JP2919096B2 - Sensor zero compensation device for attitude control - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method of maintaining the horizontal posture of a working machine such as a seedling plant (such as a rolling posture control) in an agricultural work machine such as a rice transplanter for planting seedlings in a field, and controlling the front and rear of the working machine. BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an attitude control sensor for maintaining a horizontal attitude (pitching attitude control), and to a device for performing zero compensation of the attitude control sensor.

[0002]

2. Description of the Related Art Conventionally, when planting seedlings in a field using a riding type rice transplanter, a seedling plant is mounted on the front or rear part of the traveling machine so as to be able to turn left and right and back and forth. ,
Planting mechanisms are provided at appropriate intervals on the left and right in the traveling direction, and the seedling mats on the seedling mounting table in the seedling plant are divided by the number of plants as appropriate by the planting mechanism that rotates up and down as the rice transplanter advances, and is planted in the field scene. For example, Japanese Patent Application Laid-Open No. 2-135015 and Japanese Patent Publication No. 57-27
No. 682, which is disclosed in Japanese Patent Application Laid-Open No. 2-135.
In the publication No. 015, a detection signal of a contact pressure sensor provided between a seedling plant and a float below the planting device is used as a detecting means in a control (rolling control) for maintaining the horizontal orientation of the seedling plant. It is disclosed.

In Japanese Patent Publication No. 57-27682,
The use of a detection signal of a tilt sensor (tilt angle detection sensor) is disclosed in attitude control (pitching control) for maintaining a horizontal attitude so as to eliminate the front-back tilt attitude of the seedling plant. However, with this type of sensor alone, the degree of posture variation of the seedling planting apparatus cannot be accurately grasped, and there are inconveniences such as a delay in posture control. Therefore, the present applicant has previously filed Japanese Patent Application No. 2-223376. In the issue, it was proposed that the seedling plant be provided with a speed sensor (angular speed sensor) capable of detecting the speed of the tilt and an acceleration sensor capable of detecting the acceleration of the tilt of the seedling plant.

[0004]

By the way, in the above attitude control sensor, the zero point of the output signal fluctuates due to the starting characteristic that it takes time until the output signal is stabilized after the power is turned on and the temperature of the environment. Has temperature drift characteristics. In other words, these sensors have a problem that the zero point of the output signal greatly fluctuates even when there is no posture change itself such as displacement (inclination angle, angular velocity, acceleration).

On the other hand, in the above-mentioned working machine, outdoor work is mainly performed, and the attitude control sensor attached to the working machine is also easily affected by environmental changes such as temperature. (Zero point compensation) However, when work is resumed in the afternoon, there is an inconvenience that the zero point compensation must be performed again. Further, in this type of outdoor working machine, unlike other precision machines, the work is normally performed immediately after the start of work is turned on, and the above-mentioned zero point compensation is performed one by one. There is a problem that it is troublesome. In particular, when the types of the attitude control sensors increase, if the zero point compensation is performed for each of the sensors, the operation becomes more troublesome.

[0006] Nevertheless, if the work machine is operated without performing such zero point correction, the accuracy of the posture control is degraded, and in the seedling plant, there is a variation in the seedling depth on the right and left sides. Inconvenience such as coming out occurred. Therefore, in the present invention, in this type of working machine, the continuous operation state is rare, and the non-working operation (stopping the running and adding the seedling mats) is performed during the working operation (seeding operation while running). Operation, etc.), the work implement is often brought into a neutral state, for example, a left-right horizontal posture state, so that this phenomenon is used to perform zero point compensation of the posture control sensor. It is an object of the present invention to execute zero point compensation by utilizing the fact that the output signal value of the attitude control sensor can take positive and negative values.

[0007]

In order to achieve the above object, a work machine is mounted on a traveling body so as to be able to turn left and right and / or back and forth, and the degree of change in the attitude of the work machine is set on the work machine. An agricultural work machine provided with a posture control sensor such as an angular velocity sensor or an acceleration sensor for detecting the posture of the work machine by an actuator according to a detection value of the posture control sensor. In one aspect of the present invention, a clutch switch for detecting an on / off operation of a traveling clutch provided on a traveling body, or a vehicle speed sensor for detecting a vehicle speed is provided, synchronized with a traveling clutch disengaging time zone or a traveling stop time zone. Control that reads the detection value of the attitude control sensor a plurality of times, sets the average value to a zero point, and updates the zero point each time the travel clutch is operated or the travel is stopped. In another aspect of the present invention, during the operation of the attitude control sensor, a plurality of output values of the sensor, which are detected in accordance with the posture restoration fluctuation of the work implement, are stored, and the plurality of output values are stored. Is provided with control means for setting the average value calculated from the output values of the above to zero point.

