JP4898131B2 - Leveling machine and leveling method using 3D positioning system - Google Patents

Description

  The present invention relates to a leveling machine using a three-dimensional positioning system using a satellite, a so-called GPS receiver, in a method for making a uniform plane using a leveling machine pulled by a towing vehicle. Therefore, 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 it is possible to safely and reasonably work at the shortest distance without looking back at the flat plate from the driver's seat one by one. How to do it.

Unevenness occurs naturally in the field, especially in paddy fields, 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, since the paddy fields are leveled, the time required for replacement can be shortened and the time required for the tractor or the like to run can be reduced. Therefore, there is an advantage that the water permeability of the field is not deteriorated by stepping pressure.
In addition, it is desirable to make the inside of the section a uniform plane for residential land development and ground maintenance. In residential land development, etc., it is proposed to carry out soiling by extruding methods such as bulldozers and scooping backhoes.

In field leveling work, a towing type leveling machine is often used. This type of leveling machine has the advantages of being able to work at high speed, easy to sow the subsequent process because there are no traces of the tires on the towing vehicle, and the ability to use the towing vehicle at any farmhouse. In addition, the height difference in the field is about several tens of centimeters, so the amount of soil transported by bulldozers is not required, and it must be finished in a short period of time when the soil is dry in the agricultural off-season. For example, tractor-type leveling machines that are towed by tow vehicles owned by farmers are often used because they have to perform leveling work after harvesting every year.

As a method of leveling using a leveling machine towed by a towing vehicle, a method using a laser beam as shown in FIG. 14 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 to carry the soil within the field without leaving the leveling plate 51 of the leveling work machine 50 at a constant work reference height, and the laser beam 57 The working reference height of the leveling plate is gradually lowered with reference to the above, and finally a leveling plane parallel to the laser beam is created.

Patent Document 2 proposes using a GPS receiver instead of laser light. Both methods, however, keep the flat plate at a constant work reference height and gradually lower the work reference height of the flat plate while carrying the soil. In the method of flattening, the operator had to travel while always checking the flat plate behind and checking whether or not he was holding soil.
In addition, since the entire work area was leveled by gradually lowering the work base height where the leveling plate held the soil while entering the field immediately after the start of work and leveling work, the part that was lower by one corner in the second half of the work When it was discovered, it had to be carried out widely and shallowly from the entire leveled area, which was very time consuming and inefficient.

This 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. 14, 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) JP 2001-8505 A JP-A-63-135815 Japanese Patent No. 2523005

In the actual work using the conventional laser beam, the farm with the raised central portion as shown in FIG. 7 is leveled while the tractor turns in the same direction as shown in FIG. It seems to be low from the place that seems to be high while keeping the work reference height of the flat plate to the laser light reference at a constant work reference height at the place that seems to be the highest in the field to the extent that soil can be carried. If you carry the soil to the place and run through the whole area, if the flat plate does not hold the soil, lower the flat plate to the extent that you can carry more soil. While repeating this work, move the soil throughout the field until there is no soil inside the field and there is no gap between the leveling plate and the ground. A flat surface parallel to the laser beam was made at a height.

  Although the conventional method using laser light could be measured by human power as shown in Fig. 14, the data is only the height of the laser light and the ground at that point, and it takes time to measure in large quantities. It takes. Although this is a guideline for the work reference height when the flat plate is held for the first time, it is not possible to calculate the total amount of soil that is going to be used in the present application.

As described in Patent Document 3 and Patent Document 4, in general civil engineering, it is more efficient to use a bulldozer for a large amount of soil handling (rough ground), but for leveling work of thin layers such as topsoil, tractor work May be less prone to steps.
In general, bulldozers can move a large amount of soil at a time, but they are heavy and cause them to deepen into the ground in the field, resulting in poor water permeability. Moreover, even some wetlands enter and knead the soil back with a crawler, which precipitates and further deteriorates water permeability. If water permeability deteriorates, it becomes a paddy field with poor drainage and water management becomes difficult. For example, the bulldozer will not level the field unless it is a large-scale construction such as a farmland improvement field development project that significantly carries soil.

