JP4909661B2 - Display device and farm work method for clearly indicating travel position along farm work line created based on contour lines - Google Patents

Description

The present invention relates to a method of working with a working machine towed a section of a farm field or the like having a height difference by a towing vehicle, with a working machine equipped with a three-dimensional positioning system using a satellite, a so-called GPS receiver. The present invention relates to a navigation system for assisting in contour line cultivation, which makes it possible to work along the contour line by calculating the farm work line so that the point of the same altitude can be understood according to the display of the seat display unit. . According to the present invention, contour line cultivation can be easily performed, soil loss is prevented, and further, terraced rice fields can be easily formed.

  The ground surface is usually covered with soil, and subsoil is present below it. According to Non-Patent Document 1, subsoil is “a layer below the surface soil, insufficiently weathered and dense soil that does not contain organic matter. Usually, nutrients are low, but the surface fertilizer is washed away. It is sometimes accumulated in the subsoil, and the subsoil cultivation in that case has a great effect of improving the soil. "

In addition, the soil is "the soil layer that is suitable for vegetation due to weathering in the uppermost layer of the ground. The rock products that have undergone chemical changes and the remains and decomposition of the animals and plants that lived there. Non-patent document 1 describes that the product is made of a product, etc. and is porous and contains water, air, microorganisms, and the like.
The soil for growing crops in the topsoil is called plow layer. `` It is at the top of the soil, and is cultivated, fertilized, managed, etc. for crop cultivation, rich in nutrients, most important for crop growth Non-Patent Document 1 describes that.

When plowing a farm field, the first stage of plowing is roughly cultivated with a subsoiler work machine 20 (Patent Document 1) as shown in FIG. This subsoiler work machine is a subsoil layer crusher that inserts a knife-like beam into the ground at a depth of 30 cm or more and pulls it. By this work, it becomes soft from the soil layer to the subsoil layer and can improve water permeability.
According to Non-Patent Document 1, the subsoiler is “a plow for cultivating subsoil and crushing a hard cultivator, and plowing only the subsoil. The tilling depth can be up to about 30 centimeters and there is no inversion function. " However, the subsoiler work machine of Patent Document 1 also has the function of grooving the subsoil, turning it over, and roughing it.
Rough plowing is also called roughing, and is the first stage of plowing on the soil required for crop cultivation. In general, it is often plowed in the winter after harvesting the autumn crop, which is said to be caused by autumn.

The purpose of rough tillage is to knead the soil into large chunks of soil and to loosen and dry the entire field. Rough tillage can increase the gap between soil blocks, improving drainage, and increasing the nutrients at the next harvest by accelerating the decomposition of organic matter by introducing large amounts of microorganisms into the soil. Can do. Therefore, it is desirable to cultivate as deeply as possible so that the deep part of the soil is in good condition for microorganisms.

However, the rough soil tillage by the subsoiler work machine 20 as shown in Fig. 1 makes the subsoil grooved, loosens the subsoil, improves drainage, and improves the soil. Causes loss.
“Soil loss” is usually “soil loss due to water erosion, especially on slopes with a slope of 15 ° or more on the southern surface. Also, volcanic ash soil has high permeability and large runoff. Non-patent document 1 describes that this occurs when the permeation rate is higher.

Therefore, in order to prevent soil loss, plow at the same altitude along the slope so that water flow does not occur as much as possible, and plow with care not to generate water flow during rainfall, so that water can penetrate into the ground as much as possible. It is desirable to make it.

The present invention is a working machine equipped with a three-dimensional positioning system, a so-called GPS receiver, and performs contour line cultivation. For a method of leveling using a leveling machine pulled by a towing vehicle, a laser beam is used. The method used has been put into practical use (Patent Document 2). Further, Patent Document 3 discloses that a three-dimensional positioning system, that is, a so-called GPS receiver, is used instead of laser light.