[0008]

As described above, it is natural that the working machine such as the seedling planting apparatus takes the horizontal posture in the left-right direction or the horizontal posture in the front-rear direction.
By using the average value of the output signal values of the attitude control sensors such as the tilt sensor, the angular velocity sensor, and the acceleration sensor, the zero point can be accurately detected.

Since the average value is updated each time the traveling machine stops traveling, even when the zero point is shifted due to a temperature change, such as when the agricultural work machine is used from morning to evening, the zero point compensation is performed each time. Since it can be automatically executed, the accuracy of the posture control is further improved. The output signal value of the angular velocity sensor for detecting the fluctuation speed of the left and right rolling of the work machine takes opposite values when the work machine is rotated clockwise and counterclockwise. In general, the attitude control sensor is configured such that its sensitivity characteristic takes a positive or negative value according to the attitude restoration fluctuation of the working machine. In order to make the working machine that moves and pitches in the front and rear direction stable, it often reciprocates, such as reciprocating back and forth, so using that state, when the working machine is in the operating state However, if a plurality of output signals of the attitude control sensor are sampled and an average value of the detection values obtained a plurality of times is taken, the average value becomes very close to the original zero point, and the zero point compensation is automatically performed. It is possible to row.

As a result, there is an effect that the accuracy of the attitude control is improved and smooth control can be realized.

[0011]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment applied to a rice transplanter will be described below. In FIG.
Are attached to the body frame 2 and the front wheels 3 and 3
And rear wheels 5, 5 attached to the rear side via swing cases 4, 4 which can be turned up and down. A steering seat 6 and a steering handle 7 are provided on the upper surface of the body frame 2, and the front of the body frame 2 is provided. The rear wheel 5 is driven by the driving force of the engine 8 on the upper surface through the transmission mechanism in the power transmission unit case 9 and the swing cases 4 and 4.

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 and 14 and a horizontally reciprocally movable seedling mounting table 1 that is inclined so that the upper end approaches the traveling machine body.
A seedling planting mechanism 16 for raising and lowering the planting claw between the seedling outlet at the lower end of the seedling mounting table 15 and the field scene 17 is provided on the left and right sides of the rear of the right and left planting transmission case 14. I have.

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.

The guide portions 23, 23 projecting from the left and right planting transmission cases 14, 14 are slidably fitted on the rails 24 at the lower end of the rear surface of the seedling mounting table 15, while the upper portion of the rear 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. A horizontal reciprocating hydraulic cylinder 29, which is an actuator for rolling control, is fixed to a bracket 28 attached to the portal type support 20, and both ends of a piston rod 30 that can move left and right in the hydraulic cylinder 29 are connected to the pair of left and right supports. 26, 26 are rotatably mounted on a connecting rod 32 via a universal joint 31.

The power from the engine 8 is transmitted to the speed change mechanism in the power transmission unit case 9 via the main clutch 33 to drive the rear wheels 5 while being transmitted to the seedling plant 10 via the PTO shaft 34. Is done. Reference numeral 35 denotes an actuator for turning on and off the main clutch 33, 36 denotes an actuator for traveling speed change, and 37 denotes an actuator for traveling clutch.

A control valve 40 operable by turning an arm 39 which can swing back and forth, which protrudes from a steering gear box 38 associated with the steering handle 7, comprises a hydraulic circuit 41.
The steering arm 44 of the steering mechanism 43 connected to the swingable hydraulic cylinder 42 has a pivot fulcrum 4.
It is rotatable about five times, and the front wheels 3, 3 are connected by a pair of tie rods 46, 46 connected to the steering arm 44.
The electromagnetic solenoid control valve 47 in the hydraulic circuit 41 is for automatic steering control, and the reference numeral 48 is an electromagnetic solenoid control for the rolling (horizontal attitude) control. It is a valve.

Reference numeral 49 denotes a steering sensor including a potentiometer and the like provided at the rotation fulcrum 45 for detecting the steering angle of the traveling body. An output signal of the steering sensor 49 is transmitted to a microcomputer or the like to be described later. It is input to the electronic control type control means 69.

