CN108289278A - A kind of accurate planarization system in soil and method - Google Patents
A kind of accurate planarization system in soil and method Download PDFInfo
- Publication number
- CN108289278A CN108289278A CN201710633261.0A CN201710633261A CN108289278A CN 108289278 A CN108289278 A CN 108289278A CN 201710633261 A CN201710633261 A CN 201710633261A CN 108289278 A CN108289278 A CN 108289278A
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- soil
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- 239000002689 soil Substances 0.000 title claims abstract description 47
- 238000000034 method Methods 0.000 title claims abstract description 14
- 230000001174 ascending effect Effects 0.000 claims description 12
- 238000004364 calculation method Methods 0.000 claims description 12
- 230000005540 biological transmission Effects 0.000 claims description 4
- 239000010720 hydraulic oil Substances 0.000 claims 1
- 238000009434 installation Methods 0.000 abstract description 2
- 238000010276 construction Methods 0.000 description 4
- 208000028804 PERCHING syndrome Diseases 0.000 description 3
- 238000012271 agricultural production Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000000630 rising effect Effects 0.000 description 2
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 2
- 230000015572 biosynthetic process Effects 0.000 description 1
- 239000003086 colorant Substances 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 239000000686 essence Substances 0.000 description 1
- 239000004744 fabric Substances 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000003973 irrigation Methods 0.000 description 1
- 230000002262 irrigation Effects 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
- 239000002364 soil amendment Substances 0.000 description 1
Classifications
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
- A01B35/00—Other machines for working soil not specially adapted for working soil on which crops are growing
- A01B35/02—Other machines for working soil not specially adapted for working soil on which crops are growing with non-rotating tools
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L67/00—Network arrangements or protocols for supporting network services or applications
- H04L67/01—Protocols
- H04L67/12—Protocols specially adapted for proprietary or special-purpose networking environments, e.g. medical networks, sensor networks, networks in vehicles or remote metering networks
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L67/00—Network arrangements or protocols for supporting network services or applications
- H04L67/50—Network services
- H04L67/52—Network services specially adapted for the location of the user terminal
Abstract
The invention discloses a kind of accurate planarization systems in soil comprising car-mounted terminal, mobile-satellite location receivers and locating base station；Car-mounted terminal is arranged in the driver's cabin of land leveller；Mobile-satellite location receivers are arranged on the crane wall of the land level scraper of land leveller；Locating base station is fixedly installed on the ground；The signal output end of locating base station and the signal input part of car-mounted terminal are wirelessly connected；The signal output end of mobile-satellite location receivers and the signal input part of car-mounted terminal connect；The invention also discloses a kind of accurate levelling methods in soil comprising setting locating base station, pre-acquired data, precise acquisition data, input data and calculating and prepartion of land.Advantageous effect：Above system is simple in structure, easy for installation, practicality easy to operate, and applied widely, and positioning accuracy is high, facilitates that accurate, time saving and energy saving, work efficiency is high；The manually controllable land level scraper that can also be automatically controlled on land leveller rises or falls, and saving is a large amount of manually, reduces labor intensity.
Description
Technical field：
Patent of the present invention belongs to agriculture automation field, and in particular to a kind of accurate planarization system in soil and method.
Background technology：
Precision agriculture is not widely used in China at present, but with the fast development of agricultural, existing agriculture
Industry machinery has been unable to meet agricultural production demand, it is also necessary to which new science and technology expires to improve the working efficiency of mechanization of agriculture
Sufficient agricultural production demand；The smooth degree on farmland ground divides the water application efficiency under the conditions of influencing surface irrigation and moisture at present
The cloth uniformity, so that influence quality of pouring water；Prepartion of land is carried out using existing land leveller to have the following problems：Existing level land
Machine is exported come drive cylinder by operator's manual operations hydraulic pressure, and perching knife is regulated and controled；Operator does not see perching knife in driver's cabin,
And elevation to perching knife and gradient are not easy to grasp, and can only carry out rough smooth, smooth efficiency is relatively low, the soil reached
Smooth precision far can not meet the construction requirement in farmland.
Invention content：
First of the present invention be designed to provide it is a kind of simple in structure, it is easy to install, and operating accuracy it is high soil it is accurate
Planarization system.
Second object of the present invention be to provide it is a kind of can accurately realize the prepartion of land of various requirement, and improve
The accurate levelling method in soil of land utilization ratio.
