JP2545014Y2 - Right and left attitude control device of seedling plant in rice transplanter - Google Patents

Description

[Detailed description of the invention]

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an automatic horizontal posture control device for maintaining a horizontal posture of a seedling plant in a rice transplanter for planting seedlings in a field.

[0002]

2. Description of the Related Art When planting seedlings in a field using a riding type rice transplanter, the seedling plant can be rotated left and right and up and down via a link mechanism at the front or rear of the traveling body. In the seedling plant, the seedling device is provided with a planting mechanism at appropriate intervals in the traveling direction left and right, and the seedling mat of the seedling mounting table in the seedling planting device is appropriately adjusted by the planting mechanism that rotates up and down as the rice transplanter advances. It is well known that a plant is planted in a field scene while being divided for each number of plants.

Japanese Patent Laid-Open Publication No. Hei 2-135015 discloses a technique for performing a correction control (rolling control) for keeping the seedling plant in a horizontal horizontal position in accordance with the detection result of a tilt angle sensor for detecting the lateral tilt angle of the planting device. In the above, rolling control is performed in accordance with the detection result of the inclination angle sensor that detects the left-right inclination angle of the seedling planting apparatus. However, this detection alone indicates the tendency of the left-right inclination, for example, whether the inclination is sharp. Because it is impossible to determine the magnitude of the slope speed,
In response to this, the hydraulic actuator could not be operated, and there was a problem that the correction operation was delayed or overcorrected.

In the prior art, the use of a hydraulic actuator causes the following inconvenience. That is, since the vehicle speed transmits the engine output to the traveling device via the transmission, if the vehicle speed is fast and slow, the magnitude of the engine speed does not always match. For example, on a soft ground, it is necessary to drive at low speed with the engine output (rotation speed) increased.

On the other hand, a hydraulic motor that sends oil pressure to a hydraulic actuator usually receives power transmission from an output shaft of the engine without passing through the transmission, and thus the number of rotations of the engine and the number of rotations of the hydraulic pump are controlled. Is in a proportional relationship. If the hydraulic control valve is set to the same pulse duty, when the oil discharge amount of the hydraulic pump increases or decreases, the operating speed of the hydraulic actuator also increases or decreases in proportion. Therefore,
As in the prior art described above, if only control is performed so as to increase or decrease the operating speed of the hydraulic actuator in accordance with the detection result of the vehicle speed sensor proportional to the planting speed, the vehicle speed (planting speed) may be low even if the vehicle speed (planting speed) is low. Mismatches in which the operating speed of the hydraulic actuator becomes too high due to the high engine speed, resulting in over-correction of the rolling control, and conversely, in spite of the high vehicle speed, the engine speed is low and the rolling control is insufficiently corrected. was there. The present invention
The purpose is to solve these technical problems.

[0006]

According to the present invention, to achieve this object, a seedling plant is mounted on a traveling body via a link mechanism so as to be able to move up and down. A tilting angle sensor that detects the left-right tilt angle of the seedling plant is mounted on the seedling plant around the rolling axis provided at the rolling axis, and a rotation speed when the seedling plant is rotated left and right is detected. An angular velocity sensor that performs control to maintain the seedling plant in a horizontal horizontal position with a hydraulic actuator based on the detection results of the two sensors, while detecting the vehicle with a vehicle speed sensor provided on the traveling machine. A control means is provided for calculating a correction value based on the value and the value detected by the engine speed detection sensor, and correcting the operation output of the hydraulic actuator based on the correction value.

[0007]

[Function and Effect of the Invention] In the present invention, the inclination angle sensor and the inclination speed sensor are provided in the seedling plant. Therefore, not only the inclination angle of the seedling plant but also the inclination angle and the inclination speed of the seedling plant are measured. Can also be grasped. For example, it can be determined whether the seedling plant is rotating at a rapid speed. Therefore, by operating the hydraulic actuator from the detection results without delay,
It is possible to quickly and accurately correct the posture of the seedling plant.

