Leveling device and leveling method for bulldozer

Abstract

The invention discloses a bulldozer leveling device and method. The bulldozer leveling device comprises a bulldozer body and a scraper knife hinged to the bulldozer body. The first GNSS antenna and the second GNSS antenna are installed at the top of the vehicle body along the central axis of the vehicle body, the first angle sensor is installed on the vehicle body, the second angle sensor is installed on the scraper knife, and the PTK moving station is used for obtaining the positions of the vehicle body and the scraper knife. The hydraulic system valve is used for adjusting the posture of the scraper knife, the controller is installed in a cab of the vehicle body, and the first GNSS antenna, the second GNSS antenna, the first angle sensor, the second angle sensor, the PTK moving station and the hydraulic system valve are electrically connected with the controller. And the controller adjusts the hydraulic system valve based on the vehicle body inclination angle, the scraper knife inclination angle, the vehicle body position and the scraper knife position so as to adjust the posture of the scraper knife during construction operation. According to the invention, the probability of antenna inclination or damage caused by scraper knife operation is reduced, the position of the antenna does not need to be calibrated and positioned frequently, and the precision of scraper knife leveling operation is high.

Description

Technical Field

[0001] The invention relates to a leveling device and a leveling method, and in particular to a bulldozer leveling device and a leveling method. Background Art

[0002] Bulldozers are used to level the ground. Their purpose is to remove a small amount of soil with high precision and level the construction ground. Therefore, they have certain requirements for leveling accuracy. The existing leveling system antenna is installed on the blade through a longer mast, and the common installation method is to install a GNSS antenna in the middle of the bulldozer blade, or to install a GNSS antenna at both ends of the bulldozer blade. Due to long-term and high-intensity operation of the blade, the original installation angle and position of the mast will be affected, and frequent calibration is required. At the same time, it also places high demands on bulldozer drivers. Operators are required to have very rich experience in construction leveling, and be able to accurately grasp the current position of the bulldozer blade, the height to which the blade needs to be lowered, and the left and right tilt angles. In special circumstances where the driver's line of sight is blocked, the real-time position of the left and right blade tips cannot be observed, resulting in poor leveling accuracy and even difficulty in construction. Summary of the invention

[0003] Purpose of the invention: The first purpose of the present invention is to provide a bulldozer leveling device that does not require frequent calibration of the positioning antenna and has high leveling accuracy.

[0004] A second object of the present invention is to provide a bulldozer leveling method.

[0005] Technical solution: The present invention discloses a bulldozer leveling device, comprising a vehicle body and a blade hinged to the vehicle body, and also comprising a first GNSS antenna and a second GNSS antenna installed on the top of the vehicle body along the central axis of the vehicle body, a first angle sensor installed on the vehicle body and cooperating with the first GNSS antenna to measure the inclination of the vehicle body, a second angle sensor installed on the blade and cooperating with the second GNSS antenna to measure the inclination of the blade, a PTK mobile station for obtaining the positions of the vehicle body and the blade, a hydraulic system valve installed on the vehicle body and used to adjust the posture of the blade, and a controller installed in a cab of the vehicle body, the first GNSS antenna, the second GNSS antenna, the first angle sensor, the second angle sensor, the PTK mobile station, and the hydraulic system valve are electrically connected to the controller respectively, and the controller adjusts the hydraulic system valve based on the vehicle body inclination, the blade inclination, the vehicle body position and the blade position to adjust the posture of the blade during construction.

[0006] Furthermore, main axes along which the first angle sensor and the second angle sensor are installed are parallel to each other.

[0007] Furthermore, it also includes a switching button which is electrically connected to the controller and is used to switch between manually controlling the hydraulic system valve and automatically controlling the hydraulic system valve.