On the one hand technical scheme of the present invention discloses a kind of accurate planarization system in soil, including：A kind of soil is precisely put down
Whole system comprising car-mounted terminal, mobile-satellite location receivers and locating base station；The car-mounted terminal is arranged in land leveller
In driver's cabin；The mobile-satellite location receivers are arranged on the crane wall of the land level scraper of the land leveller；The positioning base
Fixed setting stand on the ground；The signal output end of the locating base station and the signal input part of the car-mounted terminal wirelessly connect
It connects；The signal output end of the mobile-satellite location receivers is connect with the signal input part of the car-mounted terminal.
Further, the signal input part of the signal output end and the car-mounted terminal of the mobile-satellite location receivers
Wired connection or wireless connection.
Further, the locating base station includes fixed satellite location receivers, RTK measuring instruments and fixing device；Institute
The top for stating fixing device is fixedly installed the fixed satellite location receivers and the RTK measuring instruments；The fixed satellite
The signal input part wired connection of the signal output end of location receivers and the RTK measuring instruments；The signal of the RTK measuring instruments
The signal input part of output end and the car-mounted terminal is wirelessly connected.
Further, the fixing device is any one of high-altitude pylon or movable supporting frame.
Further, further include controller, the controller is arranged in the driver's cabin of the land leveller；The control
The signal output end wired connection of the signal input part of device and the car-mounted terminal；The signal output end of the controller with it is described
The signal input part wired connection of executing agency on land level scraper.
Further, the executing agency is any one of hydraulic cylinder, electric cylinder or pneumatic linear actuator.
Another aspect of the present invention also discloses a kind of accurate levelling method in soil, includes the following steps：
Step 1：The locating base station is set, the locating base station is set up at the required edge leveled land；
Step 2：Pre-acquired data, the positioning base of the fixed satellite location receivers real-time reception from satellite launch
It stands 10-60 kilometers of land data of circumference；The land data received is sent to described by the fixed satellite location receivers
In RTK measuring instruments；The RTK measuring instruments carry out calculation processing to the land data received and are sent to the car-mounted terminal
In；
Step 3：Precise acquisition data, the periphery traveling that land leveller described in pilot steering is leveled land needed for are described flat
The mobile-satellite location receivers carried on ground machine will receive needed for the precise information leveled land be sent to it is described
Car-mounted terminal；
Step 4：Input data simultaneously calculates, needed for the car-mounted terminal sends the mobile-satellite location receivers
Amendment is compared with the land data that the RTK measuring instruments are sent in the precise information leveled land, and obtains required smooth soil
The accurate revision value on ground；Manually prepartion of land parameter is input in the car-mounted terminal；It is right that the car-mounted terminal passes through
Calculation processing is compared in prepartion of land parameter and the required accurate revision value leveled land, and obtains prepartion of land model and soil
Smooth exact value, and shown on the car-mounted terminal；
Step 5：Prepartion of land, land leveller described in pilot steering are leveled land in required smooth landholding, according to
The prepartion of land model and prepartion of land exact value shown on the car-mounted terminal controls the executing agency, and then controls institute
State the ascending amount or slippage of land level scraper；During prepartion of land, the mobile-satellite carried on the land leveller positions
Receiver sends ascending amount or the decline of the real time position and the land level scraper of the land leveller to the car-mounted terminal in real time
Amount；The ascending amount of the land level scraper that the car-mounted terminal sends the mobile-satellite location receivers or slippage into
Row calculation processing obtains the real-time smooth data in soil；The car-mounted terminal to the real-time smooth data in soil and prepartion of land model into
Row contrast conting is handled, the prepartion of land exact value of land leveller position described in real-time update；According to the soil of real-time update
Smooth exact value, land leveller described in pilot steering carried out in required smooth landholding repeatedly it is reciprocal smooth, until completing
Soil it is accurate smooth.
Further, in step 3, land leveller described in pilot steering crawls reciprocal row in required range of leveling land
It sails, in order to by leveling land needed for the acquisition more accurately of the mobile-satellite location receivers that are carried on the land leveller
Data Concurrent is sent to the car-mounted terminal, and then more accurately prepartion of land model and more is calculated by the car-mounted terminal
Accurately prepartion of land exact value.
Further, in steps of 5, operating personnel are according to the prepartion of land exact value shown on the car-mounted terminal, hand
It is dynamic to operate the included operating lever of the land leveller to control rising or falling for the land level scraper.
Further, in steps of 5, the car-mounted terminal is by data transmission smooth needed for soil to the controller
On, the controller accurately controls the ascending amount or slippage of the land level scraper by the executing agency, realizes automation
Operation.