In this case, the operation output for controlling the operation speed of the hydraulic actuator can be changed, for example, by the pulse occupancy (pulse duty) of ON / OFF of the electromagnetic solenoid for the control valve. Here, the pulse occupancy (pulse duty) refers to the ratio of the width of one pulse itself to the pulse repetition period of a periodic pulse train generated to operate the actuator. Will be largely driven within a certain time, and when the pulse occupancy is small,
The actuator is driven finely. For example, the projecting amount of the piston rod of the hydraulic actuator per unit time is large when the pulse occupancy is large (the moving speed of the piston rod is fast), and when the pulse occupying ratio is small, the projecting amount per unit time is small. Small (the moving speed of the piston rod is slow).

The pulse occupancy is corrected according to the detection result of the vehicle speed sensor and the detection result of the engine speed sensor. For example, the correction value when the engine speed is low at a high speed is set to 1, and as the vehicle speed goes to a low speed side,
Further, as the engine speed increases, the correction value increases by one.
The calculation is performed so as to decrease to the following predetermined value, and the result of multiplying the pulse occupancy by the correction value is reflected on the operation output of the hydraulic actuator.

In this way, not only the vehicle speed but also the variation in the hydraulic discharge amount due to the magnitude of the engine speed can be considered, so that the actuation speed of the actuator and the seedling plant at the time of correcting the posture of the seedling plant. There is an effect that the rolling control can be executed accurately while not causing a time delay with the posture correction speed.

[0011]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS In the following, an embodiment will be described. In FIG.
And front wheels 3, 3 attached to the front side thereof, and rear wheels 5, attached to the rear side via swinging cases 4, 4 which are vertically rotatable.
A steering seat 6 and a steering handle 7 are provided on the upper surface of the vehicle body frame 2, and the driving force of the engine 8 on the front upper surface of the vehicle body frame 2 is transmitted by the transmission mechanism and the swing case 4 in the power transmission unit case 9. , 4 to drive the rear wheels 5.

A parallel link mechanism 1 is provided at the rear of the traveling body 1.
The seedling transplanter 10 which can be vertically moved through the center 1 is mounted on a central transmission case 12 and on both left and right sides of the central transmission case 12 at appropriate intervals via a connecting pipe 12a having a transmission shaft inserted therein. Transmission cases 14, 14, 14; a float 10a below each planting transmission case 14; and a laterally reciprocally movable seedling mounting table 15 having an upper end inclined to approach the traveling body. At the rear left and right sides of the planting transmission case 14, a seedling outlet at the lower end of the seedling mounting table 15 and a field scene 17 are provided.
A seedling planting mechanism 16 is provided between which the planting claws move up and down.

The parallel link mechanism 11 is driven up and down by the hydraulic cylinder 13 on the traveling body 1 side. The parallel link mechanism 11 includes a top link 18 and a pair of left and right lower links 19, 19. The base end of the top link 18 is pivotally connected to a portal frame standing on the vehicle body frame 2. A portal 20 to which each tip of the lower link 19, 19 is attached is rotatably connected to a rolling shaft 22 of a hitch 21 in the seedling plant 10, and the seed planting device 10 has a float 10a on its lower surface. The configuration is such that the running body 1 can be turned up and down (rolling) right and left around the rolling shaft 22 so as to slide in a field scene.

A rail 24 at the lower end of the lower surface of the seedling mounting table 15 is slidably fitted on the guide portions 23 projecting from the left and right planting transmission cases 14, 14, while an upper surface of the lower surface of the seedling mounting table 15 is slidable. The guide rail 25 is provided with the right and left planting transmission case 14,
Roller part 2 at the upper end of a pair of columns 26 protruding from 14
7 and 27 are slidably fitted respectively. In the present invention, a pair of left and right buffer springs is not interposed between the hydraulic actuator (hydraulic cylinder) 29 attached to the parallel link mechanism 11 and the seedling plant 10. The presence of this buffer spring has the following disadvantages. That is, if the spring constant of the buffer spring is increased (made to be a hard spring), the movement of the actuator is immediately transmitted to the seedling-planting device and the above-mentioned shock cannot be relieved. ).

[0015] Then, when the movement of the hydraulic actuator is transmitted to the seedling plant via the buffer spring and the correction control (rolling control) of the right and left inclination posture of the seedling plant is attempted, for example, the mass (inertial force) When the actuator is driven to rotate the large seedling transplanter in the stopped state by the actuator, the buffer spring is contracted against the large inertial force of the stopped seedling transplanter, and then the seedling is planted from the buffer spring. Since the force is transmitted to the device in a direction to return the seedling plant to a normal posture,
There is a time delay in response by the buffer spring system from the time the hydraulic actuator is actually driven to the time the seedling plant begins to move.