[0008] Based on the same inventive concept, the present invention also discloses a bulldozer leveling method, comprising the following steps:

[0009] S1: Obtain the electronic construction map of the construction site;

[0010] S2: Construct a Cartesian coordinate system. Before construction, stop the bulldozer on a flat hard road surface, which is the calibration state, and obtain the calibration coordinate data of the bulldozer in the calibration state;

[0011] S3: Acquire the construction coordinate data of the bulldozer in real time during construction, convert the construction data based on the calibration data, and obtain the conversion coordinate data that matches the bulldozer with the construction electronic map;

[0012] S4: Mapping the converted coordinate data to the construction electronic map, and calculating the elevation difference between the mapped converted coordinate data and the construction point in the construction electronic map;

[0013] S5: The controller controls the output and response speed of the hydraulic system valve according to the elevation difference, and then adjusts the construction posture of the blade to achieve leveling;

[0014] S6: Repeat steps S3 to S5 until the construction is completed.

[0015] Furthermore, the calibration data in step S2 includes the coordinates x of a designated point A on the body of the bulldozer. A_bd ,y A_bd , z A_bd ), the coordinates of point B where the bulldozer's blade arm is connected to the vehicle body (x B_bd ,y B_bd , z B_bd ), the coordinates of the right tip of the blade, point D (x D_bd ,y D_bd , z D_bd ), the coordinates of the left tip of the blade, point M (x M_bd ,y M_bd , z M_bd ), vehicle body inclination angle data (θ 1_0 , α 1_0 , β 1_0 ) and blade inclination data (θ 2_0 , α 2_0 , β 2_0 ), where θ refers to the angle of rotation around the X-axis, α refers to the angle of rotation around the Y-axis, β refers to the angle of rotation around the Z-axis, and the calibration state vehicle body inclination angle data and blade inclination angle data are both ∈[-1,1].

[0016] Furthermore, the construction data in step S3 includes:

[0017] The real-time position coordinates of the selected point A represent any position of the vehicle body on the construction ground during the construction process. Under the calibration state, the coordinates of point A 5 in the Cartesian coordinate system are marked as (x A ,y A ,z A ), the matrix form is recorded as R A ;

[0018] During construction, the vehicle body inclination angle data θ1, α1, and β1 constitute the rotation matrix R1;

[0019] During construction, the blade inclination data θ2, α2, and β2 constitute the rotation matrix R2;

[0020] The conversion coordinate data in step S3 includes the conversion coordinate data R of point D D and the transformed coordinate data R of point M M .

[0021] Further, the coordinate data R is converted D The calculation steps are as follows:

[0022] The three-dimensional coordinate difference between point A and point B in the Cartesian coordinate system is a constant. Taking point A as the origin, the coordinate of point B is (x AB ,y AB ,z AB ),and

[0023] x AB =x B_bd -x A_bd

[0024] y AB =y B_bd -y A_bd

[0025] z AB =z B_bd -z A_bd

[0026] The matrix form of point B is recorded as

[0027] Under the calibration state, the three-dimensional coordinate difference between point B and point D is a constant. Taking point A as the origin, the three-dimensional coordinate difference between point B and point D is (x BD ,y BD , z BD ),and

[0028] x BD =x D_bd -x B_bd

[0029] y BD =y D_bd -y B_bd

[0030] z BD =z D_bd -z B_bd

[0031] The matrix form of D is recorded as

[0032] Based on the rotation matrix R1 and the rotation matrix R2, the rotation angles θ3, α3, and β3 of the blade relative to the vehicle body are calculated to form the rotation matrix R3;

[0033] During the bulldozer construction process, the rotation of the blade relative to the vehicle body is equivalent to the rotation of point D around point B. Based on the rotation matrices R3 and R BD , calculate the displacement matrix R of point D relative to point B in the Cartesian coordinate system B～D ;

[0034] Based on R AB and the displacement matrix R B～D The calculated displacement matrix R of point D relative to point A is: A～D ;

[0035] The displacement matrix R A～D Convert from point A to point O in the Cartesian coordinate system to get the coordinate data R of point D. D .