Fig. 7 shows the two subsoiler operations 20h and 20g. The subsoiler work 20h works at the same altitude and forms a groove h perpendicular to the inclination. The subsoiler operation 20g works in a direction along the inclination, and forms a groove g in the same direction as the inclination direction.
The subsoiler work machine 20 as shown in Fig. 2 forms the groove h or g reaching the subsoil layer b, so when working in the direction like the subsoiler work 20g, once a water flow is generated due to heavy rainfall, the groove g A water stream is generated along the surface, and topsoil a is washed away rapidly.
Like the conventional subsoiler work machine as described in Non-Patent Document 1, even if the soil is cultivated and the hard cultivator is crushed and only the soil is cultivated softly, If the subsoiler work is performed in the same direction, the swollen staying zone portion is rapidly eroded and water flow is likely to occur.
As a result, as shown in the cross-sectional view of FIG. 7, in the natural world, there is a topsoil with an equal thickness as in the topsoil a part above the broken line. If this happens, the topsoil will be washed away a little each time it rains, resulting in a topsoil distribution.
As a result, in the valley, the topsoil is thick and the crops grow, but in the mountains, there is no topsoil suitable for vegetation and the crops do not grow. And the cultivated area gradually became narrow.

Japanese Laid-Open Patent Publication No. 9-322601 Japanese Patent Laid-Open No. 10-108508 Japanese Unexamined Patent Publication No. 2001-8505 Supervised by Takeo Kashiwagi, edited by Masanobu Imai, "Agricultural Machine Dictionary", Shinnorinsha Co., Ltd., published on March 25, 1994

When topsoil is cultivated and cultivated in order to create a farm field, the soil becomes loosened, and the topsoil is washed away at least every time wind and rain. Therefore, to prevent water flow from occurring in the inclined groove g during rainfall, when working at the same elevation as in the subsoiler operation 20h in FIG. 7, water accumulates in the horizontal groove h, forms a stay zone, and water flows in some rain. Soil loss can be prevented by staying until it does not occur and water soaks into the ground.

In the case of the inclined groove g made by work, such as the subsoiler work 20g along the slope of Fig. 7, water flow is likely to occur, so the surface soil around the groove g (soil) is eroded every time the water flow is generated Will be washed away quickly. However, it is difficult to visually make the groove h at the same elevation as in the subsoiler operation 20h.
Next, も L for making paddy Q in Fig. 3 and 畝 for making crops are the same, and it was easier to level the paddy field if it was made horizontally at the same altitude, even if it was not a paddy field Even in the case of a paddy for planting, since the groove N is formed at the same altitude, it is difficult for water flow to occur during rainfall, and soil loss can be prevented.
However, to make paddy field Q, it is necessary to level the farm scene. When the amount of cutting the slope is large, the dredging becomes low and water cannot be collected. If the amount of cutting the slope is small, there is a problem that the paddy field becomes smaller than necessary and the cultivation efficiency deteriorates.

What has been conceived there is the present invention, the present invention of an agricultural machine equipped with a calculation unit that creates a work line for agricultural work based on contour lines created in advance based on the height difference, and the work line display device for agricultural work A work line display device for agricultural work comprising a measuring unit for measuring a position, and a display part for displaying the work line for agricultural work and the current position of the agricultural machine,
A calculation unit for creating a work line for agricultural work based on a contour line created in advance based on a height difference;
A farm work area that is measured by an agricultural machine that includes a measuring unit that measures the current position of an agricultural machine equipped with the agricultural work line display device, and a display unit that displays the agricultural work line and the current position of the agricultural machine. In the working method, the agricultural work along the agricultural work line is performed by the agricultural machine to form a belt-like loosened portion or a groove or a ridge to form a belt-like staying zone, preventing the occurrence of water flow and the loss of topsoil It is a work method for preventing soil loss in farming land characterized by preventing
When one of the farm work lines is designated as a fence farm work line, the amount of soil between the adjacent farm work lines is calculated and leveled below the height of the fence created by the agricultural machine. The farm work line display device is characterized in that the designated farm work line is recreated and redisplayed so as to be able to.

As shown in FIG. 1, FIG. 2, FIG. 3, by using the contour line work support system, the groove h follows the agricultural work line for preventing soil loss (for example, the agricultural work line d4 of 1 in FIG. 6). Since it is excavated and made in the Y direction, which is at the same altitude with respect to the slope, water flow is less likely to occur during rainfall, and soil loss can be prevented.
As shown in Fig. 3, even when terraced rice field Q is created, if paddy L is made along the contour line, it is easy to level the paddy field. Moreover, even if it is the case of the uprighting work for making a crop, since it is hard to generate | occur | produce a water flow if it is made so that it may be orthogonal to an inclination, the effect which prevents a soil runoff is remarkable.
Even when paddy fields are created on the slope, the paddy with a fixed paddy height e is formed along the rice paddy farm work line (for example, the farm work line d4a of 2 in FIG. 6), so that the paddle height f remains. Since the amount of soil required to make a flat paddy field Q is calculated and the paddle interval S is calculated to calculate the amount of soil for leveling, it is easy to level in the subsequent work. Can make reasonably large rice fields.