  In addition, even in fields that have been leveled by the field maintenance project, unevenness (flicks: irregularities in the field) occurs after several years. Uneven is uneven and uneven. Cut off in the civil engineering industry. It is said that there is unevenness such as when the roadbed surface such as embankment is not flat, or when the upper end of the placed concrete is not flat and has unevenness. Unevenness in the field occurs when there is a difference in compaction in the field, or when there is a difference in dry / wet in the field due to cut soil, embankment, water permeability unevenness at the water mouth and water bottom. It tends to expand by about 15 mm per year, and it is necessary to correct the unevenness once every two to three years. When unevenness occurs, the effect of herbicides will be insufficient and uneven growth will be caused, and at the same time, it may be difficult to control growth, leading to deterioration in yield, quality and taste due to increase in lodging and pests. Therefore, it is necessary to perform leveling work periodically to correct the unevenness. In such a case, never use a bulldozer.

Therefore, when leveling the field, it must be done without deteriorating the water permeability of the field. For this purpose, it is desirable to use a lightweight vehicle and a work machine and perform leveling at as high a speed as possible without traveling in the field. For this purpose, a tractor towing operation is desirable.
Further, in this case, unlike the case of cutting and embedding at a constant height as described in Patent Document 4, the flatness reference plane height can be calculated naturally when the height map is completed. However, the leveling work is performed once the entire field is softened with a plow or the like. However, the soil is reduced by the pressure during the leveling and the amount of soil is reduced, so it is necessary to correct it.However, in this proposal, since it has a non-land correction distance measuring section that passes through the lowland, the measurement is always continued, and the change in the degree The change of the reference line due to can be corrected each time.

  A skilled operator can make a leveling plane with a bulldozer. The bulldozer can raise the soil at a low position to a high position, but the leveling operation cannot. 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. The gist of the present application is to provide information that can be determined so that the work of leveling while rotating all over the field can be performed at a short distance.

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 by moving from the high part to the low part, it is further lowered to other parts. If there is, there has been a case where the soil that has been once leveled must be transported widely and shallowly and leveled, and the soil once transported may be transferred to another location. Until the final stage, the level of the leveling plane is not known, and it is time consuming and inefficient due to the method of whether or not leveling has been achieved.At the same time, the towing vehicle repeatedly reciprocates and turns in the field. It became stiff and hard, and it became difficult to level and plow after work, resulting in poor water permeability.
In addition, when the field was large, it was difficult to find out where it was low and where it was high visually from the tractor.

  Also, since the leveling machine is towed by a towing vehicle, the operator must always look back and check the leveling of the leveling soil, and if it holds the soil, it will immediately reverse and run in the direction that seems to be low. It was necessary to repeat this process, as soon as the flat plate was free of soil, it would turn over and return to the direction where it was supposed to be high. The operator always had to look forward and move forward to work. Because it is always such a work, it is possible to get on the bank too much to concentrate on the leveling machine.

Moreover, the laser beam arrival distance of the light emitter was 300 meters, and it was impossible to perform leveling work at a time in a larger field. The movement and installation of the light emitters at that time are complicated and troublesome. Even if a powerful laser beam is used, the earth is round, so it has to have a levelness of 8 centimeters per kilometer. Otherwise, when the water is spread, it will be offset and a uniform harvest will not be obtained.

In addition, when performing leveling work using laser light, if two or more light emitters are installed nearby, the laser light receiver receives each laser light and malfunctions. It is a problem that often occurs in areas such as Ogata Village and Niigata Plain where the penetration rate is high. In addition, at night, there is a problem that the current position in the field is not accurately known and it is difficult to continue the operation.
In this case, we propose a leveling method using a leveling machine that is pulled by a towing vehicle such as a tractor during leveling work in the field.