[0036] Further, the coordinate data R is converted M The calculation steps are as follows:

[0037] The three-dimensional coordinate difference between point A and point B in the Cartesian coordinate system is a constant. Taking point A as the origin, the coordinate of point B is (x AB ,y AB ,z AB ),and

[0038] x AB =x B_bd -x A_bd

[0039] y AB =y B_bd -y A_bd

[0040] z AB =z B_bd -z A_bd

[0041] The matrix form of point B is recorded as

[0042] In the calibration state, the three-dimensional coordinate difference between point B and point M is a constant. Taking point A as the origin, the three-dimensional coordinate difference between point B and point M is (x BM ,y BM , z BM ),and

[0043] x BM =x M_bd -x B_bd

[0044] y BM =y M_bd -y B_bd

[0045] z BM =z M_bd -z B_bd

[0046] The matrix form of M points is recorded as

[0047] Based on the rotation matrix R1 and the rotation matrix R2, the rotation angles θ3, α3, and β3 of the blade relative to the vehicle body are calculated to form the rotation matrix R3;

[0048] During the bulldozer construction process, the rotation of the blade relative to the vehicle body is equivalent to the rotation of point M around point B. Based on the rotation matrices R3 and R BD , calculate the displacement matrix R of point M relative to point B in the Cartesian coordinate system B～M ;

[0049] Based on R AB and the displacement matrix R B～M The calculated displacement matrix R of point M relative to point A is: A～M ;

[0050] The displacement matrix R A～M From the Cartesian coordinate system with point A as the origin to point O as the origin, we get the transformed coordinate data R of point M. M .

[0051] Furthermore, in step S5, the greater the absolute value of the elevation difference is, the faster the response speed of the hydraulic system valve is.

[0052] Furthermore, the point A is a connection point between the first GNSS antenna and the vehicle body or a connection point between the second GNSS antenna and the vehicle body.

[0053] Beneficial effects: Compared with the prior art, the present invention has the following significant advantages: the first GNSS antenna and the second GNSS antenna of the present invention are installed on the top of the bulldozer body instead of on the blade, and no long mast is required for installation, which is beneficial to reducing the probability of the antenna being tilted or damaged by the blade operation, and does not require frequent calibration of the position of the positioning antenna, and is beneficial to improving the accuracy of subsequent blade leveling operations; the present invention obtains the construction coordinates of the bulldozer in real time on the basis of the bulldozer calibration data during construction, and the coordinates of the bulldozer on the construction electronic map can be obtained by combining the calibration data and the construction data, and then the elevation difference between the current position of the bulldozer blade and the actual construction point can be obtained in real time, which is beneficial to improving the accuracy of the blade leveling operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0054] Figure 1 is a side view of the bulldozer of the present invention;

[0055] Figure 2 A front view of the bulldozer of the present invention;

[0056] Figure 3 is a flow chart of the method of the present invention;

[0057] Figure 4 A Cartesian coordinate system diagram of the present invention;

[0058] Figure 5 It is the coordinate relationship diagram of point A, point B, point D and point M of the present invention. DETAILED DESCRIPTION

[0059] The technical solution of the present invention is further described below in conjunction with the accompanying drawings.