Similarly, when the unevenness of the field is severe, for example, when the hydraulic actuator is driven to move quickly in the same direction (downward to right) from the state where the seedling plant is slowly moving in one direction (downward to the right), After the buffer spring has contracted or expanded against the large inertial force of the seedling plant, the force was transmitted from the buffer spring to the seedling plant in the direction of returning the seedling plant to a normal posture. There was a time delay in response by the spring system.

A bracket 28 to be attached to the portal 20
A horizontal reciprocating hydraulic cylinder 29, which is an actuator for rolling control, is fixed to the connecting rod 32 which is attached to the pair of left and right columns 26, 26 at both ends of a piston rod 30 which can move left and right in the hydraulic cylinder 29. It is rotatably mounted via a universal joint part 31. The engine 8
Is transmitted to the transmission mechanism in the power transmission unit case 9 via the clutch to drive the rear wheels 5 while the PTO
It is transmitted to the seedling plant 10 via a shaft. Further, the hydraulic pump 56 in the hydraulic circuit 36 is driven in direct connection with the output shaft of the engine 8.

An electromagnetic solenoid control valve 35 which can be operated by turning a forward / backward swingable arm 34 protruding from a steering gear box 33 associated with the steering handle 7.
Operates the hydraulic cylinder 37 in the hydraulic circuit 36. The steering arm 3 in the steering mechanism 38 connected to the hydraulic cylinder 37 that can swing freely.
Reference numeral 9 denotes a pair of tie rods 41, 41 which are rotatable about a rotation fulcrum 40 and which are connected to the steering arm 39.
The other control valve 42 in the hydraulic circuit 36 is for controlling the hydraulic cylinder 13 for raising and lowering the seedling plant. Reference numerals 43, 44 , 45, 46, and 47 are electromagnetic solenoid control valves for controlling the rolling (horizontal attitude).

Reference numeral 48 denotes a vehicle speed sensor provided in association with the axle of the front wheel 3 or the rear wheel 5, and reference numeral 49 denotes an engine output shaft (not shown) for detecting the number of revolutions of the engine 8. Each of the provided engine speed sensors is shown. Reference numeral 50 denotes a tilt angle sensor provided at an appropriate position of the seedling plant 10 to detect the left-right tilt angle of the seedling plant 10 with respect to the field scene.
As shown in FIG. 5, a movable coil 55 with a pendulum 54 rotatable about a shaft 53 is provided in a case 52,
A bridge circuit composed of R0, R1, and R2, a light-emitting element LED1, an LED2, and light-receiving elements PT1 and PT
It comprises a pair of left and right photocouplers and an external power supply E.

In the horizontal state of the inclination angle sensor 50, the light receiving amounts of the light receiving elements PT1 and PT2 are equal and the bridge circuit is balanced. When the tilt angle (θ1) is tilted, the pendulum 54 remains so as to be in the direction of gravity (vertical direction), and light receiving of one of the light receiving elements PT1 is blocked by the light blocking plate 54a.
The other light receiving element PT2 receives light and turns on, the balance of the bridge circuit is lost, and a current flows through the movable coil 55, and the torque generated by the movable coil 55 and the moment due to the weight of the pendulum 54 are balanced by the current ( The pendulum 54 stops at θ2), and the current value (I) at that time becomes an output signal, which is proportional to the inclination angle (θ1) (see FIG. 5).

Reference numeral 51 denotes an angular velocity sensor provided near the rolling shaft 22 of the seedling plant 10, which can detect the angular velocity when the seedling plant 10 rotates left and right around the axis of the rolling shaft 22. You can do it. The angular velocity sensor 51 uses, for example, a tuning fork vibration type. In this type, a bottom of a driving element composed of a piezoelectric bimorph and a monitor element are connected by a connection block, and a detection element composed of a piezoelectric bimorph is orthogonally coupled to the upper part of the driving element and the monitoring element, thereby forming a tuning fork. By applying a voltage only to the drive element and oscillating it, by monitoring the oscillation amplitude and phase of the monitor element via the connection block,
Control is performed to stabilize the applied voltage. When the angular velocity sensor is given a rotational motion about a predetermined sensor axis in this stable state, a Coriolis force is generated in a direction perpendicular to the vibration direction of the sensing element. The angular velocity can be detected by detecting the voltages generated at both the detection elements. In addition, as another embodiment,
There is also a gyro compass type angular velocity sensor.