Leveling work to make a section of a farm or the like with a height difference uniform using a towing vehicle, a flat plate to be pulled by the towing vehicle, and a reference height control unit that holds the flat plate at a work reference height. In a leveling machine that performs
A measurement unit that measures the height and position in the section by running in the section of the field or the like by a three-dimensional positioning system;
A measuring unit that measures the unevenness correction distance between the work reference height and the ground surface when passing through a low ground below the work reference height at which the flat plate does not contact the ground surface at the rear part of the flat plate;
Create a height map in the section based on the height and position measured by the measurement unit, calculate and store the level reference plane height when leveling the inside of the section, and by the measurement unit A calculation unit for calculating and storing the measured unevenness correction distance;
A display unit for displaying a height difference to be compared with the leveling reference plane height in a field section based on the height map, the work reference height and the unevenness correction distance stored by the calculation unit;
A leveling work machine characterized in that the unevenness correction is performed while showing a difference in height compared to a leveled area at the level of the leveling reference plane on a display unit.

In a leveling method that uses a leveling machine to flatten a section of a farm or the like with a difference in height, travel through the section with the towing vehicle equipped with a three-dimensional positioning system, and measure the height and position. And memorize and create high and low maps,
And the level of the flat reference plane when the entire inside of the compartment is soiled and leveled is calculated,
Display the height difference to be compared with the flat reference surface height on the display unit,
Next, a flat plate measured with a three-dimensional positioning system and held at the work reference height, the height after passing the flat plate in real time while carrying the soil is compared with the flat reference surface height and the display unit Displayed on the
A leveling method to level the entire section by correcting the unevenness while showing the place where the leveling level is leveled by showing the leveling level on the display by moving the high level soil to the low level with the shortest distance. .

The leveling machine is equipped with a three-dimensional positioning system in a leveling method that uses a leveling machine to flatten a section of a field or the like with a height difference, and the leveling plate is held at a constant work reference height. And started leveling work,
Measure the depth and position of the low part that cannot be filled with the unevenness correction distance measurement unit, calculate the reference plane height when the entire inside of the section is soiled and leveled, and the leveling reference plane height The height difference compared to is displayed on the display,
Next, a flat plate measured with a three-dimensional positioning system and held at the work reference height, the height after passing the flat plate in real time while carrying the soil is compared with the flat reference surface height and the display unit Displayed on the
A leveling method to level the entire section by correcting the unevenness while showing the place where the leveling level is leveled by showing the leveling level on the display by moving the high level soil to the low level with the shortest distance. .

The three-dimensional positioning system has been measured using a positioning method using a satellite, or the height is measured using a laser beam as a reference, and the position is measured using a positioning method using a satellite. The leveling work machine or leveling method according to claim 1, claim 2, and claim 3, wherein

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 is a vehicle equipped with a three-dimensional positioning system so-called GPS receiver 20 using a satellite for the first time, traveling all over the field before or simultaneously with plowing and rotary tillage, measuring the height and position, and controlling device 21 To create a level map, and calculate the level of the standard reference plane when the entire land is leveled and leveled. Next, the leveling flat plate equipped with GPS receiver 20 and maintained at the work reference height is used to determine the height after the leveling plate has passed in real time while carrying soil from a high place to a low place. This is a leveling method in which the entire field is leveled while displaying on the display section 22 of the driver's seat as compared with the level of the flat reference plane and suggesting that the soil at the high place can be carried to the low place at the shortest distance.

In this application, a three-dimensional positioning system using a so-called GPS receiver is used to solve the problem, the shape and height of the first field is measured, a height map is created with the data, Calculates the level of the flat reference plane when the whole is transported and leveled, and displays the difference in height compared to the level of the flat reference plane on the display section of the driver's seat. Compared with the level reference plane height of the field, the level after the leveling plate passes in real time while carrying soil from a high place to a low place. We propose an efficient and safe leveling method that leveles the entire field while suggesting that the soil at the high place can be transported to the low place at the shortest distance by displaying it on the display section of the driver's seat.
With this method, the operator knows the location where the level has reached the level even if it is partial, so that it is understood that there is no need to go to that location again, so that the operator can efficiently carry the soil at the shortest distance.