The contour line working method according to the present invention includes a measurement unit, a calculation unit, and a display unit. The current position is measured by a three-dimensional azimuth system so-called GPS, a height map and a current position created in advance, the size of the tractor and the minimum Various conditions such as turning radius, tillage width, etc. are calculated by the calculation unit, agricultural work lines are created with parametric curves (d4, d4a in Fig. 6) such as Bezier curves with allowed curvature, and the height map is displayed on the display unit 11 The contour line work is made possible by displaying the data d1, the farm work line d4, and the current position d5 so that the work can be performed at the same altitude.

A working machine to which the present invention is attached is shown in FIG. FIGS. 2 and 3 show the work performed by the working machine to which the present invention is attached. The flowcharts of the present invention are shown in FIGS. Further, display examples of the display unit 11 of the present invention are shown in 1 of FIG. 6 and 2 of FIG. FIG. 7 shows a comparison between work according to the present invention and conventional work.

The present invention will be described with reference to FIGS. The subsoiler work machine 20 towed by the tractor 1 is pulled by being connected to the lower link 8 and the top link 9 of the tractor 1 by pins, and the chisel 21 of the subsoiler work machine 20 excavates the subsoil b and creates a groove h. Move forward with a groove. As a result, the soil is grooved from the soil a to the subsoil b, and the soil in the vicinity of the groove h becomes loosened and water permeability and drainage are improved.

  As shown in FIG. 1, the tractor 1 is equipped with a three-dimensional positioning system 10 such as GPS. FIG. 6 shows a display example of the display unit 11 as shown in FIG. The field shape is represented by d3. For example, the shape of the grand piano is viewed from directly above, the lower side is rounded, and the upper side and the left and right sides are substantially straight.

As shown in the figure, the farm field has a high right and a low bottom, and the height is expressed by the difference in color or density of the contour line t.
The contour line t described in the display unit 11 is created based on the height map data d1 created in advance. These height map data d1 are stored in the arithmetic unit 12 as in the flowchart of FIG. Next, the operation unit d4 calculates the farm work line d4 using the height map data d1.

  When calculating the work line d4 for farm work, it is created considering several conditions. The condition is whether the working width of the tillage work machine and the farm work line may be curved with a constant curvature, whether they should be straight, or whether they are in a horizontal distance or at equal intervals. This is created by giving various conditions such as whether to perform at regular intervals and causing the calculation unit to calculate.

The created farm work line d4 is drawn in the block diagram d3 as in the example of the display unit 11 in FIG. Further, the current position d5 of the tractor 1 is drawn in the section map d3, and the traveling direction V is also drawn at the same time.
If the driver of the tractor 1 operates so that the current position d5 moves on the agricultural work line d4 of the display unit 11, the contour line tillage is easily completed.
When the soil improvement work such as subsoiler work and subsoil crushing work is carried out by the above method, when raining, there is a portion where the band-shaped water accumulates in the soil layer of the groove h in FIG. Since it is possible, it is difficult to make a water flow, it is possible to give a grace period for water to soak into the ground, and soil loss can be prevented.

  Here, in the display example of the display unit 11 in FIG. 6, the arrow X, the arrow Y, and the arrow Z are not described in the display unit 11. These three-direction arrows are described for the purpose of explaining the present application and are not actually displayed. Arrow X is a tilling procedure that the conventional subsoiler work machine 20 has reciprocated. The work efficiency is high and the straight line is finished.

  However, since this field d3 is inclined in the direction of the arrow Z, a water flow is likely to occur in the groove formed in the direction of the arrow X during rainfall, and there is a possibility of soil loss. In order to explain that it is possible to significantly prevent the generation of water flow in the direction of the arrow Y and reciprocate in parallel with the work line d4 for farm work than in the direction of the arrow X, and to prevent soil loss. Is.

  The same applies when the paddle L is formed into a paddy field as shown in FIG. In order to convert all of the section d3 in FIG. 6 into paddy fields, all of the soil at high places must be moved to low places, and the straw at the low places must be formed to be considerably high.

