JP4739860B2 - Leveling work method - Google Patents

Description

    The present invention relates to a method for leveling a section of a farm field or the like having a height difference using a leveling machine pulled by a towing vehicle, and a leveling operation including a three-dimensional positioning system using a so-called GPS receiver. With the machine, the work reference height after passing the flat plate is displayed on the driver's seat in comparison with the flat reference surface height, and the safe flat work can be done safely at the shortest distance without looking back at the flat plate from the driver's seat one by one. It is a leveling method for performing.

  In farms, especially paddy fields, irregularities occur naturally, making water management difficult. By leveling the field, paddy fields can be given water uniformly to the crops, water management and fertilization become easier, and even harvesting can be obtained.

In addition, even in fields that have been leveled by the field improvement project, unevenness (flicks; irregularities in the field) occurs after several years. Unevenness occurs when there is a difference in compaction within the field, or when there is a difference between dry and wet in the field due to cuts, fills, uneven permeability at the water mouth and water bottom. The unevenness tends to increase by about 15 mm per year, and it is necessary to correct the unevenness once every two to three years.

When unevenness occurs, the herbicide's effect is insufficient and uneven growth, and at the same time, it may be difficult to control growth, leading to deterioration in yield, quality, and taste due to lodging and increasing incidence of pests. Because it may be, it is necessary to perform leveling work periodically to correct the unevenness. However, the subtle unevenness in the field could not be understood without watering.

In leveling operations in these fields, a type of leveling machine that is pulled by a tractor is often used. This type of leveling machine has the advantages of being able to work at high speeds, leaving no trace of tractor tires, making it easy to sow in the subsequent process, and being able to use tractors found in any farmhouse.

As a method of leveling using a leveling machine towed by a towing vehicle, a method using laser light as shown in FIG. 7 has been put into practical use (Patent Document 1). This method uses the laser beam emitted from the light emitter set outside the field as a reference, transports the entire level of the leveling machine while keeping the leveling plate of the leveling machine at a constant work reference height, and uses the laser beam as a reference. However, the work reference height of the flat plate is gradually lowered, and finally a flat surface parallel to the laser beam is created.

Patent Document 2 discloses that a GPS receiver is used instead of laser light. Both methods keep the flat plate at a constant work reference height and carry the soil while gradually lowering the work reference height of the flat plate, running in the field without any hesitation and finally leveling the whole. This method was sufficient for practical use. However, the operator always had to look at the back of the flat plate and check that he was carrying soil.

In addition, the entire flat area was leveled by gradually lowering the work reference height at which the leveling plate holds the soil while entering the field immediately after the start of work and leveling work. When the lower part was discovered, it had to be carried out widely and shallowly from the entire leveled part, which was very time consuming and inefficient.

  A conventional example of a laser beam type leveling machine will be specifically described with reference to FIG. Both the laser receiver 55 and the laser emitter 56 are mounted at high positions so that the laser beam 57 is not blocked by the cabin of the tractor 60. In the leveling method using the conventional laser beam 57 as shown in FIG. 7, the height of each point in the section is first measured by the height difference measuring device 52. However, this measurement result is used as a guideline for how much work level height the flat plate 51 should be kept at first, and a large amount of data can be measured to calculate the amount of soil transport as in this application. I can't do it.

The laser receiver 57 is attached so that the laser beam emitted from the laser emitter 56 is received by the laser receiver 55, and the laser cylinder 55 of the tractor 60 is moved up and down by the control of the control device 59 so that the laser receiver 55 always emits the laser beam 57. It is held at the height to receive light.

