor 36 is used as a sensor for detecting the front-back inclination angle of the traveling body 3 has been described. However, as shown in FIG. 4, a dedicated pitching sensor 50 for detecting the front-back inclination angle of the traveling body 3 is provided. An embodiment will be described in which the detection value of the pitching sensor 50 is used for an alarm control for preventing the traveling machine body 3 from tipping over in the front-rear direction and a vertical movement correction control.

In the raising / lowering control, the reference posture of the seedling planting apparatus A,
For example, the seedling planting apparatus A is driven up and down so that the distance between the bottom surface of the front end of the chain case 15 and the front end of the center float 18C is constant (so that the center float 18C is in the reference posture). When the ground reaction force increases and the center float 18C assumes a forward-upward posture, the interval between the seedling planting apparatus A and the field scene S is considered to be too close,
The seedling planting apparatus A is driven upward to return the center float 18C to the reference posture. When the center float 18C is in the front downward posture, the seedling planting apparatus A is driven downward. In this case, the center float 18C is used as a ground sensor, but a small sled functioning as a sensor may be provided separately from the center float 18C.

As described above, in the elevation control, the link mechanism 9
It is premised that the posture of the traveling machine body 3 connecting the seedling planting apparatus A via the field is a constant posture (reference posture) with respect to the field scene S. As a result, when the traveling body 3 deviates from the reference posture, the following correction is performed. Fig. 5 (a)
When the traveling body 3 is in the reference posture as shown in FIG.
As shown in (b), when the vehicle is in the forward lowered posture, the traveling body 3
The center float 18C stabilizes in the front-down state in order to maintain a constant posture with respect to the seedling-planting apparatus A that is in the front-down state with respect to the field scene S. In the state shown in FIG. 5B, since the planting depth has changed to the shallow planting side,
The set value of the sensitivity setting device 57 for setting the reference attitude of the center float 18C is corrected by software of the control device 56, and the seedling planting apparatus A is driven up and down to return the center float 18C to the reference attitude. The posture of the center float 18C after the correction is shown in FIG.

In the above-described configuration, the attitude of the center float 18C is changed with respect to the seedling planting apparatus A to perform the correction.
Next, the postures of the seedling planting device A and the center float 18C are
A configuration for correcting the traveling body 3 integrally will be described. As shown in FIG. 4, in a link mechanism 9 that connects the seedling planting apparatus A to the traveling machine body 3 so as to be able to move up and down, a telescopic cylinder 51 is interposed between a pair of left and right top links 9 </ b> T, and the telescopic cylinder 51 runs by the telescopic operation. The attitude of the seedling placement apparatus A with respect to the machine body 3 is changed so that the center float 18C is returned to the reference attitude. Although the state of the correction is not shown in the drawing, when the traveling body 3 is in the forward lowered position, the telescopic cylinder 51 is extended to return to the reference position of the seedling planting apparatus A (center float 18C).

As described above, the artificial mode switching means 20
When the lifting control is switched to the alarm control, the pitching sensor 50 used for the correction can be used as a sensor for the alarm control for detecting the front-back inclination angle of the traveling machine body 3. The mounting position of the pitching sensor 50 may be mounted not only on the traveling machine body 3 but also on the seedling plant A.

(2) In the above [Embodiment of the invention],
Although the seedling planting apparatus A is mentioned as an example of the ground working device, the present invention can also be applied to other working devices such as a direct sowing machine. Although the rolling sensor 36 is described as the state detecting means, the pitching sensor 50 may be used.

(3) In the above [Embodiment of the invention],
Although the split type planting apparatus A is shown as a split type, when the present invention is applied to a rice planting machine of a small number planting type such as a 4-row type or a 6-row type, the split type planting apparatus A is divided. The following configuration is made by using a model that is not. As shown in FIG.
The rolling control of the seedling plant A is performed based on the detection value of the rolling sensor 36 attached to the support frame 26. In the alarm control, the seedling planting device A is driven up,
The seedling planting apparatus A and the traveling machine body 3 are integrated by the fixing means, and when the left-right inclination angle exceeds the overturn prevention angle based on the detection value of the rolling sensor 36, the alarm device 28 is activated. The alarm control is as described above,
The only difference is that the seedling planting apparatus A is not divided.

[Brief description of the drawings]

FIG. 1 is an overall side view of a rice transplanter.

FIG. 2 is a front view showing a rolling drive structure of the seedling planting apparatus.

FIG. 3 is a side view of the vicinity of the center float.

FIG. 4 is a diagram showing a block circuit of a control system.

FIG. 5 is an operation diagram showing a state in which the lift control is corrected based on the front-back inclination angle of the traveling machine body.

FIG. 6 is a plan view of the rice transplanter showing a state where the seedling mounting table has been moved to the left moving end.

FIG. 7 is a plan view of the rice transplanter showing a state where the seedling mounting table is divided.

FIG. 8 is a plan view of the rice transplanter showing a state in which the left and right divided parts are rocking.

FIG. 9 is a plan view of the rice transplanter showing a state in which the seedling planting device is set to the retracted position.

[Explanation of symbols]

 3 traveling body 9 link mechanism 18C ground sensor 28 alarm device 36,50 state detecting means A ground work device

──────────────────────────────────────────────────続 き Continued on the front page (51) Int.Cl. ⁷ Identification symbol FI Theme coat ゛ (Reference) A01B 63/10 A01B 63/10 E

Claims (5)

[Claims] 1. A ground machine is provided on a traveling body so that a posture can be freely changed, and a state detector is provided for detecting a posture change from a reference posture of the ground machine, and based on a detection result of the state detector, An agricultural work machine comprising: attitude control means for controlling the attitude of the ground work device; and alarm control means for activating an alarm device when a change in attitude detected by the state detection means increases. 2. The rolling device according to claim 1, wherein said state detecting means is configured to detect a rolling operation of said ground working device, and a rolling posture of said ground working device is maintained at a reference posture based on a detection result of said state detecting means. The agricultural work machine according to claim 1, wherein the attitude control means is configured to perform control. 3. The ground work device is provided on the traveling body so as to be able to move up and down, and the ground work device is provided with a ground sensor so as to swing freely. Based on a posture change of the ground sensor from a reference posture,
Elevating control means for elevating and lowering the ground working device so that the ground sensor is maintained in the reference attitude, and state detecting means for detecting a change in attitude from the reference attitude in the front-rear direction, A lifting and lowering correction control means for correcting the lifting and lowering control means based on a detection result of the means.
Agricultural working machine. 4. The agricultural work machine according to claim 3, wherein the lifting correction control means changes a link ratio of a link mechanism that connects the ground working device to the traveling body so as to be able to move up and down. 5. The agricultural work machine according to claim 3, wherein the elevation correction control means changes a reference posture of the ground sensor with respect to the ground work device.