[0060] Example 1

[0061] The bulldozer leveling device of the present invention is as follows: Figure 1 and Figure 2As shown, it includes a vehicle body 1, a blade 2, a first GNSS antenna 3, a second GNSS antenna 4, a first angle sensor, a second angle sensor, a PTK mobile station, a hydraulic system valve and a controller. The blade 2 is hinged to the vehicle body 1, and the first GNSS antenna 3 and the second GNSS antenna 4 are installed on the top of the vehicle body 1 along the central axis of the vehicle body 1. Preferably, the installation method is preferably magnetic connection. In this embodiment, the first GNSS antenna 3 and the second GNSS antenna 4 are installed on the top of the vehicle body 1, which changes the traditional installation method of the antenna on the blade and eliminates the long mast required for the traditional antenna installation. It only saves material costs, and the first GNSS antenna 3 and the second GNSS antenna 4 are not directly installed on the blade, which can reduce the probability of the antenna being tilted or damaged due to impact or other reasons during blade operation, and does not require frequent calibration of the antenna position, which is beneficial to extending the service life of the antenna and improving the accuracy of subsequent blade leveling; the first angle sensor is installed on the vehicle body 1, and the first angle sensor and the first GNSS antenna 3 cooperate to measure the inclination of the vehicle body 1, the second angle sensor is installed on the blade 2, and the second angle sensor and the second GNSS antenna 4 cooperate to measure the inclination of the blade 2. Preferably, the first The main axes of the angle sensor and the second angle sensor are parallel to each other, that is, the axes of the first angle sensor and the second angle sensor in the three directions of X, Y, and Z are parallel to each other; preferably, the first angle sensor and the second angle sensor are both dual-axis angle sensors or three-axis angle sensors. When a dual-axis angle sensor is selected, the angle sensor is combined with a GNSS antenna to measure the angle between the GNSS antenna and the north and south pole axes as the yaw angle. When a three-axis angle sensor is selected, the angle sensor is combined with a GNSS antenna to measure the roll angle, pitch angle, and yaw angle. The roll angle refers to the angle of rotation around the X axis, and the pitch angle refers to the angle of rotation around the Y axis. The angles of rotation around the Z axis, the yaw angle, and the angles of the three axes can be directly obtained; the PTK mobile station is used to obtain the position of the vehicle body 1 and the blade 2, the hydraulic system valve is installed on the vehicle body 1, and the hydraulic system valve is used to adjust the posture of the blade 2, the controller is installed in the cab of the vehicle body 1, the first GNSS antenna 3, the second GNSS antenna 4, the first angle sensor, the second angle sensor, the PTK mobile station, and the hydraulic system valve are electrically connected to the controller respectively, and the controller adjusts the hydraulic system valve based on the inclination angle of the vehicle body 1, the inclination angle of the blade 2, the position of the vehicle body 1 and the position of the blade 2 to adjust the posture of the blade 2 during construction. The GNSS signal receiving base station of the first GNSS antenna 3 and the second GNSS antenna 4 is first placed in a safe and open area, which is conducive to eliminating the position offset error of the PTK mobile station and the first GNSS antenna 3 and the second GNSS antenna 4 on the top of the vehicle body 1. The error caused by the GNSS receiver is highly correlated with the error caused by the GNSS receiver at the GNSS signal receiving base station. The measurement value received from the GNSS signal receiving base station is processed together with the measurement value obtained from its own GNSS receiver to improve the positioning accuracy.

[0062] The bulldozer leveling device also includes a switch button electrically connected to the controller and used to switch between manually controlled hydraulic system valves and automatically controlled hydraulic system valves; preferably, the manually controlled hydraulic system valve is superior to the controller's automatically controlled hydraulic system valve, and the manual control setting can always ensure that the construction work has a higher safety performance. Preferably, a touch screen electrically connected to the controller is installed in the cab of the vehicle body 1, and the setting of the touch screen facilitates the driver to operate and view relevant data, thereby realizing human-computer interaction.

[0063] Example 2

[0064] A bulldozer leveling method according to the present invention, as Figure 1 to Figure 3 As shown, the following steps are included:

[0065] S1: Obtaining the construction electronic map of the construction site. Preferably, the construction electronic map is electrically connected to the elevation micro-controller, which is electrically connected to the controller. The setting of the elevation micro-controller can add, subtract, modify and fine-tune the data of the construction electronic map, which is beneficial for the construction unit and construction personnel to work according to the actual situation of the construction site.