In the GPS usage method used in ordinary car navigation, etc., an error of about 10 meters is unavoidable due to delays when radio waves pass through the ionosphere, but in this application, RTK-GPS (real-time) is mainly used. Three-dimensional measurement is performed using a method called Kinematic-GPS. RTK-GPS (real-time kinematic GPS) positioning performs GPS observation at the same time as a reference station whose position is known and the observation point where the position is to be obtained, and the data observed at the reference station is transmitted to the observation point in real time using radio etc. The position is determined with an error of several centimeters by transmitting and obtaining the position of the observation point in real time based on the position result of the reference station.

A tractor equipped with a GPS receiver of this method is used to first run while measuring the inside of the field and create a field shape and height map. When leveling is performed using a leveling machine that is normally pulled by a towing vehicle, it cannot be carried out unless the entire section is crushed and loosened. Since the leveling machine towed is a light weight, the flat plate will escape upward when it hits a hard lump of soil that has been compacted. Therefore, it is necessary to carry out plowing and rotary tillage work before leveling as shown in Fig. 2. In this case, when measuring with a towing vehicle (tractor, etc.) equipped with a GPS receiver, both ground breaking and measurement can be performed. Is.

Alternatively, as shown in FIG. 3, the GPS receiver 20 may be attached to the leveling machine and run in a lifted state. In any case, if the height H from the ground surface of the GPS receiver 20 is measured, it can be stored while being calculated by the control device 21, so there is no problem. Since it is traveling for creating a high-low map, it is possible to measure high-speed traveling with the tractor 11 alone equipped with a GPS receiver 20 as shown in FIG.

Next, the controller 21 calculates the amount of soil carried out based on the height map created, calculates the level of the flat reference plane, which is the maximum height that can be leveled, and the level of the flat reference plane as shown in FIG. It displays in the driver's seat as a comparison map. Then, the GPS receiver 20 is attached to the work machine that holds the flat plate at the work reference height, and the earth is carried from the high place to the low place while looking at the height map.

The GPS receiver 20 attached to the leveling machine displays the work reference height of the leveling plate at any time and records it on the height map, so that the location of the leveling reference plane height is clear and the operator changes the soil direction. I can understand immediately. When the height difference of the conventional method is not known, as shown in Fig. 15, the soil was carried around the entire field while taking into consideration the extent to which the towing vehicle can be towed while holding the soil on one side of the flat plate while turning in a certain direction, If the height difference is known, the position where the soil is held and the position where the soil is released can be seen from the height map displayed on the driver's seat. Therefore, as shown in FIG.

Also, if the level difference is too large or the leveling reference surface changes due to the tractor's stepping pressure, based on the data that has been roughly leveled, the error range during leveling is further narrowed to set the resolution. If finely set, the amount of soil can be calculated in the same way as when leveling first, and the level of the leveling reference plane can be set and worked to make it even.

The present application is equipped with a non-uniform correction distance measuring unit that measures a portion lower than the flat plate, and when the flat plate with a fixed work reference height does not contact the ground as shown in FIGS. 4 and 5, the distance is measured. It has become. In other words, when the flat plate is pulled at a constant work reference height, when the ground surface is lower than the work reference height, the flat plate floats in the air as shown in FIG. At this time, the distance X (non-land correction distance) between the work reference height and the ground surface can be measured. Therefore, if you know the highest part in the field, you can create a height map while leveling from the beginning by keeping the work base height of the leveling plate constant so that it can be transported and running all over the field. Is possible.