As still another embodiment, a thin disk-shaped piezo plastic film is mounted as a vibrator in a case, and a diaphragm structure in which the vibrator is fixed on the circumference thereof has a vertical / horizontal component in the acceleration direction. The angular velocity may be known by integrating the detected value of a so-called acceleration sensor that can be separated, over time. Digital signal output units from the inclination angle sensor 50 and the angular velocity sensor 51 are controlled by an input interface 58 to control means 57.
To enter. The electronic control type control means 57 such as a microcomputer is composed of an 8-bit or 16-bit microprocessor or the like, executes program control, and performs various operations and fuzzy inference (described below). A device (CPU) and a read-only memory (ROM) for storing initial values and control programs in advance
And a readable / writable memory (RAM) for storing an input signal or the like that changes with time and outputting it at the time of calculation, and interfaces 58 and 59 connected to the input / output unit.

Reference numeral 60 in FIG. 7 denotes an automatic switch for setting a mode for automatically executing the rolling attitude control.
Reference numeral 61 denotes a planting switch that is input when the seedling plant is operated and planted. Reference numeral 62 denotes a switch for forcibly tilting the seedling plant 10 right or left when the rolling posture is manually controlled. With switch, electromagnetic solenoid control valve 4
3, 44, 45, 46 and 47 are appropriately driven. Code 6
3 is the electromagnetic solenoid control valve 43,44,45,4
A driving circuit for appropriately driving the driving means 6, 47;
In step 7, an output signal for operating the electromagnetic solenoid at a predetermined pulse occupancy as described later is output.

In accordance with the magnitude of the inclination angle and the angular velocity of the seedling plant 10, the control means 57 controls the seedling plant 10.
A signal of a correction amount S for correcting the left and right inclination of the vehicle to maintain the attitude in a substantially horizontal state is calculated, and a correction value described later is calculated from the detection results of the vehicle speed sensor 48 and the engine speed sensor 49. A signal of an operation output obtained by multiplying the correction value by the correction value is output, and the control valve 43 to the rolling control hydraulic cylinder 29 is output by the signal.
The drive circuit 63 for the 47 electromagnetic solenoid is operated.

The control flow will be described with reference to the flow charts shown in FIGS. 8 and 9. FIG. 8 is a main flow. In a step 801 following the start, an initial setting for initializing a fuzzy control relation and a timer is executed. 80
2 Turn on / off the automatic switch to execute the posture control automation.
If it is OFF, posture control is executed by the manual operation lever in step 803. At this time, the moving speed of the piston rod of the hydraulic cylinder 29 is approximately 20 mm.
/ Sec.

When the automatic switch is ON, the step
At 804, ON / OFF of the planting work switch is determined,
In the case of FF, the process returns to step 802. When the planting operation switch is ON, the fuzzy control described later is executed approximately one second later (step 805). If the planting work switch is turned off after execution of the fuzzy control (step
806) After approximately 0.5 seconds from the OFF, the float 10a of the seedling plant 10 is lifted away from the field scene and the hydraulic cylinder 29 is returned to the center so that the left and right sides are horizontal (step 807). The moving speed of the piston rod of the hydraulic cylinder 29 at this time is approximately 20 mm / sec.

If it is determined in step 806 that the planting work switch is ON, it is determined in step 808 whether the automatic switch is ON or OFF.
Return to step 5, and if it is OFF, return to step 802. Following the start of the fuzzy control subroutine flowchart shown in FIG. 9, the detected values of the inclination angle θ, the angular velocity V, the vehicle speed Vo, and the engine speed R are read (step 901).

In step 902, the concrete values of the detected values θ and V are assigned to 11 divisions by integers from -5 to +5 (area division). For example, when the inclination angle θ is indicated, assuming that the negative sign (−) is a downward slope and the positive sign (+) is a downward slope, the range of −1 degree to +1 degree is “0”,
In the following, the values from -16 degrees to +16 degrees are divided into three sections in total of 11 sections, and [-5, -4, -3, -2, -1,
0, 1, 2, 3, 4, 5] (see FIGS. 11 and 12).