  However, the ridge forming machine 30 as shown in FIG. 3 has a fixed ridge height e of the ridge L to be formed and cannot be made particularly high. Therefore, it is calculated taking into account the amount of soil movement when leveling, and the amount of soil required to make a flat paddy field Q while leaving the dredging margin height f is calculated and the dredging interval S is calculated. Thus, the farm work line d4b is created so as to form the basket upstream of the farm work line d4a in FIG. By tracing this line, it is possible to easily form the bowls L1 and L2 for making the terraced rice field Q.

6 in FIG. 6 and 2 in FIG. 6 will be described in more detail. The height map data d1 can express a height difference of several millimeters to several meters with contour lines t. However, in this case, what is actually frequently used is a unit of several centimeters.
When a parametric curve having a certain curvature or more is calculated by selecting a contour line t of an arbitrary magnification, a curve d4a of 2 in FIG. 6 is created. Alternatively, the parametric curve can be created by smoothly connecting arbitrary points on the selected contour line t.

The reference curvature at this time is a minimum turning radius of the tractor or a radius that makes it easier to perform future work, and may be as close as possible to a straight line in some cases.
The creator of the farm work line d4a inputs the curvature that he / she wants to finish into the calculator 12 to create it. Alternatively, the curvature can be corrected by changing the position of an arbitrary point on the contour line t selected to create a parametric curve.

In the case of 2 in FIG. 6, the farm work lines d4a to d are not parallel and equally spaced. In some cases, the agricultural work lines d4a to e may overlap. It can be modified for that.
The correction is executed by inputting the terrain, the capability of the working machine, the cleanness of the finish, the ease of post-working, and the like to the calculation unit. Further, the farm work lines d4a to e can be directly moved, deformed, and corrected.
The interval between the farm work lines d4a to d can be changed according to the work width of the farm machine. The normal working width is slightly larger than the width of the rear wheel of the tractor 1, and the working width is such that no tire marks remain.

A farm work line d4 in FIG. 6 is obtained by correcting the farm work line d4a so that it is straight and parallel at equal intervals. If the subsoiler work machine 20 is operated along the farm work line d4, it is possible to obtain a farm field with a fine finish.

Similarly, if a farm work line d4a is created in the height map data d1, when a paddle having a paddle height e is created on the farm work line d4a as shown in FIG. By calculating the amount of soil required to make the flat paddy field Q and calculating the paddle spacing S, the farm work line d4b and d4c to e are created for the farm work line d4a in 2 of FIG. . On the basis of this farm work line, ridges L1 and L2 as shown in FIG. 3 are formed.

As described above, since the soil volume for leveling is calculated from the height and area, the distance S between L1 and L2 can be set by calculating the leveling height (elevation). .
Even in the case of ridge formation, it can be corrected by a human hand so as to be straight and parallel at equal intervals, like the farm work line d4 in FIG.

The case where it works with the above working machines is demonstrated.
FIG. 2 shows a slope with an angle θ. When a groove such as the horizontal groove h is plowed in the Z direction by the subsoiler work machine 20, a water flow is generated and the top soil a is washed away through the groove. However, if the horizontal groove h is excavated in the direction of arrow Y, water flow is less likely to occur during rainfall, and topsoil a is less likely to be lost. Even if some topsoil a is washed away, it hardly accumulates at the bottom of the horizontal groove h and is taken out of the compartment. For example, if it is set as various conditions so that the farm work line d4 is drawn evenly in the section, the display unit 11 can be used as a navigator along the farm work line d4.

Similarly, FIG. 3 shows an operation of converting a sloped land with an angle θ into a terraced rice field. Since the height of 畦 L is constant, it is necessary to set the position of the next 位置 L2 so that the height of 乗 り L1 is not exceeded even if leveling. Japanese Patent Application No. 2005-85385 and Japanese Patent Application No. 2005-239276 describe the amount of soil that can be moved to create a flat paddy field at a level as a flattening method using GPS.
Therefore, it is possible to easily calculate how much paddy Q is made by making a ridge at what position.
This is because, as described above, when an ideal farm work line is created by smoothly connecting the positions of arbitrary points on the contour line t and one of them is designated, the soil is defined based on the designated farm work line. The amount is measured and the adjacent farm work line is calculated and displayed.