Embodiments of the present invention will be described below. First, a vehicle equipped with a so-called GPS receiver 20 using a three-dimensional positioning system using a satellite with a trajectory as shown in FIG. 12 travels through the field section, measures the height and position, and stores the height and position in the control device 21. Create a map. As a measuring method, the tractor 11 to which the GPS receiver 20 as shown in FIG. 2 is attached may travel alone or may be measured while plowing the field with the plow working machine 15. In fact, leveling work is hindered if there are rice stocks or rice straw on the surface, so it is easier to level the work by plowing into the ground.

Further, as shown in FIG. 3, the tractor 10 without the GPS receiver 20 may travel and measure while lifting the leveling machine 30 to which the GPS receiver 20 is attached. In any case, the height H of the GPS receiver 20 from the ground may be stored in advance in the control device 21 and calculated. By using such a measurement method, a high and low MAP in the field section is created in the control device 21.

  This will be described with reference to the flowchart of FIG. S1 travels through the field with a trajectory as shown in FIG. 12 to produce a height map in the field section, and calls up the height map data record S1. Next, S2 is calculated from the height map data and S2 is calculated, and S3 is calculated. A cut / fill table as shown in FIG. 13 is calculated based on the standard reference height, and is displayed on the display unit 22 in a color-coded manner for easy viewing. As a display example, a height map as shown in FIG. 7 is displayed on the driver's seat. The topography of FIG. 7 is a farm field where the white part is the level of the flat reference plane, the center is high and the left and right parts are low.

In the height map described in Patent Document 3, a recess smaller than the vehicle width of the bulldozer is not measured, but in this application, as shown in FIG. 5, the gauge wheel 34 measures and displays the depth of the recess f. If there are a plurality of gauge wheels 34, they are displayed more accurately by being averaged by the control device 21. In the field, water is accumulated even in a small recess as in the case of the unland land, and the growth of the crop cannot be maintained uniformly, so it must be displayed more accurately than Patent Document 3.
If there is a recess narrower than the flat plate width as shown in FIG. 5 and FIG. 8, it will not be a good field if it is not detected.

  An actual leveling machine is shown in FIG. The frame 33 of the leveling work machine 30 is attached to the top link 8 via the pin 7 and to the lower link 9 via the pin 6. The flat plate 31 is integrated with the GPS receiver 20 via the frame 33. If the GPS receiver 20 is maintained at a constant height, the flat plate 31 is also maintained at a constant work reference height.

The leveling operation will be specifically described. The leveling machine 30 is pulled by the lower link 9 and the top link 8 of the tractor 10. When the control device 21 determines that the work reference height of the flat plate 31 is higher than the flat reference surface, it operates to lower the lower link 9, and conversely, the work reference work reference of the flat plate 31 is lower than the flat reference surface. The leveling plate 31 is maintained at a constant work reference height by operating so as to raise the lower link 9.

Further, the leveling machine 30 may be pulled by the tractor 10 with the draw bar 12 (see FIG. 3). The draw bar 12 is a traction rod fixed to the tractor without moving up and down, and is pulled while the position of the pin 6 is fixed at a certain height. In this case, the height is adjusted by the expansion and contraction of the cylinder 38. Control can be performed in the same manner as described above by operating the hydraulic pump of the tractor 10 from the control device 21.

1, a gauge wheel 34 is attached to the rear part of the leveling plate 31 so as to freely rotate via an arm 39, and a rotation sensor (or angle sensor) 32 is attached to a fulcrum part at the upper end of the arm 39. As shown in FIG. 4, the height at a position lower than the flat plate 31 can be measured by a signal output from the rotation sensor 32. That is, as shown in FIG. 4 or FIG. 5, the flat plate 31 is always kept at a constant work reference height by the control device 21, so when the ground surface is lower than the flat reference surface, the flat plate 31. Will float in the air. At this time, the angle at which the gauge wheel 34 is lowered by its own weight and touches the ground is read by the rotation sensor 32 and calculated by the control device 21, whereby it is possible to express how much it is lower than the level reference plane.
For example, as shown in FIG. 4, when the ground surface is lower than the flat plate 31 having a fixed work reference height, the contact angle θ of the gauge wheel 34 decreases as the distance X increases. The distance X is calculated by measuring this angle.