In step 902, the weight of the membership function for the values of the region from -5 to +5 for both θ and V is obtained from the data read from the read-only memory (ROM). Next, in step 903, the process is applied to fuzzy rules based on fuzzy inference. Step 90
In step 4, referring to the table of the membership function of the correction amount S for the posture control of the seedling plant, the calculation of the MAX-MINI method is executed,
In step 905, the primary correction instruction amount S1 is obtained by the centroid method.

In step 906, a correction value Z is calculated from the detected values of the vehicle speed Vo and the engine speed R.
In step 7, the correction value Z is multiplied by the primary correction instruction amount S1 to calculate a secondary correction instruction amount S2. In step 908, an output signal to the electromagnetic solenoid is output to the hydraulic cylinder 29, which is an actuator, in response to the secondary correction instruction amount S2, and the hydraulic cylinder 2 is moved so that the right and left posture of the seedling plant 10 becomes substantially horizontal.
The operation of the piston rod 9 is controlled. At this time, preferably, if the emergence speed is also controlled, the seedling transplanting device 10 is restored to the left and right horizontally slowly or quickly.

Next, fuzzy control using fuzzy inference will be described. In general, a control algorithm is based on input variables of a plurality of information for control, for example, two input variables (x, y) and an output (operation amount) z to a control device.
Are described as ambiguous relations. For example,
If x is small and y is large, z is medium.

If x is large and y is medium, z is made large. The control algorithm is expressed by what is called a fuzzy rule of the form (if-then). The part of if ‥‥ of the rule is called the antecedent part (input part), and the part of then ‥‥ is called the consequent part (output part).

Now, in applying this fuzzy rule to attitude control, in the present embodiment, it is expressed by 17 rules shown in FIG. At this time, the inclination angle θ and the angular velocity V are defined as the antecedent part, and the correction amount S is defined as the consequent part. The fuzzy variables taken by the input variables θ and V and the output variable S are indicated by discrete fuzzy variables discretized into integer regions, and are shown in FIGS.

These fuzzy variables are labeled "large right", "small right", "0", "small left",
There are five types, "Large left". Then, these fuzzy variable regions, which are ambiguous regions, are defined by giving the degree (grade) in which the elements (members) of the whole set of input variables are included in the region (domain).
The function that gives this grade is called the membership function. For example, the region of the fuzzy variable of θ is defined by giving a degree (grade) in which elements (members) of the entire set of the inclination angle θ are included in the region (variation). In the embodiment, the grade in each domain is represented by an integer from 0 to 10.

More specifically, for example, the fact that the fuzzy variable is “small and right” at the inclination angle θ means that the grade is “3, 5, 8, 10,” in the range of “−1 to +5”. It is represented by a membership function having "8, 5, 3". The inference method in fuzzy control is as follows. For example, consider the case of output S (consequent part) for the antecedent part (1 to 17) of a two-input set of θ and V.

First, a membership function A (θi) is obtained from a chart of membership functions (FIG. 11) corresponding to the value of the antecedent part of each input θ. The value of the membership function A (Vi) is obtained from the chart of the membership function corresponding to the value of the antecedent part of the input V (FIG. 12). It can be seen that there can be multiple labels for each input θ, V area,
Of the label combinations, i (out of 1 to 17)
Membership functions A (θi) and A in the th rule
(Vi) is obtained from FIG. 10 and its inputs θi, Vi
Ωi = A (θi) * A (Vi). Where * is mini (intersection in fuzzy set,
Hereinafter the same).

Then, the inference result corresponding to the i-th rule is obtained from FIG. 13, and the fitness wiB (si) = ωi * B (si) is obtained from the membership function B (si). next,
Similarly, the membership functions A (θj) and A in the j-th rule corresponding to the values of the antecedent parts of the inputs θ and V
The value of (Vj) is determined from FIGS. 11 and 12, and its fitness ωj = A (θj) * A (Vj) is determined.

Next, the inference result corresponding to the j-th rule is obtained from FIG. 10, and the fitness wjB (sj) = ωj * B (sj) is obtained from the membership function B (sj) (see FIG. 13). . These consequent parts are, for example, i-th, j-th, k
In the case of the l-th and l-th four cases, the total inference result s0 by these four rules is wiB (si), wjB (sj), wk
From B (sk) and wlB (si), B * = wiB (si) UwjB (s
j) UwkB (sk) UwlB (sl) is created (U is a symbol of a union), and is obtained as the center of gravity of the membership function of B *.