[0066] S2: Figure 4 As shown, a Cartesian coordinate system O-XYZ is constructed. Before construction, the bulldozer is parked on a flat hard road surface. At this time, it is in the calibration state, and the calibration coordinate data of the bulldozer in the calibration state is obtained; wherein the calibration data includes the coordinates (x A_bd ,y A_bd , z A_bd ), the coordinates of point B 6 where the arm of the bulldozer's blade 2 is connected to the vehicle body 1 for rotation (x B_bd ,y B_bd , z B_bd ), the coordinates of the right side point D of blade 2 (x D_bd ,y D_bd , z D_bd ), the coordinates of the left tip of blade 2, point M 8 (x M_bd ,y M_bd , z M_bd ), vehicle body 1 inclination data (θ 1_0 , α 1_0 , β 1_0 ) and blade 2 inclination data (θ 2_0 , α 2_0 , β 2_0), the inclination angle of the vehicle body 1 refers to the angle of the vehicle body 1 relative to the Cartesian coordinate system O-XYZ, and the inclination angle of the blade 2 refers to the angle of the cutting edge of the blade 2 relative to the Cartesian coordinate system O-XYZ; wherein θ refers to the angle of rotation around the X-axis, α refers to the angle of rotation around the Y-axis, and β refers to the angle of rotation around the Z-axis, and the inclination angle data of the vehicle body 1 and the inclination angle data of the blade 2 in the calibration state are both ∈[-1,1]. Preferably, point A 5 is the connection point between the first GNSS antenna 3 and the vehicle body 1 or the connection point between the second GNSS antenna 4 and the vehicle body 1.

[0067] S3: Acquire the construction coordinate data of the bulldozer during construction in real time, convert the construction data based on the calibration data, and obtain the conversion coordinate data that is compatible with the bulldozer and the construction electronic map.

[0068] The real-time position coordinates of point A 5 are selected to represent any position of the vehicle body 1 on the construction ground during the construction process. Under the calibration state, the coordinates of point A 5 in the Cartesian coordinate system are marked as (x A ,y A ,z A ), the matrix form is recorded as R A ;

[0069] like Figure 5 As shown, the conversion coordinate data R D The calculation steps are as follows:

[0070] Point A 5 and point B 6 are both fixed on the vehicle body 1, so the three-dimensional coordinate difference between point A 5 and point B 6 in the Cartesian coordinate system is a constant. Taking point A 5 as the origin, the coordinate of point B 6 is (x AB ,y AB ,z AB ),and

[0071] x AB =x B_bd -x A_bd

[0072] y AB =y B_bd -y A_bd

[0073] z AB =z B_bd -z A_bd

[0074] The matrix form of point B is recorded as

[0075] When the blade 2 is lifted, lowered, or tilted, the articulated center point B of the blade 2 is relatively stationary with the vehicle body 1, and the reference system direction of point B is consistent with point A on the roof. Therefore, under the calibration state, the three-dimensional coordinate difference between point B 6 and point D 7 is a constant. With point A 5 as the origin, the three-dimensional coordinate difference between point B 6 and point D 7 is (xBD ,y BD , z BD ), the three-dimensional coordinate difference is the translation required for the spatial point coordinate transformation, and

[0076] x BD =x D_bd -x B_bd

[0077] y BD =y D_bd -y B_bd

[0078] z BD =z D_bd -z B_bd

[0079] The matrix form of point D is recorded as

[0080] Obtain the inclination data θ1, α1, and β1 of the vehicle body 1 during construction to form a rotation matrix R1; because the inclination data of the vehicle body 1 are all zero in the calibration state, θ1, α1, and β1 are equal to the actual angle values ​​of the current vehicle body 1;

[0081] Obtain the inclination data θ2, α2, and β2 of the blade 2 during construction to form a rotation matrix R2; because the inclination data of the blade 2 are all zero in the calibration state, θ2, α2, and β2 are equal to the actual angle value of the current blade 2;

[0082] Based on the rotation matrix R1 and the rotation matrix R2, the rotation angles θ3, α3, and β3 of the blade 2 relative to the vehicle body 1 are calculated to form the rotation matrix R3;

[0083] During the bulldozer construction process, the rotation of the blade 2 relative to the vehicle body 1 is equivalent to the rotation of point D 7 around point B 6. Based on the rotation matrices R3 and R BD , calculate the displacement matrix R of point D 7 relative to point B 6 in the Cartesian coordinate system B～D ;

[0084] Based on R AB and the displacement matrix R B～D The calculated displacement matrix R of point D 7 relative to point A 5 is: A～D ;

[0085] The displacement matrix R A～D From the Cartesian coordinate system with point A 5 as the origin to point O as the origin, the transformed coordinate data R of point D 7 is obtained. D . R A～DIt is a 3×1 matrix, in which the three rows of elements represent the x, y, and z coordinate values ​​of point D on the right side of the shovel tip in the coordinate system with point A 5 as the origin. Due to the different reference coordinate systems, this coordinate value cannot be directly used in the calculation of the elevation coordinates of the construction electronic map. It also needs to be converted into three-dimensional coordinate data in the Cartesian coordinate system O-XYZ (i.e., the north-east elevation coordinate system) through spatial transformation.