If the laser receiver 55 is held at a constant height, the leveling plate 51 is also held at a constant work reference height, so that leveling work can be performed. When the flat plate 51 does not hold the soil, the laser receiver 55 is moved upward so that the level of the flat plate 51 is gradually lowered and transported to finally level the flat surface. It was. In general, the mounting position of the laser receiver 55 is moved up and down by extending or retracting the pole 53 of the laser receiver 55 by electric or hydraulic pressure.
Japanese Patent Laid-Open No. 10-108508 (Patent No. 3267518) JP2001-8505

  In the conventional method, the soil is transported while gradually lowering the leveling plate by visual inspection and the intuition of the operator, so even if the soil is leveled from the high part to the low part and the corner is leveled, there are still low parts in other places In some cases, it was necessary to remove the soil once and evenly from a place that had been leveled, and to carry it to a different location.

In this method, until the final leveling step, the leveling plane level is not known, and it is time consuming and inefficient in the tillage method that does not know whether or not leveling has been achieved. As the car turned and turned, the field was hardened and hardened, making it difficult to level and plow after work, resulting in poor water permeability. In addition, when the field is wide, it may be difficult to understand the height difference by visual observation from the tractor.
Also, because the leveling machine is towed by a towing vehicle, the operator must always look back and check the level of soil holding on the leveling plate. It was necessary to repeat this work over and over again as soon as it ran, and when the flat plate ran out of soil, it would turn upside down and return to the direction it was supposed to be high.
The operator always had to look forward and move forward to work. Since it is always such work, it is possible to get on the bank too much to concentrate on the leveling machine.

In the leveling machine as in the present application, the soil at a low position cannot be raised to a high position like a bulldozer. The pulled flat plate is always only gradually lowered at a constant working reference height. Moreover, the work is done by ordinary farmers who have no leveling technique. In order to solve the above problem, it is the purpose of the present application to provide information that can be determined so that the work of leveling while rotating around the field can be performed at a short distance.

A leveling machine that travels in a section of a field or the like and measures and displays the position of the leveling plate when it is passed using a 3D positioning system, the level of the leveling plate passing, the height of the leveling plate, and the unevenness correction distance. A working system,
Calculate the level of the flat reference plane from the height map, level the flat plate fixed to the level of the flat reference plane,
Display the position where the flat plate passing position of the work implement is corrected to the flat reference plane height, and the position that does not reach the flat reference plane height is displayed in a pattern corresponding to the unevenness correction distance. A leveling support system, characterized in that the entire field is leveled if the entire surface becomes a level reference plane height.

In the present invention, since the amount of soil is calculated and the level reference plane height is determined by creating a field height map, it is appropriate to use only the leveling work set with the level of the flat plate work using laser light. Compared with the method of maintaining the flat plate height, there is less useless travel and flattening can be achieved in a short time. As a result, it is less likely to harden the field with treading pressure, and post-plowing, crushed soil and sowing are easy and economical.
The level map of the place where the flat plate has passed is immediately displayed on the driver's seat, so it can be carried in a reasonable order with the shortest distance. Since the operator works while looking at the front and the display board, it is safe without getting tired.

In the conventional method, it is impossible to determine whether or not the entire section is leveled until the end, but in the present invention, it is possible to determine that the level is partially leveled, so that reasonable soil transportation is possible.

Since GPS is used, even if multiple leveling machines work in the plain of the area, they do not interfere with each other.
Even in a large field, a field along the roundness of the earth can be created. In addition, there is no complicated work such as moving the light emitter. And you can work at night.

  The present invention calculates a leveling reference height when the entire field is transported and leveled from the height map of the created field, and the level difference with respect to the leveling reference height is displayed on the display unit.

Next, with a working machine equipped with a GPS receiver, with a flat plate maintained at a flat reference height, the part where the flat plate passed at the flat reference height while carrying the soil at a high place to a low place, It is measured by the measurement unit, compared with the level reference height by the calculation unit, and displayed on the display unit in real time.
At this time, it is desirable to display the portion that has passed through the flat plate having the flat reference height so that the trajectory can be seen in a slightly different color or pattern from the initially read height map.

Also, if there is a part that is so high that the flat plate cannot be passed with it held at the flat reference height, the flat plate is lifted and passed by lever operation (manual) by the operator. Then, the position data is measured by the measuring unit, compared with the level reference height by the calculation unit, and the fact that the level flat plate has passed with a color or pattern different from the level reference height is displayed.