Advantages of the present invention：1, above system is simple in structure, easy for installation, practicality easy to operate, and applied widely；It is logical
The positioning of one-off construction benchmark automatic and accurate can promptly be carried out by crossing fixed satellite location receivers in locating base station, and RTK is surveyed
It measures instrument and carries out Difference Calculation, positioning accuracy is high, facilitates that accurate, time saving and energy saving, work efficiency is high；It is arranged on land leveller simultaneously and moves
Dynamic satellite-positioning receiver acquires data of leveling land and is sent to the geography information elevation sent out to locating base station in car-mounted terminal
Error is modified, and improves the operating accuracy of land leveller；2, the rise and fall of land level scraper, the degree of automation can be automatically controlled
Height, save it is a large amount of artificial, alleviate labor intensity, and use cost is low；It can also use simultaneously and manually control land level scraper
Rise and fall；3, the prepartion of land that various requirement can be accurately realized using the accurate levelling method in above-mentioned soil, improves soil
The utilization rate on ground meets the construction requirement in farmland.
Description of the drawings：
Fig. 1 is the overall structure diagram of the present invention.
Fig. 2 is automatic control system schematic diagram of the present invention.
Car-mounted terminal 1, mobile-satellite location receivers 2, locating base station 3, fixed satellite location receivers 3.1, RTK are measured
Instrument 3.2, fixing device 3.3, controller 4, land leveller 5, executing agency 5.1, land level scraper 5.2.
Specific implementation mode：
Below in conjunction with attached drawing, by embodiment, the present invention is described in further detail.
As shown in Fig. 1 to 2, a kind of accurate planarization system in soil comprising car-mounted terminal 1, mobile-satellite location receivers
2, locating base station 3 and controller 4；Car-mounted terminal 1 is arranged in the driver's cabin of land leveller 5；Mobile-satellite location receivers 2 are arranged
On the crane wall of the land level scraper 5.2 of land leveller 5；Locating base station 3 is fixedly installed on the ground；The signal of locating base station 3 exports
End and the signal input part of car-mounted terminal 1 are wirelessly connected；The signal output end of mobile-satellite location receivers 2 and car-mounted terminal 1
Signal input part connection.
The signal output end of mobile-satellite location receivers 2 and the signal input part wired connection of car-mounted terminal 1.
Locating base station 3 includes fixed satellite location receivers 3.1, RTK measuring instruments 3.2 and fixing device 3.3；It is filled fixed
The top for setting 3.3 is fixedly installed fixed satellite location receivers 3.1 and RTK measuring instruments 3.2；Fixed satellite location receivers
3.1 signal output end and the signal input part wired connection of RTK measuring instruments 3.2；The signal output end of RTK measuring instruments 3.2 with
The signal input part of car-mounted terminal 1 is wirelessly connected；Fixing device 3.3 is movable supporting frame.
Controller 4 is arranged in the driver's cabin of land leveller 5；The signal input part of controller 4 and the signal of car-mounted terminal 1 are defeated
Outlet wired connection；The wired company of signal input part of the signal output end of controller 4 and the executing agency 5.1 on land level scraper 5.2
It connects；Executing agency 5.1 is hydraulic cylinder.