A plurality of gauge wheels 34 may be attached in the width direction of the flat plate 31. In that case, when one side is a flat reference surface and the other is a low surface, it is also possible to determine by taking an average with the control device 21. Furthermore, as another embodiment of the gauge wheel 34, a method of detecting with a rotation sensor 32 so as to slide a plate-like gauge 37 as shown in FIG.

There is a tine 36 behind the gauge wheel 34, which works to break down the tread of the tractor 10 and to crush and soften the surface layer. Tyne 36 can be used as a seedbed. Further, there is a pressure-reducing wheel 35 on the rear side to moderately suppress the softened surface of the tine 36. Further, it is a portion that is pulled by the draw bar 12 and serves as a fulcrum when the flat plate 31 is held at a constant work reference height by grounding when the flat plate 31 is moved up and down by the cylinder 38.

When working with the configuration as described above, the result of measuring the entire field section as shown in FIG. 12 with the tractor 11 to which the GPS receiver 20 is first attached becomes the data as shown in FIG. Represented in high and low maps. According to FIG. 7, it can be seen that the middle b portion is high and the left and right a and c portions are low fields. The display may be color-coded and the display unit may be selected appropriately. The portion that is the leveling reference plane is displayed in white, and when the whole is white, the work is finished.
In FIG. 7, the display of the height map is uniformly displayed in the horizontal direction (y direction), but it is described as an easy-to-understand example, and is actually as shown in FIG.

Here, when the land of FIG. 7 is leveled with the conventional laser beam type leveling machine 50 as shown in FIG. 14, the progress is shown in FIG. When the flat plate 51 holds the soil, the operator immediately reverses and carries the soil in a direction that seems to be low, and when the flat plate 51 runs out of soil, it immediately reverses and returns to the direction that seems to be high. When this operation is repeated, the field becomes flat with a being low and b and c being slightly higher than the flat reference plane height as shown in FIG.
After this, in order to finally level the flat reference surface height as shown in Fig. 9, it is necessary to carry the soil a wide and shallow from the location of b and c and to fill in the part a, which takes time and labor. Become.

However, when working with a leveling machine 30 equipped with a GPS receiver 20 as shown in FIG. 1, the progress is shown in FIG. The operator carries the soil of the high part of part b to part c, and when the level reaches the leveling level and the display turns white, it can be seen that no further soiling is required. Furthermore, since a portion higher than the level of the flat reference plane is also displayed, the tractor can reciprocate the shortest distance using forward and backward movements, thereby shortening the time. To finish the process as shown in FIG. 9 after FIG. 8, the same operation may be performed on the opposite side. As described above, the working time can be greatly shortened, and the field can be prevented from becoming hard due to the stepping pressure.

FIG. 8 will be described in more detail. A portion surrounded by a broken line in the upper right portion is a recess smaller than the working width of the flat plate 31. Since it is the same direction as the direction of travel of the tractor, it is overlooked if there is no gauge wheel 34, and is a groove portion that is not detected.
Also, in Fig. 8, if the leveling machine has a pulling capacity that can carry the soil volume at the height difference b between the high place b and the level of the leveling plane at one time, the leveling plate 31 is fixed at the work base level and remains high. You can carry the soil of b to the lower part c, but if you can not carry the soil at once, fix the leveling plate 31 at half the height of e / 2 and divide it into the lower part and carry it to a. What is necessary is just to fill the difference d. The flat plate passing height e / 2 in this case is also stored and displayed in the control device 21.