At this time, it was found that good results could be obtained by using the MAX.MINIMUM method as described later. If this control is shown in an example of actual numerical values, the inclination angle θ and the angular velocity V are detected, and the θ area “0” and the V area are “−”.
3 ". First, looking at the vertical frame in the area “0” from FIG. 11, as labels, “5” in “small right”, “10” in “0”, and “small left”
It can be seen that the labels of these three fuzzy variables can be taken.

Regarding the angular velocity V, the area "-" in FIG.
Looking at the vertical frame part corresponding to the category of "3", the label "0"
, "8" in "small left" and "5" in "large left", there is a possibility that these three fuzzy variables can be adopted. Thus, the fuzzy rule based on the data set of θ and V can be found from FIG. 10 as 1, 3, 4, 5, 6, 9, 11, 17
(Note: There is no combination rule where θ is “small right (down)” and V is “large left (down)”).

The labels of the consequent part S corresponding to the above eight rules are “0 (neutral)”, “small right up”, “small left up”, “small left up”, “0” and “small”. It can be seen that "left up", "large left up", "large left up". These membership functions are described in FIG.
Referring to FIG. 13, fuzzy rule 1 is shown in FIGS. 14 (a), (b) and (c), and fuzzy rule 3 is shown in FIGS. 15 (a), (b) and (c). , 4 are shown in FIGS. 16 (a), (b) and (c). Other fuzzy rules are required in the same way,
Illustration is omitted.

In this case, for example, for the fuzzy rule of 1, when the values of ωi of θ and V are compared, the value of “0” is “10” for θ, and “−” for V. Since the value of the location "3" is "3" and this "3" is the minimum value, this minimum value is adopted, and the degree of conformity ωi of the correction amount S is set to the height as shown in FIG. This is a region surrounded by a thick line that is a portion below “3”.

Similarly, each consequent part S in the rules 3 and 4
15 (c) and FIG. 16
(C) is a region surrounded by a thick line shown in FIG. Similarly, for the other rules 5, 6, 9, 11, and 17, θ and V
Are compared and the smallest side is adopted, and the area of the membership function in each consequent part S is determined from these.

Next, the primary correction instruction amount S1 of the entire inference result by the eight rules is obtained by calculating the union of the minimum areas of the membership functions in each of the consequent parts S (this is referred to as the MAX.MINIMUM method). ) Is calculated as the center of gravity of the area surrounded by the outermost area when the eight S membership functions are superimposed (this is referred to as the center of gravity method), and the coordinate position in the left-right direction is determined by the first correction instruction amount. S1 (see FIG. 17). At this time, overlapping area portions are not added.

In this embodiment, the primary correction instruction amount S1 is substantially
1.07. FIG. 18 shows an example of the pulse duty (PULSE DUTY) of the electromagnetic solenoid for operating the hydraulic cylinder 29 (actuator) corresponding to the primary correction instruction amount S1. The pulse occupancy (pulse duty) refers to the ratio (T1 / T2) of the width T1 of one pulse itself to the pulse repetition period T2 of the periodic pulse train generated to drive the actuator.
0% is when T1 = T2, and a pulse duty of 50% means that T1 = 50 with respect to T2 = 100. If the pulse occupancy is large, the actuator is driven to a large extent within a certain period of time, and if the pulse occupancy is small, the actuator is finely driven. For example, the projecting amount of the piston rod of the hydraulic actuator per unit time is large when the pulse occupancy is large (the moving speed of the piston rod is fast), and when the pulse occupying ratio is small, the projecting amount per unit time is small. Small (the moving speed of the piston rod is slow).

The vehicle speed Vo detected by the vehicle speed sensor 48 is substantially parallel to the calculation of the primary correction instruction amount S1 or at an appropriate step before or after the calculation.
Based on the magnitude of the engine speed R detected by the engine speed sensor 49 and the magnitude of the engine speed R, a table as shown in FIG.
AM) to calculate the correction value Z. Next, the correction value Z 1 is multiplied by the pulse duty of the electromagnetic solenoid corresponding to the primary correction instruction amount S1 (see FIG. 18) to obtain the final pulse duty of the electromagnetic solenoid corresponding to the secondary correction instruction amount S2. Tay (final output value)
Ask for. For example, the primary correction instruction amount S1 is -3
When the pulse duty at that time is -75%, the engine speed is medium, and the vehicle speed is high, the correction value Z
= 0.8, and the final pulse duty is -60% (=-
75% x 0.8).