Reference numeral 51 denotes a seedling plant 1 for detecting the left-right inclination angle of a working machine such as the seedling plant 10 with respect to a field scene.
The tilt sensor 51 is provided at an appropriate position of a zero. The tilt sensor 51 includes a movable coil 55 having a pendulum 54 rotatable around a shaft 53 in a case 52, as shown in FIG. A bridge circuit composed of R1 and R2, a light emitting element LED1, an LED2, and a light receiving element PT
1 and PT2 and a pair of left and right photocouplers and an external power source E.

When the tilt sensor 51 is in a horizontal state, 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 in the direction of gravity (vertical direction) and the light blocking plate 54
At a, the light receiving of one of the light receiving elements PT1 is cut off, and 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 current causes the movable coil 55 to generate. Rotating torque and pendulum 5
When the moment due to the weight of 4 is balanced (θ2), the pendulum 54 stops, and the current value (I) at that time becomes an output signal, which is proportional to the inclination angle (θ1) (see FIG. 6). ).

Numeral 58 shown in FIG. 7 is a tuning fork vibration type angular velocity sensor which connects the bottom of a driving element 59 composed of a piezoelectric bimorph and a monitoring element 60 with a connecting block 61, while the driving element 59 and the monitoring element 60 are connected. Also, a tuning fork structure is formed by orthogonally coupling detection elements 62 and 63, each of which is also a piezoelectric bimorph. When a voltage is applied only to the drive element 59 and vibrates, the monitor element 60 is connected via the connection block 61. Vibrates. The frequency of the driving vibration is stabilized by the vibration feedback control method of controlling the applied voltage by monitoring the vibration amplitude and phase of the monitor element 60.

Then, in this stable state, if the angular velocity sensor has a rotational movement at an angular velocity ω around the sensor axis 64 in FIG. 7, Coriolis in a direction perpendicular to the vibration direction (XX direction) of the detecting elements 62 and 63. Force Fc is generated. Since a voltage corresponding to the bending can be detected from the driving element 59 and the detecting elements 62 and 63 on the monitor element 60 side which are bent by the Coriolis force, the angular velocity can be detected by this.

Reference numeral 65 denotes an acceleration sensor provided in the vicinity of the rolling shaft 22 of the seedling-planting device 10 for detecting the acceleration when the seedling-planting device 10 rotates left and right about the axis of the rolling shaft 22. A thin disk-shaped piezo plastic film is mounted as a vibrator in the case, and a diaphragm structure having a fixed circumference can separate vertical and horizontal components in the acceleration direction.

FIG. 8 shows the left and right rolling posture of the seedling plant 10. FIGS. 9 (a), 9 (b) and 9 (c) show left and right horizontal positions from the point A where the seedling plant 10 is left and right horizontal. After tilting to the point B, returning to the point A, and further performing a posture change of tilting from the point A to the right point D (when the seedling transplanter 10 performs pendulum movement right and left around the point A), The state of the output signal of the inclination sensor 51, the angular velocity sensor 58, and the acceleration sensor 65 is shown. That is, as shown in FIG. 9A, the output signal of the inclination sensor 51 takes time on the horizontal axis,
The vertical axis Ru adopted an output signal. At this time, the seedling plant 10
In when tilted left down from point A to point B direction, Ru adopted the value of the upper + than zero.

As shown in FIG. 9B, the horizontal axis represents time, and the output signal of the angular velocity sensor 58 (the vertical axis).
Is a positive value for the angular velocity in the counterclockwise rotation and a negative value for the clockwise rotation. As shown in FIG. 9C, time is taken on the horizontal axis, and the output signal (taken on the vertical axis) of the angular acceleration sensor 65 is set to have a positive gradient by increasing the clockwise rotation, and to have a counterclockwise rotation. A negative gradient is set by increasing the speed during operation.

Reference numerals 66, 67, 68 denote A with an amplifying circuit provided corresponding to each of the sensors 51, 58, 65.
/ D converter. The control means 69 shown in FIG. 3 is a microcomputer composed of an 8-bit one-chip microprocessor or the like, which executes program control such as fuzzy inference for attitude control, and performs various calculations and fuzzy inference calculations. Central processing unit (CPU) that executes
And a read-only memory (ROM) that stores initial values and control programs in advance, and a read / write memory (RA) that stores time-varying input signals and the like and outputs them at the time of calculation.
M) and an interface connected to the input / output unit.

The input section of the interface includes output signals from the sensors 51, 58, and 65 and a clutch switch 7 linked to the operation of switching the traveling clutch.
Input a signal of 0. Actuator 37 for traveling clutch
The output signal of the clutch switch 70 that is operated in response to the operation is turned ON when the traveling clutch is disengaged (stopping traveling), and outputs an OFF signal when the traveling clutch is engaged (during traveling).

