A bulldozer grading device and grading method

Abstract

The application discloses a bulldozer leveling device and a leveling method, which comprise a vehicle body, a blade hinged to the vehicle body, 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, a second angle sensor installed on the blade, an RTK flow station used for acquiring the positions of the vehicle body and the blade, a hydraulic system valve used for adjusting the posture of the blade, and a controller installed in the cab of the vehicle body, wherein the first GNSS antenna, the second GNSS antenna, the first angle sensor, the second angle sensor, the RTK flow station and the hydraulic system valve are electrically connected to the controller, and the controller adjusts the hydraulic system valve based on the inclination angle of the vehicle body, the inclination angle of the blade, the position of the vehicle body and the position of the blade, so as to adjust the posture of the blade during the operation of the blade. The application is favorable for reducing the probability that the blade operation causes the antenna to be inclined or damaged, does not need to frequently calibrate the position of the positioning antenna, and has high precision of the blade leveling operation.

Description

TECHNICAL FIELD

[0001] The present application relates to a kind of leveling device and leveling method, in particular to a kind of bulldozer leveling device and leveling method. BACKGROUND

[0002] Bulldozer is used to push soil to level, its purpose is to remove a small amount of soil with higher precision, and the construction ground is leveled, so it has certain requirements for leveling accuracy, the existing leveling system antenna is installed on the blade through long mast, and the common installation mode is to install a GNSS antenna in the middle position of the blade of bulldozer, or to install a GNSS antenna at both ends of the blade of bulldozer. Due to long time high intensity operation, the original installation angle and position of the mast will be affected, frequent calibration is required, and the bulldozer driving staff is also required to be high, the operator needs to have very rich construction leveling experience, can accurately grasp the current position of bulldozer blade, the height of blade to be lowered and the angle of left and right inclination, and in the special case that the line of sight of the driving staff is blocked, the real-time position of the left and right blade tips cannot be observed, and the pushing and leveling accuracy is poor or even difficult to construct. SUMMARY

[0003] The first object of the present application is to provide a bulldozer leveling device without frequent calibration of the positioning antenna and with high pushing and leveling accuracy.

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

[0005] Technical scheme: The present application discloses a bulldozer leveling device, which comprises a vehicle body and a blade hinged to the vehicle body, 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 for measuring the inclination angle of the vehicle body in cooperation with the first GNSS antenna, a second angle sensor installed on the blade for measuring the inclination angle of the blade in cooperation with the second GNSS antenna, an RTK flow station for obtaining the position of the vehicle body and the blade, a hydraulic system valve installed on the vehicle body for adjusting the attitude of the blade, and a controller installed in the cab of the vehicle body, the first GNSS antenna, the second GNSS antenna, the first angle sensor, the second angle sensor, the RTK flow station and the hydraulic system valve are electrically connected to the controller, and the controller adjusts the hydraulic system valve based on the inclination angle of the vehicle body, the inclination angle of the blade, the position of the vehicle body and the position of the blade to adjust the attitude of the blade during construction.

[0006] Further, the main axes of the first angle sensor and the second angle sensor are parallel to each other.

[0007] Further, it further comprises a switching button electrically connected to the controller and used for switching the manual control of the hydraulic system valve and the automatic control of 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. This 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 converted coordinate data that is compatible with the bulldozer and 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 of a designated point A on the body of the bulldozer. , the coordinates of point B where the bulldozer's blade arm is connected to the vehicle body , the coordinates of the right tip of the blade, point D , the coordinates of the blade's left tip point M , vehicle body inclination data And blade inclination data ; Where 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 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 A5 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] The inclination data θ2, α2, β2 of the shovel during construction form a rotation matrix R2;

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

[0021] Further, the conversion coordinate data R D is calculated as follows:

[0022] The three-dimensional coordinate difference between the A point and the B point in the Cartesian coordinate system is a constant value, and the coordinates of the B point are , and , and the B point is recorded in a matrix form as .

[0023] In the calibration state, the three-dimensional coordinate difference between the B point and the D point is a constant value, and the three-dimensional coordinate difference between the B point and the D point is , and , and the D point is recorded in a matrix form as .

[0024] Based on the rotation matrix R1 and the rotation matrix R2, the rotation angles θ3, α3, β3 of the shovel relative to the vehicle body are calculated to form a rotation matrix R3.

[0025] During the construction process of the bulldozer, the rotation of the shovel relative to the vehicle body is equivalent to the rotation of the D point around the B point, and based on the rotation matrix R3 and R BD , the displacement matrix R B~D of the D point relative to the B point in the Cartesian coordinate system is calculated.

[0026] Based on R AB and the displacement matrix R B~D , the displacement matrix R A~D of the D point relative to the A point is calculated when the A point is taken as the origin.

[0027] The displacement matrix R A~D is converted from the Cartesian coordinate system with the A point as the origin to the Cartesian coordinate system with the O point as the origin, and the coordinate data R D of the D point is obtained.

[0028] Further, the conversion coordinate data R M is calculated as follows:

[0029] The three-dimensional coordinate difference between the A point and the B point in the Cartesian coordinate system is a constant value, and the coordinates of the B point are , and , and the B point is recorded in a matrix form as .