[0086] The conversion coordinate data in step S3 includes the conversion coordinate data R of point D 7 D and the conversion coordinate data R of point M 8 M .

[0087] Similarly, transform the coordinate data R M The calculation steps are as follows:

[0088] The three-dimensional coordinate difference between point A 5 and point B 6 in the Cartesian coordinate system is a constant. Taking point A 5 as the origin, the coordinate of point B 6 is (x AB ,y AB ,z AB ),and

[0089] x AB =x B_bd -x A_bd

[0090] y AB =y B_bd -y A_bd

[0091] z AB =z B_bd -z A_bd

[0092] The matrix form of point B is recorded as

[0093] When the blade 2 is lifted, lowered, or tilted, the articulated center point B of the blade 2 is relatively stationary with the vehicle body 1, and the reference system direction of point B is consistent with point A on the roof. Therefore, under the calibration state, the three-dimensional coordinate difference between point B 6 and point M 8 is a constant. With point A 5 as the origin, the three-dimensional coordinate difference between point B 6 and point M 8 is (x BM ,y BM , z BM ), the three-dimensional coordinate difference is the translation required for the spatial point coordinate transformation, and

[0094] x BM =x M_bd -x B_bd

[0095] y BM =y M_bd -y B_bd

[0096] z BM =z M_bd -z B_bd

[0097] The M-point 8 matrix form is recorded as

[0098] The inclination angle data θ1, α1, and β1 of the vehicle body 1 are obtained in real time during construction to form a rotation matrix R1;

[0099] The inclination angle data θ2, α2, and β2 of the blade 2 are obtained in real time during construction to form a rotation matrix R2;

[0100] Based on the rotation matrix R1 and the rotation matrix R2, the rotation angles θ3, α3, and β3 of the blade 2 relative to the vehicle body 1 are calculated to form the rotation matrix R3;

[0101] During the bulldozer construction process, the rotation of the blade 2 relative to the vehicle body 1 is equivalent to the rotation of point M 8 around point B 6. Based on the rotation matrices R3 and R BD , calculate the displacement matrix R of point M 8 relative to point B 6 in the Cartesian coordinate system B～M ;

[0102] Based on R AB and the displacement matrix R B～M The calculation shows that, with point A 5 as the origin, the displacement matrix R of point M 8 relative to point A 5 is A～M ;

[0103] The displacement matrix R A～M From the Cartesian coordinate system with point A 5 as the origin to point O as the origin, the transformed coordinate data R of point M 8 is obtained. M .

[0104] S4: Convert the coordinate data R D and transform coordinate data R M Map it to the construction electronic map and calculate the mapped conversion coordinate data R D and transform coordinate data R M The elevation difference from the construction point in the construction electronic drawing.

[0105] S5: The controller controls the output and response speed of the hydraulic system valve according to the elevation difference, and then adjusts the construction posture of the blade 2 to achieve leveling, so that the blade 2 performs lifting, lowering and tilting actions. The elevation difference has positive and negative signs, and the positive and negative signs are used to indicate the direction of the blade 2 movement. When the elevation difference is positive, the blade 2 needs to be lifted, and when the elevation difference is negative, the blade 2 needs to be lowered. The larger the absolute value of the elevation difference, the faster the response speed, and vice versa. That is, the response speed and the absolute value of the elevation difference are in a nonlinear curve relationship, and the blade 2 maintains a smooth movement during the entire response process; preferably, a threshold range is set, and when the absolute value of the elevation difference is within the threshold range, the response speed of the hydraulic system valve is proportional to the absolute value of the elevation difference. When the absolute value of the elevation difference is not within the threshold range, the controller alarms and stops the automatic leveling operation.