Connected to the output of the interface are electromagnetic solenoids 71, 72 of a control valve 47 for driving the hydraulic cylinder 42 for the steering operation, and electromagnetic solenoids 73, 74 for a control valve 48 for rolling control. I do.

Next, a so-called zero-point compensation adjusting device for correcting the zero point of the angular velocity sensor 58 among the attitude control sensors for detecting the attitude change, and an adjusting method thereof will be described. The adjusting device uses the control means 69 such as the microcomputer, and employs a soft adjusting method by a program in the microcomputer.

FIG. 10 shows the sensitivity characteristics of the angular velocity sensor 58. As described above, the output signal (V: voltage) is set to a positive value with respect to the angular velocity (° / s) at the time of counterclockwise rotation.
This is a linear increasing function in which the output signal has a negative value with respect to the angular velocity at the time of clockwise rotation. FIG. 11 shows a startup time characteristic of the angular velocity sensor 58, and the output signal value of the angular velocity sensor 58 when the angular velocity is zero is set to a zero point according to a lapse of time (minutes) from the power supply to the angular velocity sensor 58. It shows how far it deviates from.

As can be understood from this figure, at the initial stage of turning on the power, the output signal value shows a finite value (not zero) even though the detected object (in this case, the seedling plant 10) has no angular velocity. As time elapses, the output signal value approaches the zero point. FIG. 12 shows what is called a temperature drift characteristic, and shows how much the output signal value of the angular velocity sensor 58 deviates from the zero point depending on the environmental temperature (° C.) of the place where the angular velocity sensor 58 is installed in the state of zero angular velocity. . In this sensor, the output signal value is zero around 20 ° C., and shifts to a negative value side as the temperature increases, and shifts to a positive value side as the temperature decreases.

As described above, if the posture control is executed while the output signal value of the angular velocity sensor is deviated from the zero point, the posture of the seedling plant is controlled in a bad direction even though the posture is normal. The control accuracy is reduced. The present invention employs two types of zero point compensation methods for solving this inconvenience.

One of the reasons is that when the rice transplanter is not running, the posture of the seedling transplanter can be stably set to the left and right horizontal postures. In this state, the output signal value of the angular velocity sensor is inherently Detecting the on / off operation of the traveling clutch provided on the traveling aircraft, in consideration of the fact that the temperature approaches the zero point and considering that the change in the environmental temperature at which the angular velocity sensor is installed occurs with the passage of time from the power-on. A clutch sensor or a vehicle speed sensor for detecting the vehicle speed is provided, and the detection value of the angular velocity sensor as the attitude control sensor is read a plurality of times in synchronization with the disengagement time of the traveling clutch or the traveling stop time, and an average value thereof Is set as a zero point, and the zero point is updated every time the traveling clutch is operated or the traveling is stopped.

The control of the zero point compensation will be described with reference to FIG. 13 (time chart) and the flowcharts of FIG. 14 and FIG. FIG. 13A shows a state in which the traveling clutch is engaged (with power transmission) and is off (without power transmission).
3 (b) shows a change in the speed of the traveling body 1. FIG.
3 (c) shows an output signal value of the angular velocity sensor 58. In these figures, the horizontal axis represents the passage of time.

In FIG. 13, t0 is the time from when the traveling clutch is switched from on to off to when the traveling machine 1 stops, and t1 is the output of the angular velocity sensor 58 after the traveling clutch is switched off. The waiting time till the start of signal value reading, t2 is the time required to read the output signal value of the angular velocity sensor 58. The output signal value of the angular velocity sensor 58 is read a plurality of times within the time t2. For example, when the sampling time, which is the time required to read one output signal value, is about 6 ms, the sampling time is about 50 times, and the time t2 is 30.
It should be about 0 ms to 500 ms.

The waiting time t1 is set so as to be longer than the time t0 until the traveling body 1 stops. Therefore, if the time of the cut state of the running clutch is shorter than the waiting time t1 does not perform the zero point compensation (in t3 of FIG. 13
Section ).

FIG. 14 is a main flow chart. Following the start, in step S1, the initial value of the rolling control and the initial value of the timer for judging the time such as t0, t1, t2 are set (t ← 0). . Next, in step S2, it is determined whether or not the automatic switch 75 for executing the posture control is ON. When the automatic switch 75 is OFF (no), the operator operates the manual switch (not shown) to switch the posture. The posture can be changed manually (step S3).