Another aspect of the present invention also discloses a kind of accurate levelling method in soil, includes the following steps：
Step 1：Locating base station 3 is set, locating base station 3 is set up at the required edge leveled land；
Step 2：Pre-acquired data, by adjusting the height of locating base station 3, fixed satellite location receivers 3.1 connect in real time
Receipts have an area of 10-60 kilometers of land data from the locating base station 3 of satellite launch；Fixed satellite location receivers 3.1 will receive
Land data be sent in RTK measuring instruments 3.2；It is concurrent that RTK measuring instruments 3.2 carry out calculation processing to the land data received
It is sent in car-mounted terminal 1；
Step 3：Precise acquisition data, pilot steering land leveller 5 is travelled along the required periphery leveled land, on land leveller 5
The mobile-satellite location receivers 2 carried will receive needed for the precise information leveled land be sent to car-mounted terminal 1；
Step 4：Input data simultaneously calculates, car-mounted terminal 1 by mobile-satellite location receivers 2 send needed for smooth soil
Amendment is compared with the land data that RTK measuring instruments 3.2 are sent in the precise information on ground, obtain needed for level land it is accurate
Revision value；Manually prepartion of land parameter (i.e. the soil gradient, direction etc.) is input in car-mounted terminal 1；Car-mounted terminal 1 is logical
Cross and calculation processing be compared to prepartion of land parameter and the required accurate revision value leveled land, obtain prepartion of land model and
Prepartion of land exact value, and shown on car-mounted terminal 1；Required prepartion of land plan is shown on car-mounted terminal 1
Scheme (i.e. three-dimensional map), height above sea level, total earth volume and earthwork amount of movement, while the display screen display for passing through car-mounted terminal 1
Different colors is smart to show soil required position rooted out and filled in formation process, the work for improving land leveller 5
Degree；
Step 5：Prepartion of land, pilot steering land leveller 5 is leveled land in required smooth landholding, according to vehicle-mounted
Prepartion of land model and prepartion of land exact value the control executing agency 5.1 shown in terminal 1, and then control land level scraper 5.2
Ascending amount or slippage；During prepartion of land, the mobile-satellite location receivers 2 carried on land leveller 5 are in real time to vehicle
The real time position of the transmission land leveller 5 of mounted terminal 1 pacifically shovels 5.2 ascending amount or slippage；Car-mounted terminal 1 is to mobile-satellite
The ascending amount or slippage for the land level scraper 5.2 that location receivers 2 are sent carry out calculation processing and obtain soil smooth number in real time
According to；Calculation processing, real-time update land leveller 5 is compared to the real-time smooth data in soil and prepartion of land model in car-mounted terminal 1
The prepartion of land exact value of position shows real-time prepartion of land planning chart (i.e. three-dimensional map), reality on car-mounted terminal 1
The Shi Tufang amount of movements real time position that pacifically machine 5 is moved；According to the prepartion of land exact value of real-time update, pilot steering is flat
Ground machine 5 carried out in required smooth landholding repeatedly it is reciprocal smooth, until completing the accurate smooth of soil.
In step 3, pilot steering land leveller 5 crawls in required range of leveling land and back and forth travels, in order to by flat
The Data Concurrent leveled land needed for the acquisition more accurately of mobile-satellite location receivers 2 carried on ground machine 5 is sent to vehicle-mounted end
End 1, and then more accurately prepartion of land model and more accurately prepartion of land exact value are calculated by car-mounted terminal 1.
In steps of 5, land leveller 5 is manually operated according to the prepartion of land exact value shown on car-mounted terminal 1 in operating personnel
Included operating lever controls rising or falling for land level scraper 5.2.
In steps of 5, car-mounted terminal 1 is by data transmission smooth needed for soil to controller 4, and controller 4 is by holding
Row mechanism 5.1 accurately controls the ascending amount or slippage of land level scraper 5.2, realizes automation mechanized operation；Controller 4 is in real time according to vehicle
Result on mounted terminal 1 controls land level scraper 5.2, completes prepartion of land；High degree of automation, save it is a large amount of artificial,
Alleviate labor intensity.
The prepartion of land that various requirement can be accurately realized using the accurate levelling method in above-mentioned soil, improves soil
Utilization rate meets the construction requirement in farmland.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all essences in the present invention
With within principle, any modification, equivalent replacement, improvement and so on should all be included in the protection scope of the present invention god.
Claims (10)
1. a kind of accurate planarization system in soil, which is characterized in that it includes car-mounted terminal, mobile-satellite location receivers and positioning
Base station；The car-mounted terminal is arranged in the driver's cabin of land leveller；The mobile-satellite location receivers are arranged on the level land
On the crane wall of the land level scraper of machine；The locating base station fixed setting is on the ground；The signal output end of the locating base station with
The signal input part of the car-mounted terminal is wirelessly connected；The signal output end of the mobile-satellite location receivers with it is described vehicle-mounted
The signal input part of terminal connects.
2. the accurate planarization system in a kind of soil according to claim 1, which is characterized in that the mobile-satellite position receiver
The signal input part wired connection or wireless connection of the signal output end of device and the car-mounted terminal.
3. the accurate planarization system in a kind of soil according to claim 1, which is characterized in that the locating base station includes fixing
Satellite-positioning receiver, RTK measuring instruments and fixing device；It is fixedly installed the fixed satellite on the top of the fixing device
Location receivers and the RTK measuring instruments；The signal output end of the fixed satellite location receivers and the RTK measuring instruments
Signal input part wired connection；The signal output end of the RTK measuring instruments wirelessly connects with the signal input part of the car-mounted terminal
It connects.