In accordance with this numerical value, an output signal is output from the control means 57 to the drive circuit 63, the electromagnetic solenoids of the control valves 43 to 47 are operated, and the hydraulic cylinder 29, which is an actuator for rolling control, is operated. The correction is performed so that the planting device 10 is in the left-right horizontal posture. Also, as the membership function in each of the fuzzy inferences, a "bell-shaped" or "triangular" well-known in fuzzy theory may be employed instead of the "discrete type (stage type)" described above. .

As described above, the inclination angle and the angular velocity of the inclination are defined as the antecedent portion (input portion), and the correction amount of the left and right inclination of the working machine such as the seedling plant and the traveling machine is defined as the consequent portion (output portion). When the fuzzy control is executed, the precision is reduced because of the ambiguity compared to the conventional numerical control (control using a function of a mathematical expression in which the input detection value is a variable) in consideration of the conventional inclination angle and angular velocity. Although it is lacking, it is possible to express the situation and state such as the left and right inclination of the work machine and traveling machine in qualitative expression, and it is possible to calculate the amount of correction suitable for these situation and state finely and quickly, And smooth (not jerky)
Control of movement can be realized.

Further, by optimizing the fuzzy rules and the membership function in fuzzy inference, it is extremely easy to reduce the frequency of control output, and there are also effects such as smooth control and reduction of power consumption.

[Brief description of the drawings]

FIG. 1 is a side view of a riding type rice transplanter.

FIG. 2 is a plan view.

FIG. 3 is a side view of a main part of a connecting portion between the seedling plant and the traveling machine body.

FIG. 4 is a view taken in the direction of arrows IV-IV in FIG. 3;

FIG. 5 is a block diagram of a tilt sensor.

FIG. 6 is a block diagram of a hydraulic circuit.

FIG. 7 is a block diagram of a control unit.

FIG. 8 is a main flowchart.

FIG. 9 is a subroutine flowchart of fuzzy control.

FIG. 10 is a diagram of a fuzzy rule.

FIG. 11 is a diagram showing a membership function of the inclination angle θ.

FIG. 12 is a diagram showing a membership function of an angular velocity V.

FIG. 13 is a diagram showing a membership function of a primary correction amount S1.

14 (a), (b) and (c) show fuzzy rules 1
FIG. 4 is an explanatory diagram of a membership function in the case of.

FIGS. 15A, 15B and 15C show fuzzy rules 3
FIG. 4 is an explanatory diagram of a membership function in the case of.

16 (a), (b) and (c) show fuzzy rules 4
FIG. 4 is an explanatory diagram of a membership function in the case of.

FIG. 17 is an explanatory diagram of the MAX.MINIMUM method and the area centroid method.

FIG. 18 is an explanatory diagram showing a relationship between a primary correction instruction amount S1 and a pulse duty.

FIG. 19 is an explanatory diagram of a correction value Z.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Running body 3,5 Wheel 10 Seedling plant 15 Seedling table 16 Planting mechanism 11 Link mechanism 22 Rolling shaft 29 Hydraulic cylinder 43,44,45,46,47 Control valve 48 Vehicle speed sensor 49 Engine speed sensor 50 Tilt angle Sensor 51 Angular velocity sensor 56 Hydraulic pump 57 Control means 63 Drive circuit

Claims (1)

(57) [Scope of request for utility model registration] 1. A seedling plant is mounted on a traveling machine so as to be vertically movable via a link mechanism, and the seedling plant is rotatable left and right around a rolling axis provided between the link mechanism and the seedling plant. Attached to the seedling plant, an inclination angle sensor for detecting the left-right inclination angle of the seedling plant, and an angular velocity sensor for detecting the rotation speed when the seedling plant is rotated left and right, based on the detection results of both sensors While the hydraulic actuator is configured to execute control to maintain the seedling plant in the left-right horizontal position, a correction value is obtained based on a detection value obtained by a vehicle speed sensor provided on the traveling body and a detection value obtained by an engine speed detection sensor. And a control means for correcting the operation output of the hydraulic actuator based on the correction value.