Next, when the flat plate held at the flat reference height passes through a portion lower than the flat reference height, it is determined that the flat height is flat only by the measurement of the above measurement unit. End up. Therefore, the depth of the portion lower than the flat plate is measured by the sensor of the measurement unit, and the calculation unit combines with the position data to display the low color or pattern display.
Using the leveling machine configured as described above, work as shown in the flowchart of Fig. 3 until the entire surface of the display reaches the leveling reference height (within a certain error). Can be leveled.

FIG. 1 is a side view of an embodiment of the present invention. FIG. 2 is a rear view of the working machine in which the working machine of the present invention passes over a recess having a width lower than that of the flat plate.
The present invention is a system that supports a leveling machine 30 that is towed by a tractor 10.

The leveling machine 30 is attached to the top link 8 and the lower link 9 of the tractor 10 via the top link attachment pin 7 and the lower link attachment pin 6.
The lower link 9 is held at a constant height by the control device 21 processing the data measured by the GPS receiver 20.
A frame 33 is attached to the top link attachment pin 7 and the lower link attachment pin 6, and a pressure reducing wheel 35 is grounded to the rear end portion of the frame 33. The pressure reducing wheel 35 is moved up and down by expansion and contraction of the cylinder 38 as necessary.

A GPS receiver 20 is fixed above the frame 33 supported by the lower link 9 and the pressure-reducing wheel 35, and a flat plate 31 is fixed below the frame 33. The control device 21 processes the data measured by the GPS receiver 20. Thus, if the lower link 9 is held at a constant height, the flat plate 31 is also held at a constant height. A leveling operation is performed by this mechanism.

A gauge wheel 34 is attached to the rotation sensor 32 via the arm 39 after the flat plate 31. As shown in FIG. 2, when passing through a place lower than the flat plate 31 held at a constant height, the rotation sensor 32 senses when the gauge wheel 34 ground part descends, and the rotation sensor 32 causes the gauge wheel 34 to ground. The depth of the distance y between the portion and the lower end of the flat plate is measured.

The measurement unit c20 in the flowchart of FIG. 4 is related to the GPS receiver 20 that measures the height and position of the flat plate 31, and uses the computer in the control device 21 in the portion that measures the height and position data d2 of the flat plate 31. .

Similarly, the measurement unit c32 operates when the gauge wheel 34 becomes lower than the flat plate 31, converts the angle of the rotation sensor 32 into a distance, combines it with the position data from the GPS receiver 20, and corrects the non-land correction distance y (negative The computer in the control device 21 is used to measure the land correction distance) and d3.

The calculation unit c21 also controls the calculation data d5 by comparing the flat plate height and position data d2, the non-land correction distance y (minus non-land correction distance) and d3 with the data d1 of the height map. The computer in the device 21 is used.
The data output from the calculation unit c21 is displayed on the display unit 22 by the display unit c22 as a real-time height map d6 compared with the level reference height d4, but in some cases, it may be integrated with the control device. is there.

Before operating this system, create data that measures the size and height of the field in advance. For this purpose, the tractor 11 to which the three-dimensional positioning system 20 as shown in FIG. 5 is attached travels uniformly in the field, and the unevenness and the position in the field are measured to obtain the height map data d1 as shown in FIG. create. The tractor 11 is provided with a plow 15 and can be plowed simultaneously with the measurement, so that an efficient measurement can be performed.

When traveling in the field uniformly, it is desirable to create the height map data d1 while attaching the plow 15 and plowing the field as shown in FIG. Also, when leveling is performed after plowing, the soil is softened, making leveling easier.

Hereinafter, description will be given with reference to the flowchart of FIG.
(Start.) A1
Start the tractor engine. Turn on the system. Get into the field.
(Call the high and low map data created in advance and store it.) A2
The calculation unit c21 records the height map data d1 created in advance. The high / low map data d1 is created by running in the field without any hesitation in a separate operation.