4. the accurate planarization system in a kind of soil according to claim 3, which is characterized in that the fixing device is altitude tower
Any one of frame or movable supporting frame.
5. the accurate planarization system in a kind of soil according to claim 1, which is characterized in that it further includes controller, described
The signal output end wired connection of the signal input part of controller and the car-mounted terminal；The signal output end of the controller with
The signal input part wired connection of executing agency on the land level scraper.
6. the accurate planarization system in a kind of soil according to claim 5, which is characterized in that the executing agency is hydraulic oil
Any one of cylinder, electric cylinder or pneumatic linear actuator.
7. a kind of accurate levelling method in soil using the accurate planarization system in the soil as described in claim 1~6 is any, feature
It is, includes the following steps：
Step 1：The locating base station is set, the locating base station is set up at the required edge leveled land；
Step 2：Pre-acquired data, the fixed satellite location receivers real-time reception is from the locating base station side of satellite launch
The land data of 10-60 kilometers of circle；The land data received is sent to the RTK and surveyed by the fixed satellite location receivers
It measures in instrument；The RTK measuring instruments carry out calculation processing to the land data received and are sent in the car-mounted terminal；
Step 3：Precise acquisition data, the periphery traveling that land leveller described in pilot steering is leveled land needed for, the land leveller
On the mobile-satellite location receivers that carry will receive needed for the precise information leveled land be sent to it is described vehicle-mounted
Terminal；
Step 4：Input data simultaneously calculates, the car-mounted terminal by the mobile-satellite location receivers send needed for it is smooth
Amendment is compared with the land data that the RTK measuring instruments are sent in the precise information in soil, obtain needed for level land
Accurate revision value；Manually prepartion of land parameter is input in the car-mounted terminal；The car-mounted terminal passes through to soil
Calculation processing is compared in smooth parameter and the required accurate revision value leveled land, and obtains prepartion of land model and prepartion of land
Exact value, and shown on the car-mounted terminal；
Step 5：Prepartion of land, land leveller described in pilot steering is leveled land in required smooth landholding, according to described
The prepartion of land model and prepartion of land exact value shown on car-mounted terminal controls the executing agency, and then controls described flat
The ascending amount or slippage of ground shovel；During prepartion of land, the mobile-satellite position receiver that is carried on the land leveller
Device sends the ascending amount or slippage of the real time position and the land level scraper of the land leveller to the car-mounted terminal in real time；Institute
The ascending amount or slippage for stating the land level scraper that car-mounted terminal sends the mobile-satellite location receivers are counted
Calculation processing obtains the real-time smooth data in soil；The car-mounted terminal compares the real-time smooth data in soil and prepartion of land model
To calculation processing, the prepartion of land exact value of land leveller position described in real-time update；According to the prepartion of land of real-time update
Exact value, land leveller described in pilot steering carried out in required smooth landholding repeatedly it is reciprocal smooth, until completing soil
It is accurate smooth.
8. the accurate levelling method in a kind of soil according to claim 7, which is characterized in that in step 3, pilot steering institute
Land leveller is stated to crawl in required range of leveling land reciprocal traveling.
9. the accurate levelling method in a kind of soil according to claim 7, which is characterized in that in steps of 5, operating personnel's root
According to the prepartion of land exact value shown on the car-mounted terminal, it is described to control that the included operating lever of the land leveller is manually operated
Land level scraper rises or falls.
10. the accurate levelling method in a kind of soil according to claim 7, which is characterized in that in steps of 5, described vehicle-mounted
Terminal by data transmission smooth needed for soil to the controller, by the executing agency accurately controlled by the controller
The ascending amount or slippage of the land level scraper are made, realizes automation mechanized operation.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710633261.0A CN108289278B (en) | 2017-07-28 | 2017-07-28 | Accurate land leveling system and method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710633261.0A CN108289278B (en) | 2017-07-28 | 2017-07-28 | Accurate land leveling system and method |
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| Publication Number | Publication Date |
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| CN108289278A true CN108289278A (en) | 2018-07-17 |
| CN108289278B CN108289278B (en) | 2024-05-07 |
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ID=62831332
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710633261.0A Active CN108289278B (en) | 2017-07-28 | 2017-07-28 | Accurate land leveling system and method |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109462440A (en) * | 2018-12-28 | 2019-03-12 | 苏州市航银机电有限公司 | A kind of land leveller receiver |
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| Publication number | Publication date |
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| CN108289278B (en) | 2024-05-07 |
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