When the automatic switch 75 is ON in step S2, then, in step S4, ON / OFF of the planting switch 76 for operating the seedling plant 10 is determined.
In the case of FF, it is not necessary to execute automatic attitude control. If it is determined to be ON in the step S4, the angular velocity sensor 5 in a state in which the seedling
The initial output signal value Vo of No. 8 is read as a zero point (step S5), and the seedling planting operation is performed while executing the posture control (step S6).

After that, the operator sometimes switches the planting switch 76 or the automatic switch 75 in order to interrupt the seedling planting operation or the automatic posture control. When the planting switch 76 is turned off (step S7), it is determined that the seedling planting operation has been interrupted, and the hydraulic cylinder 29 is operated to forcibly return to the center so that the seedling planting device 10 is in a horizontal state horizontally. (Step S8).

When it is determined in step S9 that the automatic switch 75 is OFF (automatic attitude control is stopped),
Next, in step S10, the ON / OFF of the clutch switch 70 linked to the operation of the traveling clutch determines whether the traveling clutch is engaged or disengaged. If it is determined in this step S10 that the clutch switch 70 is OFF (during running),
It returns to before the said step S2. If it is determined that the clutch switch 70 is ON (stop running) (for example, the suspension of the seedling operation for adding the seedling mat), a subroutine for zero compensation described below is executed (step S11).
It returns to before step S2.

In steps S7 and S9,
When both the planting switch 76 and the automatic switch 75 are on, the clutch switch 70 is turned on in step S12.
If it is determined that the traveling is stopped, a subroutine for zero point compensation is executed as described above (step S13). This is, for example, a case where the seedling plant 10 is temporarily stopped in a state where it is lowered to the field.

[0041] Turning next subroutine flowchart of the zero point compensation is described as shown in FIG. 15, step P1 following the start, the timer is actuated clutch switch 70 from ON (running stop), to start counting time t <br/> You. Next, at step P2, the time t of the timer is t0.
It is determined whether or not (time required for stopping the traveling of the traveling body 1) has been exceeded. If it does not exceed (no), no zero point compensation is performed, and the process ends.

If t> t0 in step P2, it is determined in step P3 whether or not the time t of the timer has exceeded time t1 (a waiting time until the start of reading the output signal value of the angular velocity sensor 58). When t> t1, the number of readings n (its initial value is 0) is set to “1” in order to read the output signal value of the angular velocity sensor 58 a plurality of times.
(Step P4), the output signal value Vn of the angular velocity sensor 58 is read (Step P5), and the number of readings n is counted (Step P6). Next, in Step P7, it is determined whether or not the time t has elapsed the time t2 (the time required to read the output signal value of the angular velocity sensor 58).
Steps P4 to P6 are repeated until the time elapses.

If it is determined in step P7 that t> t2 (P7: yes) , the output signal value V read multiple times is used.
The average value Va of n is calculated and stored (step P
8). Next, in step P9, the clutch switch 70
It is determined whether or not it has been switched to the FF (restart the traveling), and if it is determined that the traveling should be resumed (P9: yes) ,
Update is performed to replace the calculated average value Va with the old average value Va (step P10). Zero point compensation is performed by assuming that the updated new average value Va is the output signal value (zero point) of the angular velocity sensor 58 in the horizontal state of the seedling plant 10 while the traveling of the traveling body 1 is stopped. (Step P11).

In this manner, the average value of the output signal values of the angular velocity sensor 58 a plurality of times when the traveling machine 1 is in a stopped state, in which it is natural for the seedling plant 10 to take a horizontal posture horizontally, is adopted. Thus, the zero point can be accurately detected. Also, since the average value is updated every time the rice transplanter stops running, even when the zero point is shifted due to a temperature change, such as when the rice transplanter is used from morning to evening, each time,
Since the zero point compensation can be automatically performed, the accuracy of the attitude control is further improved.

In the above-described embodiment, the clutch switch 70 is used as a means for determining whether the traveling body 1 is in the traveling stopped state or the traveling state. Alternatively, a detection value of a vehicle speed sensor may be used.

Another method of executing the zero point compensation is to detect the fluctuation speed of the right and left rolling of the seedling plant,
As described above, the output signal value of the angular velocity sensor attached to the sensor needs to have opposite values when the seedling device is rotated clockwise and counterclockwise, as described above. On the other hand, in consideration of the fact that the rolling seedling plant is likely to reciprocate right and left in order to be in a stable state, an average value of a plurality of detection values is taken even during the operation of the angular velocity sensor. In this case, the average value is very close to the original zero point.