(Calculate the standard reference height when leveling from the height map data.) A3
The amount of soil of the height map data d1 recorded in the calculation unit c21 is calculated, and the level reference height d4 when leveling the entire field is leveled.

(The leveling machine's current position is matched with the height map data, and a height map compared with the leveling standard height is created and displayed.) A4
The height map data d1 is compared with the level reference height d4 and displayed on the display unit c22. For example, as one display method, a place having the same height as the standard reference height d4 is displayed in white, a higher part is displayed in red, and a lower part is displayed in green. In addition, shades of red and green are added depending on the degree of height.
In addition, the current position of the leveling work machine is matched with the height map data.

(Smoothed flat plate kept at a standard height for leveling and leveling from high to low, level the work implement and measure the position.) A5
While measuring the flat plate 31 of the work machine 30 with the measuring unit 20, the flat plate 31 is always held at the flat standard height d4, and the soil is carried from a high place to a low place while referring to the height map of the display unit 22. Do the leveling work. The passing position at that time is measured by the measurement unit 20, the height of the leveling plate 31 and the position data d2 are recorded in the calculation unit c21, and the calculation data d5 compared with the leveling reference height d4 is sent to the display unit c22 for display.
At this time, it is desirable to change the color and pattern slightly from the height map created and displayed in a4 so that the position where the work machine has passed is known. The display method is preferably displayed on the display unit c22 so that the traveling direction of the leveling machine is always upward.

When the flat plate is held at the flat reference height, the control device 21 is used to automatically match the flat reference height d4 calculated and output. Or, move to the place of level reference height d4 on the height map created and displayed in a4, lower the level plate to match the ground surface, and as the level reference height d4 to hold this, control device 21 may be stored and fixed.

(Because the ground surface is high and the soil volume is large, measure the positive unevenness correction distance when passing the flat plate above the flat standard height. Or when the ground surface is low and the flat standard height is not reached. , Measure negative unevenness correction distance.) A6
Normally, when the work implement 30 has passed, it should be all the standard reference height d4, but if it is too high to carry the soil all at once, the operator manually lifts the flat plate 31. There is a case where it passes up with a small amount of soil held up. At that time, the height of the flat plate 31 is measured and displayed on the display unit c22.

(Measure the unevenness correction distance after passing the work equipment and change and display the height map) a6
Next, the case where there is a place f lower than the flat reference height d4 when the flat plate 31 is held at the flat reference height d4 as shown in FIG. Since the flat plate 31 is always held at the level of the level reference height d4 by the measurement of the measuring unit c20, it does not fall below the level reference height d4. When a low portion occurs, the gauge wheel 34 is allowed to fall naturally and come into contact with the ground, and the depth is measured by the swing angle of the rotation sensor 32 via the arm 39.

FIG. 2 is a rear view of the gauge wheel 35 touching the depression f. The unevenness correction distance y and the position data d3 are generated by the measurement unit c32, recorded in the calculation unit c21, converted to data d5 compared with the flat reference height d4, and displayed on the display unit c22.

A plurality of gauge wheels 35 may be provided. In that case, the height of each gauge wheel may be calculated and averaged. In addition, the measuring unit may not be a gauge wheel, as long as it can measure the level of the flat plate 31 and the ground. For example, it may be a non-contact type that measures distance using reflection of radio waves or sound.

As described above, when the flat plate 31 is higher than the flat reference height d4, the measuring unit c20 measures the flat plate height and the position data d2, and is recorded in the calculation unit c21 to obtain the flat reference height d4. They are compared and displayed on the display part c22. If the ground surface is lower than the flat plate 31, the angle at which the gauge wheel 34 contacts the ground is measured by the angle sensor 32, the measurement unit c32 creates the unevenness correction distance y and the position data d3, and the calculation unit c21 calculates the standard reference height. It is compared with d4 and displayed on the display part c22.

(Calculate the passing position of the work equipment and the plus / minus unevenness correction distance and change and display the height map) a7
Calculate the plus / minus unevenness correction distance measured in a6 and change and display the height map.

