Grader grading reference surface calculation method

Abstract

A kind of motor grader grading reference surface computing method, comprising the following steps: lifting motor grader, so that motor grader blade tip is higher than the highest terrain of the site, keep the height of machine unchanged, to set the uniform speed empty run a circle;Real-time acquisition of the latitude and longitude coordinates and elevation value of each point of the route passed by motor grader, and the data value is preprocessed;According to the data value after preprocessing, the real-time elevation value of the grading reference surface of the flat or slope surface is calculated;And vehicle-mounted computer compares real-time elevation value with reference elevation value according to latitude and longitude information, judges position height, and outputs corresponding control signal to hydraulic system through controller, controls motor grader blade lifting.The present application can quickly and accurately calculate the grading reference surface, reduce the workload of grading operation and soil compaction degree, improve the operation efficiency.

Description

TECHNICAL FIELD

[0001] The application relates to a satellite land leveling technology, in particular to a land leveler land leveling reference surface calculation method. BACKGROUND

[0002] Compared with other land leveling technologies, the satellite land leveling technology is suitable for various terrains, has the advantages of being not affected by external factors such as sunlight, wind and terrain undulation, can conveniently perform terrain measurement, path planning, design of a reference surface and land leveling, has high intelligence and automation, is expandable and has good working efficiency and development prospect. However, the satellite land leveling system still has the following shortcomings:

[0003] 1) The measurement process of the land leveling system on the terrain causes a certain degree of compaction on the land to be leveled, increasing the load of the farmland land leveling system;

[0004] 2) For dry land leveling operation, the terrain measurement function has a significant guiding effect. However, due to the particularity of the paddy field operation, in order to prevent the occurrence of a too deep track, too much terrain measurement operation should not be performed before the paddy field leveling operation, so as to avoid affecting the leveling effect of the paddy field. SUMMARY

[0005] The application aims to solve the above-mentioned defects of the prior art and provide a land leveler land leveling reference surface calculation method.

[0006] In order to achieve the above-mentioned purpose, the application provides a land leveler land leveling reference surface calculation method, which comprises the following steps:

[0007] S100, lifting the land leveler so that the land leveler blade tip is higher than the highest terrain of the land, keeping the height of the implement unchanged, and performing a round of uniform speed empty running along the route;

[0008] S200, acquiring the longitude and latitude coordinates and elevation values of each point of the route passed by the land leveler in real time, and pre-processing the data values;

[0009] S300, calculating the real-time elevation value of the land leveling or slope reference surface according to the pre-processed data values; and

[0010] S400, comparing the real-time elevation value with the reference elevation value according to the longitude and latitude information by the vehicle-mounted computer, judging the position height, and outputting a corresponding control signal to the hydraulic system through the controller to control the land leveling blade lifting.

[0011] The land leveler land leveling reference surface calculation method, wherein in step S300, if it is a plane, the data values of each point of the route passed by the land leveler are subjected to numerical integration, and the mean value of the numerical integration is obtained as the elevation value of the land leveling reference surface.

[0012] The above-described method for calculating the reference surface for a grader involves a grader's idle running route being a continuous curve, which is collected by the vehicle-mounted monitoring terminal. There are equidistant scattered data points, with location coordinates as ( Using the height below the lowest point as the baseline zero point, and taking discrete data points as nodes, expand this curve equidistantly along the straight line, and set the equation of the relative elevation curve as follows: Then the reference plane height value for:

[0013] ;

[0014] in: For curves of Axial position variable, For the corresponding position The relative elevation value at the location; They are plane curves exist The starting and ending coordinates of the axis;

[0015] The composite Cotes formula and the rectangle formula are used to numerically integrate the collected equidistant scattered data points to obtain... The approximate value is:

[0016] ;

[0017] in, ; ; ; ;

[0018] For the locations of equally spaced scattered data points, This corresponds to the relative elevation value; The number of data points; for If the number of data points is less than 5 after multiplying the data points using the Cotes formula with 5 points per interval, then the rectangular formula is used for multiplication. The length of the interval for multiplying a given number; The number of intervals for multiplying numerical values; for Data points in Position markings on the axis;

[0019] The reference plane height value is obtained. for:

[0020] .

[0021] In the above-mentioned method for calculating the reference surface of the grader, in step S300, if it is a slope, the best-fit plane of each point on the route traversed by the grader is obtained according to the least squares method as the reference surface of the slope, and the elevation value of the reference surface of the slope is calculated.