The same applies to the method of making a kite. As shown in FIG. 3, there is a rotary 31 for softening the soil on the front side of the paddle forming machine 30 pulled by the tractor 1 by the lower link 8 and the top link 9, and a drum 32 for raising the soil is configured behind it. As a result, the soil cultivated by the rotary 31 can be solidified in a bowl shape with the drum 32.
In the past, ridges of a certain height were created by human power, and then the slope was shaved and leveled.However, the topography and the farm work line d4 can be displayed on the display unit 11 at the same time. Can be made without difficulty. A rice terrace can be made reasonably.
Moreover, this method can be applied not only to make paddy rice paddies, but also to a grooving operation for a gentle drainage ditch for preventing soil from being washed away on a slope.
Furthermore, it can also be applied to the setting work for planting.

With reference to FIG. This is because the measurement unit 10 attached to the tractor 1 always receives the GPS signal, measures the current position measurement value d2 of the work implement, and transmits it to the calculation unit 12 which is a computer. The calculation unit 12 inputs the height map data d1 prepared in advance, and the current position d5 and the tillage width that change each time, and various conditions d7 such as the quality of the curve, and calculates.

The calculation unit 12 transmits the plot diagram d3, the farm work line d4, and the current position d5 of the work machine to the display unit 11, and the display unit 11 displays the farm work line d4 and the current position d5 in the plot d3. . Further, if possible, the contour line t, the moving direction V of the work machine, and the like are also described.
The measuring unit 10 that measures the current position of the work machine may be a navigation system that receives a commercially available GPS signal, and the arithmetic unit 12 and the display unit 11 can be retrofitted by applying a commercially available laptop computer or the like. .

FIG. 5 will be described. a1 means that the engine of the tractor 1 is started. a2 means an operation of storing the height map data d1 prepared in advance in another computer in the arithmetic unit 12 and inputting various conditions d7, the current position d2 of the work implement, and the like. a3 means an operation line d4 for farm work by the arithmetic unit 12 and a4 means an operation to be displayed on the display unit 11. a5 means the work end a6 when the work is performed along the farm work line d4 and all the farm work lines d4 are worked.

By using the work navigator that clearly indicates the travel position along the contour lines as described above, it is possible to easily perform tillage to prevent soil loss and to easily perform the uprighting work. Also, paddy fields along slopes like rice terraces can be produced.
Further, when plowing is performed, the soil can be moved (reversed) in a higher direction along the contour line, so that the soil can be prevented from descending little by little year by year.

It is the bird's-eye view which looked at the tractor and subsoiler work machine which attached this invention from the cultivation method. It is a figure of the subsoiler working machine which plows a contour line so that the slope with angle (theta) may be orthogonal to the inclination direction Z. It is a figure of the operation | work which forms with the paddle-forming machine 30 so that the slope with an angle (theta) may go straight to the inclination direction Z, the paddle L is shape | molded, and the flat paddy field Q is shape | molded. 3 is a flowchart expressing the data flow of the work machine 1, the measurement unit 10, the calculation unit 12, and the display unit 11 of the present invention. It is the flowchart expressing the flow of the work procedure of this invention. It is an example of a display of the display part 11 of this invention. It is the bird's-eye view which enabled it to see the operation | work by this invention and the conventional operation | work contrasted.

Explanation of symbols

1
Tractor
8
Lower link
9
Top link
Ten
Measuring unit
11
Display section
12
Calculation unit
20
Subsoiler work machine
twenty one
Chisel
30
畦 Molding machine
31
rotary
32
drum
a1 to a6 Types of work procedures (Figure 5)
d1 to d7 Data type (Figure 4)
a Topsoil
a´ topsoil that was washed away
b
g Inclined groove
h Horizontal groove
Subsoiler work with 20g tilt
20h Subsoiler work at the same elevation θ Inclination angle
t contour lines
V Working machine direction
X Reasonable work direction
Y contour line tillage method
Z Inclination direction e 畦 Height e
f 畦 Marginal height S 畦 Interval L1-L2 畦 Q Paddy field Q

Claims (1)

A calculation unit that creates a work line for agricultural work based on contour lines created in advance based on a height difference, a measurement unit that measures the current position of an agricultural machine equipped with the work line display device for agricultural work, and the work for agricultural work In a work method of an agricultural work area performed by an agricultural machine having a line and a display unit that displays a current position of the agricultural machine,
By carrying out agricultural work along the farm work line with the agricultural machine, a belt-like staying zone is formed by forming a belt-like softened part or groove or ridge, so as to prevent the occurrence of water flow and the loss of topsoil A method for preventing soil loss in agricultural work areas.