JP2919442B2 - Left and right attitude control device in agricultural work machine - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a planting machine such as a rice transplanter for planting seedlings in a field. The present invention relates to an automatic horizontal attitude control device for maintaining the left and right horizontal attitude of a traveling body.

[0002]

2. Description of the Related Art Conventionally, when planting seedlings in a field by a riding 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 up and down. 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 Unexamined Utility Model Publication No. Sho 62-104616 and Japanese Utility Model Laid-Open Publication No.
No. 912, and this Japanese Utility Model Application Laid-Open No. 1-109.
Japanese Patent Application Publication No. 912 discloses that image information from a video camera and a detection result from a tilt sensor are used as detection means for maintaining the horizontal orientation of the seedling plant.

[0003]

However, in the above prior art, the image pickup means has a two-dimensional plane having a horizontal and vertical spread of the image pickup screen as in a so-called video camera. The amount of data is enormous, and the capacity of the storage unit must be increased, which complicates image processing for obtaining predetermined data required for automatic control, but has a small capacity for mounting on vehicles. In this case, there is a problem that the calculation speed becomes slow, and it takes too much time from the calculation result to the posture control.

[0004] The detection of the right and left inclination angles of the working machine by the inclination sensor has the following problems. For example, it is assumed that a seedling plant is rotatably connected to a traveling machine at a hinge portion. Then, when the seedling-planting device that has been in the horizontal state tilts downward and to the right, it is estimated that the instantaneous center at the instant of the start of the tilt is far below the field scene.

[0005] In this case, in the short time after the start of the inclination, the amount of movement of the seedling plant in the lower right direction (vertical movement component).
The rightward movement amount (rightward horizontal movement component) is larger than the rightward movement amount. Moreover, since the movement is started from the stationary state, the acceleration (acceleration variation rate) in the movement direction is large. In addition, the tilt sensor is generally configured to detect a change in the angle between the pendulum having the property of constantly moving in the direction of gravity (vertical direction) and the right and left tilt of the inspection object (the seedling plant in this case). Due to the inertial force of the pendulum itself (the property that a stationary object tends to maintain its state), when the seedling plant begins to move rightward, the pendulum is left relatively to the left. Become.

Therefore, as shown in FIG. 17, when the actual inclination angle θ ′ of the work implement is indicated by a solid line (To is an inclination angle fluctuation section), the output θ of the inclination sensor indicated by a dotted line is obtained.
Has a reverse output section (T1), such as indicating an output value in the direction opposite to the tilt direction at the beginning of the start of tilting of the work machine, and then indicating an output value in the tilt direction of the work machine. Therefore, there is a lack of responsiveness of quickly detecting the inclination of the working machine.

On the other hand, as shown by the one-dot chain line in FIG. 17, in a speed sensor for detecting the speed or angular speed of the object to be detected, such as a working machine, when rotating left and right, the output V of the speed sensor is such that the working machine, etc. There is an advantage that the value (magnitude) of the tilt movement speed and the direction of the movement (tilt) at the beginning of the start of the leaning of the body can be detected in a state of good responsiveness. An object of the present invention is to solve the above problem by utilizing this fact.

[0008]

According to a first aspect of the present invention, there is provided a farming machine having a left-right attitude control device, wherein the working machine is mounted on a traveling body so that the working machine can rotate left and right and up and down. A farm work machine comprising control means for executing control for maintaining the work machine in a horizontal state by an actuator interposed between the traveling machine and the work machine. While providing an inclination sensor for detection, based on the detection result of the speed sensor or acceleration sensor provided in the traveling machine or work machine,
Based on the detection results of the two sensors, the control unit detects a direction in which the actuator cancels out the inclination angular speed of the work implement, by detecting the speed of the work implement when the work implement rotates in the left-right direction and the direction of the tilt movement. And speed.

The invention described in claim 2 is the first invention.
In the left and right attitude control device in the agricultural working machine described in
The working machine is connected to the traveling body rearward in the traveling direction.