[0106] In summary, the present invention not only has the functions of fixed-height construction and fixed-slope construction, but also can produce an electronic map according to the construction scene for construction.

Claims

1. A bulldozer leveling device, comprising a body (1) and a blade (2) articulated to the body (1), characterized in that: The invention also comprises a first GNSS antenna (3) and a second GNSS antenna (4) installed on the top of the vehicle body (1) along the central axis of the vehicle body (1), a first angle sensor installed on the vehicle body (1) and cooperating with the first GNSS antenna (3) to measure the inclination of the vehicle body (1), a second angle sensor installed on the blade (2) and cooperating with the second GNSS antenna (4) to measure the inclination of the blade (2), a PTK mobile station for obtaining the positions of the vehicle body (1) and the blade (2), a hydraulic system valve installed on the vehicle body (1) and used to adjust the posture of the blade (2), and a controller installed in the cab of the vehicle body (1). The first GNSS antenna (3), the second GNSS antenna (4), the first angle sensor, the second angle sensor, the PTK mobile station, and the hydraulic system valve are electrically connected to the controller respectively, and the controller adjusts the hydraulic system valve based on the inclination of the vehicle body (1), the inclination of the blade (2), the position of the vehicle body (1) and the position of the blade (2), thereby adjusting the posture of the blade (2) during construction.

2. The bulldozer leveling device according to claim 1, characterized in that: The main axes on which the first angle sensor and the second angle sensor are mounted are parallel to each other.

3. The bulldozer leveling device according to claim 1, characterized in that: It also includes a switching button which is electrically connected to the controller and is used to switch between a manual control of the hydraulic system valve and an automatic control of the hydraulic system valve.

4. A leveling method for a bulldozer leveling device according to any one of claims 1 to 3, characterized in that: The following steps are included: S1: Obtain the electronic construction map of the construction site; S2: Construct a Cartesian coordinate system. Before construction, stop the bulldozer on a flat hard road surface, which is the calibration state, and obtain the calibration coordinate data of the bulldozer in the calibration state; S3: Acquire the construction coordinate data of the bulldozer in real time during construction, convert the construction data based on the calibration data, and obtain the conversion coordinate data that matches the bulldozer with the construction electronic map; S4: Mapping the converted coordinate data to the construction electronic map, and calculating the elevation difference between the mapped converted coordinate data and the construction point in the construction electronic map; S5: The controller controls the output and response speed of the hydraulic system valve according to the elevation difference, and then adjusts the construction posture of the blade to achieve leveling; S6: Repeat steps S3 to S5 until the construction is completed.

5. The bulldozer leveling method according to claim 4, characterized in that: The calibration data in step S2 includes the coordinates (x A_bd ,y A_bd , z A_bd ), the coordinates (x ) of point B (6) where the arm of the bulldozer's blade (2) is connected to the vehicle body (1) B_bd ,y B_bd , z B_bd ), the coordinates (x D_bd ,y D_bd , z D_bd ), the coordinates (x M_bd ,y M_bd , z M_bd ), vehicle body (1) inclination data (θ 1_0 , α 1_0 , β 1_0 ) and the blade (2) inclination data (θ 2_0 , α 2_0 , β 2_0 ), where θ refers to the angle of rotation around the X-axis, α refers to the angle of rotation around the Y-axis, β refers to the angle of rotation around the Z-axis, and the inclination data of the vehicle body (1) and the inclination data of the blade (2) in the calibration state are both ∈[-1,1].