In this embodiment, the output signal value Vn of the angular velocity sensor 58 is detected (sampled) and stored a plurality of times during the seedling planting operation, and the average value is calculated.
The average value is regarded as a zero point. The required sampling time per output signal of the angular velocity sensor 58 is about 6 ms (milliseconds), and the amplitude time during which the seedling plant 10 swings right and left differs depending on the seedling planting operation speed and the hardness or softness of the soil in the field. However, since the sampling time required for obtaining the average value is about 10 seconds, the output signal value when the seedling plant oscillates right and left a plurality of times (from about 300 ms to about 800 ms). Many positive and negative values can be sampled.
Therefore, the accuracy of the zero point compensation is improved.

During the daytime, the temperature changes quickly,
As a result, the speed at which the zero point fluctuates due to the temperature drift, in other words, the time required for the temperature change to affect the zero point compensation,
Since it is considered to be much longer than the above 10 seconds, by updating the calculated average value every longer time interval, for example, about every 30 seconds to 1 minute, the temperature drift due to the temperature change of the environment with the passage of time Can also be dealt with.

In each of the above embodiments, the angular velocity sensor 58 mounted on the seedling plant 10 has been described. However, the inclination sensor 51 and the acceleration sensor 65 can also take positive and negative values according to changes in posture. It goes without saying that zero point compensation can be performed. Further, the present invention can be applied to a case where pitching posture control is performed by detecting a change in the longitudinal rotation posture of the seedling plant using the inclination sensor, the angular velocity sensor, and the acceleration sensor. As described above, in the rolling posture control and the pitching posture control, the fuzzy inference is applied using the detection results of the inclination sensor, the angular velocity sensor, and the acceleration sensor, and the posture correction driving means mounted between the seedling plant and the traveling body is used. The present invention is also applicable to a case where control for operating an actuator is executed.

[Brief description of the drawings]

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

FIG. 2 is a plan view of a riding type rice transplanter.

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 an operation explanatory diagram including a block diagram of a control device and a hydraulic circuit.

FIG. 5 is a VV view of FIG. 3;

FIG. 6 is a block diagram of a tilt sensor.

FIG. 7 is a perspective view of an angular velocity sensor.

FIG. 8 is an explanatory diagram showing a rolling state of the seedling-planting device.

FIG. 9A is a diagram showing a state of change in left and right inclination angles;
(B) is a diagram showing a variation state of the angular velocity, and (c) is a diagram showing a variation state of the acceleration.

FIG. 10 is a diagram illustrating sensitivity characteristics of an angular velocity sensor.

FIG. 11 is a diagram showing zero point fluctuation after the power supply of the angular velocity sensor is turned on.

FIG. 12 is a diagram showing a temperature drift characteristic of the angular velocity sensor.

FIG. 13 is a time chart.

FIG. 14 is a main flowchart.

FIG. 15 is a subroutine flowchart.

[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 axis 51 Inclination sensor 58 Angular velocity sensor 65 Acceleration sensor 69 Control means 70 Clutch switch 75 Automatic switch 76 Planting switch

Claims (2)

(57) [Claims] 1. A work machine can be rotated left and right on a traveling machine body.
And a posture control sensor, such as an angular velocity sensor or an acceleration sensor, which is attached to the work machine so as to be able to rotate back and forth, and detects a degree of change in the posture of the work machine, according to a detection value of the posture control sensor. In an agricultural work machine configured to execute the attitude control of the work machine with an actuator, a clutch switch that detects an on / off operation of a travel clutch provided on the travel body, or a vehicle speed sensor that detects a vehicle speed is provided. The detection value of the attitude control sensor is read a plurality of times in synchronization with the disengagement time zone of the travel clutch or the travel stop time zone, and an average value thereof is set to a zero point. A sensor zero compensation device for attitude control, characterized by comprising control means for updating the position. 2. A work machine can be rotated left and right on a traveling machine body.
And a posture control sensor, such as an angular velocity sensor or an acceleration sensor, which is attached to the work machine so as to be able to rotate back and forth, and detects a degree of change in the posture of the work machine, according to a detection value of the posture control sensor. In the agricultural work machine configured to execute the posture control of the work machine with an actuator, a plurality of times of the position detection of the work machine detected along with the posture restoration fluctuation of the work machine during the operation of the posture control sensor. A control means for storing an output value of the above-mentioned value, and for setting an average value calculated from a plurality of output values to a zero point.