[0022] The above-mentioned method for calculating the reference surface for leveling by a grader, wherein the position coordinates of each point along the route traversed by the grader are ( ), , Given the total number of data collection points, the equation for the flat reference surface of the slope is: ( (where the coefficients are undetermined in the equation), the best-fit plane for the discrete points is obtained by the least squares method;

[0023] The sum of the squares of the distances from the discrete points to the fitting plane is:

[0024] ;

[0025] Find them separately The partial derivatives are then calculated, and the extreme points of each partial derivative are obtained:

[0026] ;

[0027] ;

[0028] ;

[0029] in: They are respectively Equation about The partial derivative of .

[0030] Using Cramer's rule for solving systems of linear equations, we obtain Values ​​and slope reference surfaces .

[0031] In the above-mentioned method for calculating the reference surface for leveling the ground by a grader, the set route is an "∞" route.

[0032] In the above-mentioned method for calculating the reference surface of a grader, in step S200, the on-board monitoring terminal of the grader obtains the latitude and longitude coordinates and elevation of each point along the route traversed by the grader in real time through a GNSS receiver.

[0033] The above-mentioned method for calculating the reference surface for leveling with a grader also includes the following steps:

[0034] S500. Excavate soil from high-lying areas of the plot and transport the soil to areas below the reference level for filling.

[0035] The technical advantages of this invention are as follows:

[0036] The method for calculating the ground leveling reference surface of the satellite land grader of the present invention can quickly and accurately calculate the ground leveling reference surface when the terrain data acquisition path is relatively simple and the elevation data is relatively scarce, thereby reducing the workload of land leveling operations and soil compaction, and improving operation efficiency.

[0037] The present invention will be described in detail below with reference to the accompanying drawings and specific embodiments, but this is not intended to limit the present invention. Attached Figure Description

[0038] Figure 1 This is a schematic diagram of the terrain data acquisition trajectory line according to an embodiment of the present invention.

[0039] Among them, the attached figures are labeled

[0040] 1 plot

[0041] Route 2 Detailed Implementation

[0042] The structural and working principles of the present invention will be described in detail below with reference to the accompanying drawings:

[0043] See Figure 1 , Figure 1 This is a schematic diagram of the terrain data acquisition trajectory line according to an embodiment of the present invention. The method for calculating the leveling reference surface of the grader of the present invention includes the following steps:

[0044] Step S100: Raise the grader so that the tip of the grader is higher than the highest point of the plot 1. Keep the height of the machine unchanged. The tractor runs one circle at a constant speed on plot 1 along the "∞" route 2.

[0045] Step S200: The vehicle-mounted monitoring terminal of the grader obtains the latitude and longitude coordinates and elevation of each point along the route 2 traversed by the grader in real time through the GNSS receiver, and preprocesses the data values.

[0046] Step S300: If it is a plane, then perform numerical integration on these data points and obtain the mean of the numerical integration. This mean is the elevation value of the flat ground reference surface. If it is a slope, then use the least squares method to obtain the best-fit plane of these data points. This plane is the flat ground reference surface of the slope.

[0047] Step S400: The onboard computer compares the real-time elevation with the reference elevation based on latitude and longitude information to determine the position's elevation, and outputs corresponding control signals to the hydraulic system via the controller to control the raising and lowering of the grader. It may also include:

[0048] Step S500: Excavate soil from the high-lying areas of plot 1 and transport the soil to the locations below the reference level for filling.

[0049] The specific data processing method for step S300 is as follows:

[0050] If it is a plane, then the following method is used:

[0051] Route 2 is a continuous curve, which is collected by the vehicle-mounted monitoring terminal. There are equidistant scattered data points, with location coordinates as ( Using a certain height below the lowest point as the reference zero point, and taking discrete data points as nodes, expand this curve equidistantly along a straight line, and set the equation of the relative elevation curve as follows: Then the reference plane height value for:

[0052] ;

[0053] in: For curves of Axial position variable, For the corresponding position The relative elevation value at the location; They are plane curves exist The starting and ending coordinates of the axis.

[0054] By numerically integrating the collected equidistant scattered data points using the composite Cotes formula and the rectangle formula, we can obtain... The approximate value is:

[0055] (2)

[0056] in: ; ; ; ;

[0057] For the locations of equally spaced scattered data points, This corresponds to the relative elevation value; The number of data points; for If the number of data points is less than 5 after multiplying the data points using the Cotes formula with 5 points per interval, then the rectangular formula is used for multiplication. The length of the interval for multiplying a given number; The number of intervals for multiplying numerical values; for Data points in Position markings on the axis.