A form of the second embodiment shown in FIG. 6 will be described. This is a method using a three-dimensional positioning system that combines both a GPS receiver 20a that measures only the position and a laser beam 57 that measures the height difference. In the case of a work machine that uses only GPS as shown in Fig. 1, a significant error may occur in places where radio waves are difficult to reach such as mountainous areas. It is conceivable that the field will not be leveled, especially when the error with respect to elevation is significant. In such a case, it is conceivable to use a laser beam only for the measurement of the height difference. In addition, if the method uses laser light in combination, the present invention can be implemented by adding the GPS receiver 20 and the control device 21 to the working machine that has been used in the laser light method so far. is there.

  In this method, the GPS receiver 20a measures the position (coordinates). The laser receiver 55 is held at a constant height by the vertical movement of the lower link 9, and the leveling plate 31 is also held at a constant work reference height. Even when the flat plate 31 does not reach the ground as shown in FIG. 4, the rotation sensor 32 is operated by the gauge wheel 34, and the unevenness correction distance X between the flat plate 31 and the ground is measured, stored and displayed.

In a farm with a large difference in height, as shown in Fig. 2, the tow vehicle or the like (for example, a tractor alone) travels within the section without difficulty, creates a height map and calculates the amount of soil to calculate the leveling level. However, if the unevenness correction is repeated many times in a field with a small difference in height, such as the unevenness correction, it can be expected that the leveling plane height is rough. In that case, a level map can be created using the unevenness correction distance measuring unit 32 of the gauge wheel 34 while performing leveling work from the beginning. If you are a farmer, you often know where the water always collects in the lowlands of the field and where it is difficult to get water in the highlands. In this case, the leveling work is started by holding the leveling plate at a constant work reference height at which the soil does not spill over the leveling plate 31 at a high place. At this time, the work reference height is set to such a height that the whole cannot be filled. Because if the whole field is filled and there is a lot of soil (there is a high place), you have to start from the beginning.

If a portion that is too low to be filled occurs, the gauge wheel 34 measures, and there is a non-land correction part, and the buried part is calculated as the work reference height by the calculation part. Displayed in comparison.
As shown in FIG. 4, by using a three-dimensional positioning system, the leveling plate 31 is held at the work reference plane height, X is measured by the unevenness correction distance measuring unit 32 of the gauge wheel 34, and is stored and calculated along with the position. Since the amount of soil carried in the field section can be calculated, the leveling reference plane height can be newly calculated.
If the above-mentioned flat reference plane height is measured, then the work reference plane can be adjusted to the flat reference plane height to correct the unevenness, and the work can be easily performed as described above.
Even in the case of unevenness correction, when the height difference is large, it is desirable to make it possible to measure even if the height difference is large by lengthening the arm 39 of the gauge wheel 34 as shown in FIG.

Although this application mainly described the method of making a farm field with a height difference into a uniform plane, it can also be used in residential land development and ground maintenance where a similar uniform plane is required.

It is a side view of a leveling machine towed by a tow vehicle used in the present invention. It is a side view of the tractor and plow used for the first measurement. It is a side view of the state which lifts up a leveling work machine and is running and is performing the first measurement. This is a leveling machine with a long gauge wheel arm. It is the figure which looked at the working machine which passes on the recessed part of the width | variety narrower than a flat plate width from the back. It is a side view of the leveling machine of the method of using laser light and GPS together. It is the example of a high-low map display (before work) and a section of a field. It is the example of a high-low map display (during the work of this application) and a cross section of a field. A height map display example (at the end of work) and a cross section of the field. It is a flowchart of a high-low map display. It is another Example of a gauge foil. This is the trajectory of the tractor during the first measurement. This is the map data before and after display, cut and fill surface. It is a side view of the leveling machine using the conventional laser beam. It is the example of a height map display (during the work of the conventional example) and a cross section of the field.