[0010]

The tilt sensor can know the absolute value of the tilt angle of the object to be detected such as a work machine, but has an inverse output section in the initial section of the start of the tilt, and a time delay of output occurs. There are drawbacks. On the other hand, in a speed sensor that detects the speed or angular speed of the object to be detected such as a working machine when rotating left and right,
Although the value (magnitude) of the inclination moving speed and the direction of the movement (inclination) at the beginning of the start of the inclination of the object to be detected such as a work machine can be detected with good responsiveness, the absolute value of the inclination angle of the object to be detected is known. There is a drawback that you can not.

Therefore, the present invention utilizes the detection results of these two sensors. In other words, in the initial section of the start of the tilting of the work machine, the speed of the work machine inclining in the left-right direction and the direction thereof are quickly detected based on the detection result of the traveling machine or the speed sensor or the acceleration sensor provided in the work machine. By detecting the actual inclination angle of the work implement based on the detection result of the inclination sensor provided in the work implement, the disadvantages of both (sensors) are mutually compensated, and the attitude control of the work implement is performed with good responsiveness. In addition, there is an effect that it can be executed accurately.

For example, in a rice transplanter, a traveling machine body travels on a cultivator, and a seedling plant, which is a working machine, slides on a mud surface above the cultivator. The seedling transplanter also tilts left and right under the influence of the running machine leaning on the machine. Also, even when the tilling device is connected to the tractor, the tilling device also tilts left and right under the influence of the unevenness of the ground. Also, in addition to the inclination angle of the work machine, the situation and state of the left and right inclination of the work equipment such as the seedling plant (slope of the change in the left and right inclination posture and the amount of change (the amount of inclination)) are determined from the inclination speed of the traveling machine. Accurate and quick grasp, correction amount suitable for these situations and conditions can be calculated finely and quickly, and quick and smooth (non-jerky) posture control can be realized, control accuracy This has the effect of improving smoothness and realizing smooth control.

In this case, based on the detection results of the two sensors, the control means controls the actuator to operate in a direction and at a speed that negates the inclination angular velocity of the work machine. This has the effect of maintaining a stationary posture that does not tilt. When the work machine is connected to the rear side of the traveling machine body, the result of the left-right tilting speed of the traveling machine body running ahead of the work machine is taken into consideration. Therefore, the posture correction control when controlling the work machine to be posture-controlled by the operation of the actuator can be performed more quickly,
In addition, there is an effect that execution can be performed accurately.

[0014]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS In the following, an embodiment applied to a rice transplanter will be described. In the drawings, reference numeral 1 denotes a traveling body, which is composed of a body frame 2 and front wheels 3, 3 attached to a front side thereof. And a swing case 4 that can rotate up and down on the rear side.
4, a rear wheel 5 and a rear wheel 5, which are mounted on the vehicle body frame 2.
The driving force of the engine 8 on the front upper surface of the body frame 2 is transmitted to the transmission mechanism and the swing case 4 in the power transmission unit case 9.
In this configuration, the rear wheels 5 are driven via the rear wheels 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 supplied to the clutch 3
3 to the speed change mechanism in the power transmission case 9
While the rear wheel 5 is driven, it is transmitted to the seedling plant 10 via the PTO shaft 34. Reference numeral 35 denotes an actuator for turning on / off the clutch 33, 36 denotes an actuator for traveling speed change, and 37 denotes an actuator for PTO shaft speed change.

A control valve 40, which can be operated by the rotation of an arm 39 that can swing back and forth, protruding 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 comprising a potentiometer or the like provided at the rotation fulcrum 45 for detecting the steering angle of the traveling body, and outputs an output signal of the steering sensor 49 to a microcomputer or the like to be described later. It is input to the electronic control type control means 50. Reference numeral 51
Is a tilt sensor provided at an appropriate position of the seedling plant 10 in order to detect a left-right tilt angle of a working machine such as the seedling plant 10 with respect to a field scene. As shown in FIG. A pendulum 54 rotatable around a shaft 53 in 52
With a movable coil 55, and R0, R1, R
Bridge circuit consisting of two and LED1 which is a light emitting element
And a pair of left and right photocouplers of LED2, light receiving elements PT1 and PT2, and an external power supply E.