[0058] Then the height of the reference plane It can be represented as:

[0059] (3).

[0060] If it is a slope, the following method shall be used:

[0061] The coordinates of the points obtained along the terrain data acquisition path are ( ), , Let be the total number of data collection points. Let the equation of the slope-flat reference surface be... ( (where are the undetermined coefficients of the equation), the best-fit plane for the discrete points can be obtained by using the least squares method.

[0062] By definition, the sum of the squares of the distances from discrete points to the fitting plane is:

[0063] (4)

[0064] In order to make If the value is minimized, then calculate the values ​​related to... The partial derivatives are then calculated, and the extreme points of each partial derivative are obtained:

[0065] =0

[0066] (5)

[0067] in: They are respectively Equation about The partial derivative of .

[0068] Using Cramer's rule for solving systems of linear equations, we obtain Values ​​and slope reference surfaces .

[0069] Of course, the present invention may have other various embodiments. Without departing from the spirit and essence of the present invention, those skilled in the art can make various corresponding changes and modifications according to the present invention, but these corresponding changes and modifications should all fall within the protection scope of the appended claims.

Claims

1. A method for calculating the reference surface for leveling with a grader, characterized in that, Includes the following steps: S100. Raise the grader so that the tip of the grader is higher than the highest point of the plot. Keep the height of the machine constant and run one lap at a constant speed along the set route. The set route is the "∞" route. S200. The vehicle-mounted monitoring terminal of the grader obtains the latitude and longitude coordinates and elevation values ​​of each point along the route traversed by the grader in real time through a GNSS receiver, and preprocesses the data values. S300. Calculate the real-time elevation value of the flat ground reference surface based on the preprocessed data values. If it is a plane, perform numerical integration on the data values ​​of each point along the route traversed by the grader, and obtain the mean of the numerical integration as the elevation value of the flat ground reference surface. If it is a slope, use the least squares method to obtain the best-fit plane for each point along the route traversed by the grader as the flat ground reference surface for the slope, and calculate the elevation value of the flat ground reference surface for the slope. S400: The on-board computer compares the real-time elevation value with the benchmark elevation value based on latitude and longitude information to determine the position elevation, and outputs corresponding control signals to the hydraulic system through the controller to control the lifting and lowering of the shovel. The grader's empty running route is a continuous curve, which is collected by the vehicle-mounted monitoring terminal. There are equidistant scattered data points, with location coordinates as ( Using the height below the lowest point as the baseline zero point, and taking discrete data points as nodes, expand this curve equidistantly along the straight line, and set the equation of the relative elevation curve as follows: Then the reference plane height value for: ； in: For curves of Axial position variable, For the corresponding position The relative elevation value at the location; They are plane curves exist The starting and ending coordinates of the axis; The composite Cotes formula and the rectangle formula are used to numerically integrate the collected equidistant scattered data points to obtain... The approximate value is: = ;in, ; ; ; ; The locations of the equidistant scattered data points, This corresponds to the relative elevation value; The number of data points; for If the number of data points is less than 5 after multiplying the data points using the Cotes formula with 5 points per interval, then the rectangular formula is used for multiplication. The length of the interval for multiplying a given number; The number of intervals for multiplying numerical values; for Data points at Position markings on the axis; The reference plane height value is obtained. for: 。 2. The method for calculating the reference surface for leveling with a grader as described in claim 1, characterized in that, The coordinates of the points along the route traversed by the grader are ( ), , Given the total number of data collection points, the equation for the flat reference surface of the slope is: , The coefficients to be determined in the equation are used to obtain the best-fit plane for the discrete points using the least squares method. The sum of the squares of the distances from the discrete points to the fitting plane is: ； Find them separately The partial derivatives are then calculated, and the extreme points of each partial derivative are obtained: =0； =0； =0； in: They are respectively Equation about The partial derivative; Using Cramer's rule for solving systems of linear equations, we obtain Values ​​and slope reference surfaces .

3. The method for calculating the reference surface for leveling with a grader as described in claim 1, characterized in that, It also includes the following steps: S500. Excavate soil from high-lying areas of the plot and transport the soil to areas below the reference level for filling.

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