6. The bulldozer leveling method according to claim 5, characterized in that: The construction data in step S3 includes: The real-time position coordinates of point A (5) are selected to represent any position of the vehicle body (1) on the construction ground during the construction process. Under the calibration state, the coordinates of point A 5 in the Cartesian coordinate system are denoted as, and the matrix form is denoted as R A ; During construction, the inclination data θ1, α1, and β1 of the vehicle body (1) form a rotation matrix R1; During construction, the inclination data θ2, α2, and β2 of the blade (2) constitute a rotation matrix R2; The conversion coordinate data in step S3 includes the conversion coordinate data R of point D (7) D and the transformed coordinate data R of point M (8) M .

7. The bulldozer leveling method according to claim 6, characterized in that: Convert coordinate data R D The calculation steps are as follows: The three-dimensional coordinate difference between point A (5) and point B (6) in the Cartesian coordinate system is a constant. Taking point A (5) as the origin, the coordinate of point B (6) is (x AB ,y AB ,z AB ),and x AB =x B_bd -x A_bd and AB =and B_bd -and A_bd With AB =from B_bd -With A_bd The matrix form of point B (6) is recorded as Under the calibration state, the three-dimensional coordinate difference between point B (6) and point D (7) is a constant. Taking point A (5) as the origin, the three-dimensional coordinate difference between point B (6) and point D (7) is (x BD ,y BD , z BD ),and x BD =x D_bd -x B_bd and BD =and D_bd -and B_bd With BD =from D_bd -With B_bd The matrix form of point D (7) is recorded as Based on the rotation matrix R1 and the rotation matrix R2, the rotation angles θ3, α3, and β3 of the blade (2) relative to the vehicle body (1) are calculated to form a rotation matrix R3; During the bulldozer construction process, the rotation of the blade (2) relative to the vehicle body (1) is equivalent to the rotation of point D (7) around point B (6). Based on the rotation matrices R3 and R BD , calculate the displacement matrix R of point D (7) relative to point B (6) in the Cartesian coordinate system B～D ; Based on R AB and the displacement matrix R B～D The calculated displacement matrix R of point D (7) relative to point A (5) is: A～D ; The displacement matrix R A～D From the Cartesian coordinate system with point A (5) as the origin to point O as the origin, the coordinate data R of point D (7) is obtained. D .

8. The bulldozer leveling method according to claim 6, characterized in that: Convert coordinate data R M The calculation steps are as follows: The three-dimensional coordinate difference between point A (5) and point B (6) in the Cartesian coordinate system is a constant. Taking point A (5) as the origin, the coordinate of point B (6) is (x AB ,y AB ,z AB ),and x AB =x B_bd -x A_bd and AB =and B_bd -and A_bd With AB =from B_bd -With A_bd The matrix form of point B (6) is recorded as In the calibration state, the three-dimensional coordinate difference between point B (6) and point M (8) is a constant. Taking point A (5) as the origin, the three-dimensional coordinate difference between point B (6) and point M (8) is (x BM ,y BM , z BM ),and x BM =x M_bd -x B_bd and BM =and M_bd -and B_bd With BM =from M_bd -With B_bd The matrix form of M points (8) is recorded as Based on the rotation matrix R1 and the rotation matrix R2, the rotation angles θ3, α3, and β3 of the blade (2) relative to the vehicle body (1) are calculated to form a rotation matrix R3; During the bulldozer construction process, the rotation of the blade (2) relative to the vehicle body (1) is equivalent to the rotation of point M (8) around point B (6). Based on the rotation matrices R3 and R BD , calculate the displacement matrix R of point M (8) relative to point B (6) in the Cartesian coordinate system B～M ; Based on R AB and the displacement matrix R B～M The calculated displacement matrix R of point M (8) relative to point A (5) is: A～M ; The displacement matrix R A～M From the Cartesian coordinate system with point A (5) as the origin to point O as the origin, the transformed coordinate data R of point M (8) is obtained. M .

9. The bulldozer leveling method according to claim 4, characterized in that: In step S5, the greater the absolute value of the elevation difference is, the faster the response speed of the hydraulic system valve is.

10. The bulldozer leveling method according to claim 4, characterized in that: The point A (5) is a connection point between the first GNSS antenna (3) and the vehicle body (1) or a connection point between the second GNSS antenna (4) and the vehicle body (1).

Images