When the tilt sensor 51 is in the 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 5
At 4a, the light receiving of one of the light receiving elements PT1 is cut off, the other light receiving element PT2 receives light, and is turned ON, the balance of the bridge circuit is lost, and the current flows to the movable coil 55,
When the rotational torque generated in the movable coil 55 by the current and the moment due to the weight of the pendulum 54 are balanced (θ
2) The pendulum 54 stops, and the current value (I) at that time
Is an output signal. This (current value (I)) is proportional to the inclination angle (θ1) (see FIG. 6). Symbol 58
Is an A / D converter with an amplification circuit.

Reference numeral 56 denotes a speed sensor provided in the vicinity of the rolling shaft 22 of the seedling plant 10 for detecting the angular velocity at which the seedling plant 10 rotates left and right about the axis of the rolling shaft 22. is there. In the embodiment, as the speed sensor 56, a thin disk-shaped piezo plastic film is mounted as a vibrator in a case, and a diaphragm structure having a fixed circumference is used to separate vertical and horizontal components in the acceleration direction. By utilizing an acceleration sensor that can be used, the integration circuit of the control means 50 integrates the acceleration, which is the detection value, at appropriate small time intervals to obtain the angular velocity at each time.

Reference numeral 57 denotes an A / D converter with an impedance converter connected to the output of the acceleration sensor 56.
The control means 50 executes a program control of fuzzy inference by a microcomputer including an 8-bit one-chip microprocessor or the like, and executes a central processing unit (various operations and a fuzzy inference (described below)) for executing arithmetic operations. CPU), a read-only memory (ROM) that stores initial values and control programs in advance, a read / write memory (RAM) that stores time-varying input signals and the like and outputs them at the time of calculation, and is connected to an input / output unit. Interface.

In the first embodiment, the inclination angle θ is a detection result of the inclination sensor 51 mounted on the seedling plant 10.
And the angular velocity V, which is the detection result of the speed sensor 56, is input, and the control unit 50 corrects the lateral inclination of the seedling plant 10 according to the magnitude of the inclination angle and the magnitude of the angular velocity of the planting apparatus 10. Then, a signal of a correction amount S for controlling the attitude to be held substantially horizontally is output, and the drive circuit 59 of the electromagnetic solenoid of the control valve 48 for the attitude control hydraulic cylinder 29 is operated by this signal.

At this time, since the magnitude and direction of the angular velocity (velocity) can be determined from the output of the velocity sensor 56, the actuator (hydraulic cylinder) 29 is moved in the direction to cancel the angular velocity (velocity) and at a high speed. It is preferable to operate the actuator. However, according to the fuzzy inference described later, the operation direction and the speed of the actuator 29 create the most preferable fuzzy rules from experimental results and the like, and execute the rules in accordance with the rules.

The control flow will be described with reference to the flow charts shown in FIGS. 7 and 8. FIG. 7 is a main flow chart. In a step 701 following the start, an initial setting for initializing a fuzzy control relation and a timer is executed. In step 702, it is determined whether the automatic switch for executing the posture control automation is ON or OFF.
3. Attitude control is executed by the manual operation lever. The moving speed of the piston rod of the hydraulic cylinder 29 at this time is approximately 20 mm / sec.

When the automatic switch is ON, the step
In step 704, ON / OFF of the planting work switch is determined.
In the case of FF, the process returns to step 702. When the planting operation switch is ON, fuzzy control described later is executed after about one second (step 705). If the planting work switch is turned off after execution of the fuzzy control (step
706), approximately 0.5 seconds after 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 707). 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 706 that the planting work switch is ON, it is determined in step 708 whether the automatic switch is ON or OFF.
Return to step 5 and return to step 702 if it is OFF. Following the start of the fuzzy control subroutine flowchart shown in FIG. 8, the detected values of the inclination angle θ and the angular velocity V are read (step 801).

In step 802, the specific values of the detected values θ and V are assigned to 11 divisions (areas) by integers from -5 to +5. 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. 10 and 11).