The display unit c22 always displays a height map d6 compared with the level reference height d4. Therefore, if the work is carried out so as to carry the soil from the high place to the low place while looking at the display part c22, the entire field finally becomes the flat reference height.

(The entire surface of the display has reached the flat reference height (within tolerance)) a8
If neither the plus nor minus correction distance is generated, the place where the work equipment has passed is displayed on the elevation map, assuming that the level has reached the level reference level.
The flat reference height is always within a certain error. For example, if water management can be sufficiently performed at a flat standard height of ± 1 cm, it is not necessary to pursue further accuracy. However, it is necessary to determine the allowable tolerance in advance.
Then, the operation can be completed when the entire surface of the display unit reaches the leveling standard height within the tolerance. It can be understood that the operation is finished because the display unit is in one color. However, if there is a part of the display where the unevenness correction distance has occurred, the work implement must move to a higher place and carry it to a lower place.

(Move for leveling.) A9
If the display unit is not in a single color, the display unit moves to a high place on the display unit and moves the high soil to a low place. Redo from a5.
(End) a10
Get out of the field and turn off the engine. Turn off the system.

In addition, it is conceivable that the soil volume changes due to the tractor's stepping pressure during the work, and the leveling height d4 becomes lower than the calculated value. In such a case, after leveling work to some extent, the display d6 of the height map at that time is calculated by the calculation unit c21 as the data d1 of the height map, and if necessary, the height difference can be expressed in more detail. The level reference height a3 can be calculated in real time, and the work can be completed with an accurate level by performing the following steps a4 to a6 again.
In addition, the operator does not always have to look back and look at the state of the soil of the flat plate, and is safe because it can work while looking at the front and the display part c22.

It is a side view of the towing vehicle and the leveling machine towed used in the present invention. It is the figure which looked at the working machine which passes on the recessed part lower than a flat plate afterwards. It is the figure which made the procedure of this case the flowchart. It is a flowchart showing the flow of each part and data. It is a side view of the tractor and plow used for the first measurement. It is an example of high-low map data. It is a side view of the leveling machine using the conventional laser beam.

Explanation of symbols

6 Lower link mounting pin
7 Top link mounting pin
8 Top link
9 Lower link
10 Tractor (without GPS receiver)
11 Tractor (with GPS receiver)
15 plow work machine
20 GPS receiver
21 Control unit
22 Display
30 leveling machine
31 Flat plate
32 Rotation sensor
33 frames
34 gauge foil
35 wheel
38 cylinders
39 arm
50 Conventional laser beam leveling machine
51 Leveling plate of conventional laser beam leveling machine
52 Height difference measuring instrument
53 Laser receiver mounting pole
55 Laser receiver
56 Laser emitter
57 Laser light
y Non-land correction distance (minus non-land correction distance)

Claims (1)

Calculate the leveling standard height in the field when leveling based on the height map in the field created in advance, and the difference in height between the leveling standard height and each small section in the field by color and pattern Display on the display unit of the leveling machine, perform leveling work by the leveling machine based on the display of the display unit,
The Hitoshitaira Working performs Hitoshitaira work holds the average flat plate Hitoshitaira working machine in the Hitoshitaira reference height, the Hitoshitaira high ground surface during operation, Hitoshitaira reference high the operator equalizing flat For the convex part in the field that has passed through the height , measure the position of the small section of the convex part and its positive unevenness correction distance so that the ground surface does not reach the level reference level For the concave portion in the field where the flat plate held at the flat reference height is not in contact with the ground surface, the position of the small section of the concave portion is measured and its negative unevenness correction The distance is measured by grounding the gauge wheel provided behind the leveling plate in the leveling machine to the ground surface of the concave part ,
Based on the measurement result, calculate the plus or minus unevenness correction distance of the measured subsection, change the height map and redisplay on the display unit,
A leveling operation method is characterized in that the leveling operation is performed until the height difference display for each of the small sections becomes a display within a preset leveling tolerance.