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)
12 Drawbar
15 plow work machine
20 GPS receiver
20a GPS receiver that only measures position
21 Control unit
22 Display
30 leveling machine
31 Flat plate
32 Rotation sensor
33 frames
34 gauge foil
35 wheel
36 Tyne
37 Plate gauge
38 cylinders
39 arm
39a long 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
H Distance between GPS receiver and surface
X Distance between flat plate and ground surface
d + level difference between the standard level and the ground surface
e Level difference between the flat reference height and the ground surface θ The contact angle of the gauge wheel

Claims (4)

In a leveling machine that includes a tractor, a leveling machine towed by the tractor, a GPS receiver, and a control device, and performs leveling work to make the inside of a field section with a height difference a uniform plane,
The leveling machine includes a frame attached to the tractor so as to be adjustable in the vertical direction via a top link and a lower link, and a leveling plate attached to the frame .
The GPS receiver is integrally attached to the frame or the tractor. When the tractor travels in the entire field section, the position of each point in the field section and the height of the ground surface of the field at the position are calculated. Measuring, and sending the position and the height data of the ground surface of the field at the position to the control device,
The control device stores the position of each point in the field section from the GPS receiver and height data at the position and creates a height map of the entire ground surface in the field section, and based on the height map , To calculate and memorize the level reference plane height when the entire field section is carried and leveled;
The flat plate is adjusted and held at a work reference height that is the same height as the flat reference surface height by adjusting the frame in the vertical direction via the top link and the lower link, and the level of the field section is maintained. A leveling machine characterized in that it is configured to enable flat work. The leveling machine is provided with a non-land correction distance measuring unit, and the non-land correction distance measuring unit is attached to the level plate behind the level plate in the advancing direction of the tractor and passes through the level plate. It is possible to measure the height of the ground surface of the field where the ground surface in the field section is lower than the flat plate at the back,
The control device corrects the elevation map from height data of a position where the ground surface in the field section is lower than the flat plate measured by the unevenness correction distance measurement unit and position data measured by the GPS receiver. It is possible to newly create a height map and leveling reference surface height of the entire ground surface in the field section,
The flat plate is adjusted and held at a work reference height that is the same height as the newly created flat reference surface height by adjusting the frame in the vertical direction via the top link and the lower link. The leveling work machine according to claim 1, wherein the leveling work is configured to enable leveling work in a field section. Using a leveling machine equipped with a tractor, a leveling machine towed by the tractor, a GPS receiver, and a control device, leveling work to make the inside of a field section with a height difference a uniform plane In the leveling method,
The leveling machine includes a frame attached to the tractor via a top link and a lower link so as to be adjustable in the vertical direction, and a leveling plate attached to the frame .
The GPS receiver is attached to the frame or tractor;
Prior to performing leveling work in the field section, the tractor travels through the entire field section, and the GPS receiver measures the position of each point in the field section and the height of the ground surface of the field at the position. , Send the position and height data at the position to the control device,
The control device stores the position of each point in the field section from the GPS receiver and the height data at the position and creates a height map of the entire ground surface in the field section, based on the height map , And calculate and store the level of the reference level when the entire field section is soiled and leveled,
When performing the leveling method in the field section, the leveling plate is adjusted to the working reference height of the same level as the leveling reference plane height by adjusting the frame in the vertical direction via the top link and the lower link. A leveling method characterized by adjusting and holding, and performing leveling work in the field section. In the traveling direction of the tractor in the leveling machine, a non-uniform correction distance measuring unit is provided on the leveling plate behind the leveling plate, and the non-uniform correction distance measuring unit provides a field from the leveling plate behind the leveling plate. Measure the height of the ground surface of the field where the ground surface in the parcel is low,
From the height data of the position where the ground surface in the field section is lower than the flat plate measured by the unevenness correction distance measuring unit and the position data measured by the GPS receiver, the control device corrects the height map and newly Create a ground level map and level reference plane height for the entire field section,
Adjusting and holding the flat plate to the work reference height that is the same as the newly created flat reference surface height by adjusting the frame in the vertical direction via the top link and the lower link, The leveling method according to claim 3, wherein leveling work in the field section is newly performed.