In step 802 , 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 803 , the fuzzy rule based on fuzzy inference is applied. Further steps
In step 804 , referring to the table of the membership function of the correction amount S for controlling the posture of the seedling plant, the calculation of the MAX-MINI method is executed. In step 805 , the correction instruction amount SO is obtained by the centroid method. In step 806 , an output signal to the electromagnetic solenoid is output to the hydraulic cylinder 29, which is an actuator, in accordance with the command amount SO, and the hydraulic cylinder 29 is moved so that the left and right posture of the seedling plant 10 becomes substantially horizontal. The projecting and retracting amount of the piston rod is controlled in a prescribed manner. At this time, preferably, if the projecting and retracting speed is also controlled, the seedling transplanter 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 posture control, in this 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 represented by discrete fuzzy variables discretized into integer regions, and are shown in FIGS. These fuzzy variables are labeled "large right", "small right",
There are five types: "0", "small left", and "large left".

The fuzzy variable area, which is an ambiguous area, is defined by giving a degree (grade) in which elements (members) of the entire set of input variables are included in the area (variation area). The function that gives this grade is called a 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 ( rule Nos. 1 to 17 ) of a two-input set of θ and V.

First, a membership function A (θi) is obtained from a chart (FIG. 10) of the membership function corresponding to the value of the antecedent part of each input θ and corresponds to the value of the antecedent part of the input V. The value of the membership function A (Vi) is obtained from the chart of the membership function (FIG. 11). It can be seen that a plurality of labels can be taken for the regions of the respective inputs θ and V. Therefore, among the combinations of the labels, the membership function A (θ in the i-th rule (of the rule Nos. 1 to 17 )
i) and the value of A (Vi) are obtained from FIG.
The fitness ωi = A (θi) * A (V
i). Here, * is a symbol of mini (intersection in a fuzzy set, the same applies hereinafter).

Then, the inference result corresponding to the i-th rule is obtained from FIG. 12, 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. 10 and 11, and its fitness ωj = A (θj) * A (Vj) is determined.

Next, the inference result corresponding to the j-th rule is obtained from FIG. 9, and the fitness wjB (sj) = ωj * B (sj) is obtained from the membership function B (sj) (see FIG. 12). . 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) ∪wjB (s
j) ∪wkB (sk) ∪wlB (sl) is created (∪ 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. 10, the labels are “5” in “small right”, “10” in “0”, and “5” in “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 rules based on the data set of θ and V can be found from FIG. 9 by the rules No. 1, 3, 4, 5, 6, 9,
Eight rules 11 and 17 correspond (note: there is no combination rule where θ is “small right (down)” and V is “large left (down)”).

[0041] wherein each label of the consequent part S corresponding to the eight rules "0 (neutral)", "small left up", "small right up", "small Hidariage", "0", "small It can be seen that "left up", "large left up", "large left up". Referring to FIGS. 9 to 12, these membership functions are described in FIG . 1 with respect to fuzzy rule No. 1 .
3 (a), FIG. 13 (b) and FIG. 13 (c) .
The fuzzy rule of No. 3 is shown in FIGS.
(B) and FIG. 14 (c). Regarding the fuzzy rule of No. 4 , FIG. 15 (a), FIG. 15 (b) and FIG.
It is shown in (c). Since other fuzzy rules are obtained in the same manner, illustration is omitted.

In this case, for example, for the fuzzy rule of No. 1 , when the values of ωi of θ and V are compared,
As for V, the value at the location of “0” is “10”, and for V, the value at the location of “−3” is “3”.
Is the maximum of the four values, the minimum value is adopted, and the degree of conformity ωi of the correction amount S is determined by comparing the area surrounded by the thick line which is the portion below the height “3” as shown in FIG. Become.

Similarly, the membership function in each consequent part S in the rules of Nos. 3 and 4 is a region surrounded by a thick line shown in FIG. 14 (c) and FIG. 15 (c).
Similarly, for the other rules Nos. 5 , 6 , 9 , 11 , and 17 , the values of ω of θ and V are compared, and the smallest side is adopted, and each consequent S Find the domain of the membership function in.

Next, the correction instruction amount S0 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 MAX.MI.
NIMUM method), the center of gravity of the area surrounded by the outermost area when the eight S membership functions are superimposed (this is called the center of gravity method), and the coordinate position in the left-right direction is determined by (See FIG. 16). At this time, overlapping area portions are not added.

In this embodiment, the correction instruction amount S0 is approximately 1.07. In accordance with this numerical value, an output signal is output from the central control device 50 to the drive circuit 60, the electromagnetic solenoid of the control valve 48 is operated, and the hydraulic cylinder 29, which is an actuator for rolling control, is operated. The correction is made so that the horizontal posture is left and right.

Also, the membership function in each of the fuzzy inferences described above may employ a "bell-shaped" or "triangular" well-known in fuzzy theory instead of the "discrete type (stage type)". It is good. As described above, when the fuzzy control in which the inclination angle and the inclination speed are set as the antecedent portion (input portion) and the correction amount of the lateral inclination of the working machine such as the seedling plant is set as the consequent portion (output portion), the conventional fuzzy control is performed. Compared to normal numerical control (control using a function of a mathematical expression with the input detection value as a variable) in consideration of the normal tilt angle, acceleration, and possibly tilt speed, accuracy is lacking due to ambiguity, but rapid And smooth (non-jerky) movement control can be realized.

FIG. 18 is a graph showing the relationship between the actual left-right inclination angle θ 'of the seedling plant as a working machine and the output V from the speed sensor 56. The downward direction indicates a state of tilting leftward. If the traveling machine 1 is provided with a speed sensor and the seedling plant 10 is provided with an inclination sensor, the movement (angular speed) of the seedling plant during posture control will not be picked up by the speed sensor, resulting in malfunction or hunting during control. The phenomenon can be eliminated.

[Brief description of the drawings]

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

FIG. 2 is a side view of the 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 view taken along line VV of FIG. 3;

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

FIG. 7 is a main flowchart.

FIG. 8 is a subroutine flowchart.

FIG. 9 is a diagram of a fuzzy rule.

FIG. 10 is a diagram showing a membership function of the inclination angle θ.

FIG. 11 is a diagram showing a membership function of an angular velocity V.

FIG. 12 is a diagram illustrating a membership function of a correction amount S.

13 (a), (b) and (c) are diagrams of membership functions in the case of fuzzy rule No. 1 , respectively.

14 (a), (b) and (c) are diagrams of membership functions in the case of fuzzy rule No. 3 , respectively.

15 (a), (b) and (c) are diagrams of membership functions in the case of fuzzy rule No. 4 , respectively.

FIG. 16 is an explanatory diagram of the MAX.MINIMUM method and the area centroid method.

FIG. 17 is a diagram showing the relationship between the actual tilt angle, the output of the tilt sensor, and the output of the speed sensor.

FIG. 18 is a diagram showing a relationship between an actual inclination angle and a speed sensor output.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Running body 3,5 Wheel 10 Seedling plant 11 Link mechanism 15 Seedling table 16 Planting mechanism 22 Rolling shaft 29 Hydraulic cylinder 48 Control valve 60 Drive circuit 50 Control means 51 Incline sensor 56 Speed sensor

Claims (2)

(57) [Claims] 1. A control for mounting a working machine on a traveling machine body so as to be able to rotate left and right and up and down, and holding the working machine in a left and right horizontal state by an actuator interposed between the traveling machine body and the working machine. In the agricultural work machine having control means for executing, while the work machine is provided with an inclination sensor for detecting the left-right inclination angle, the detection result of the speed sensor or acceleration sensor provided in the traveling body or the work machine,
Based on the detection results of the two sensors, the control unit detects a direction in which the actuator cancels out the inclination angular speed of the work implement, by detecting the speed of the work implement when the work implement rotates in the left-right direction and the direction of the tilt movement. A horizontal attitude control device for an agricultural work machine, wherein the horizontal attitude control device is controlled to operate at a speed. 2. The left-right attitude control device for an agricultural work machine according to claim 1, wherein the work machine is connected to the rear of the traveling machine body in the traveling direction.