[0030] In the calibration state, the three-dimensional coordinate difference between the B point and the M point is a constant value, and the three-dimensional coordinate difference between the B point and the M point is , and , and the M point is in matrix form ;

[0031] Based on the rotation matrix R1 and the rotation matrix R2, the rotation angles θ3, α3 and β3 of the shovel relative to the vehicle body are calculated to form a rotation matrix R3;

[0032] During the construction process of the bulldozer, the rotation of the shovel relative to the vehicle body is equivalent to the rotation of the M point around the B point, based on the rotation matrix R3 and R BD , the displacement matrix R B~M of the M point relative to the B point in the Cartesian coordinate system is calculated;

[0033] Based on R AB and the displacement matrix R B~M , the displacement matrix R A~M of the M point relative to the A point is calculated;

[0034] The displacement matrix R A~M is converted from the Cartesian coordinate system with the A point as the origin to the Cartesian coordinate system with the O point as the origin, and the conversion coordinate data R M of the M point is obtained.

[0035] Further, the greater the absolute value of the height difference in step S5, the faster the response speed of the hydraulic system valve.

[0036] Further, the A point is the connection point of the first GNSS antenna and the vehicle body or the connection point of the second GNSS antenna and the vehicle body.

[0037] Advantages: Compared with the prior art, the first GNSS antenna and the second GNSS antenna of the present application are installed on the top of the bulldozer body, not on the shovel, and do not need to use a long mast during installation, which is beneficial to reduce the probability of the shovel operation causing the antenna to tilt or be damaged, does not need to frequently calibrate the position of the positioning antenna, and is beneficial to improve the accuracy of subsequent shovel leveling operation; the present application obtains the construction coordinates of the bulldozer during construction on the basis of the calibration data of the bulldozer, and obtains the coordinates of the bulldozer on the construction electronic map by combining the calibration data and the construction data, and then obtains the height difference between the current position of the shovel of the bulldozer and the actual construction point in real time, which is beneficial to improve the accuracy of the shovel leveling operation. BRIEF DESCRIPTION OF DRAWINGS

[0038] Figure 1 is a side view of the bulldozer of the present application;

[0039] Figure 2 is a front view of the bulldozer of the present application;

[0040] Figure 3 Flow chart of the method of the present application;

[0041] Figure 4 Cartesian coordinate system diagram of the present application;

[0042] Figure 5 Coordinate relationship diagram of A point, B point, D point and M point of the present application. DETAILED DESCRIPTION

[0043] The technical solutions of the present application are further described below in conjunction with the drawings.

[0044] Example 1

[0045] A bulldozer leveling device according to the present application, such as Figure 1 and Figure 2As shown, including the vehicle body 1, shovel 2, first GNSS antenna 3, second GNSS antenna 4, first angle sensor, second angle sensor, RTK flow station, hydraulic system valve and controller, shovel 2 and vehicle body 1 hinge, first GNSS antenna 3 and 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 installing the antenna on the shovel, and cancels the long mast required when installing the traditional antenna, not only saves the material cost, and the first GNSS antenna 3 and the second GNSS antenna 4 are not directly installed on the shovel, which can reduce the probability of antenna tilting or other reasons causing damage when the shovel is working, and there is no need to frequently calibrate the position of the antenna, which is beneficial to prolong the service life of the antenna and improve the accuracy of subsequent shovel leveling; The first angle sensor is installed on the vehicle body 1, and the first angle sensor cooperates with the first GNSS antenna 3 to measure the inclination angle of the vehicle body 1, and the second angle sensor is installed on the shovel 2, and the second angle sensor cooperates with the second GNSS antenna 4 to measure the inclination angle of the shovel 2, preferably, the main axes of the first angle sensor and the second angle sensor are parallel to each other, that is, the X, Y and Z direction axes of the first angle sensor and the second angle sensor 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 the dual-axis angle sensor is selected, the angle sensor measures the angle between the GNSS antenna and the north-south polar axis as the yaw angle, when the three-axis angle sensor is selected, the angle sensor measures the roll angle, pitch angle and yaw angle, the roll angle refers to the angle of rotation around the X axis, the pitch angle refers to the angle of rotation around the Y axis, and the yaw angle refers to the angle of rotation around the Z axis. The three axial angles can be directly obtained; The RTK flow station is used to obtain the position of the vehicle body 1 and the shovel 2, the hydraulic system valve is installed on the vehicle body 1, and the hydraulic system valve is used to adjust the attitude of the shovel 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 RTK flow station and the hydraulic system valve are electrically connected with the controller, and the controller adjusts the hydraulic system valve based on the inclination angle of the vehicle body 1, the inclination angle of the shovel 2, the position of the vehicle body 1 and the position of the shovel 2, and then adjusts the attitude of the shovel 2 during the working operation. The GNSS signal receiving station of the first GNSS antenna 3 and the second GNSS antenna 4 is first placed in a safe open space, which is beneficial to eliminate the position offset error of the first GNSS antenna 3 and the second GNSS antenna 4 on the top of the vehicle body 1 and the RTK flow station. The error of the GNSS receiver and the error caused by the GNSS receiver at the GNSS signal receiving station are highly correlated, the measurement value received from the GNSS signal receiving station is processed together with the measurement value obtained from its own GNSS receiver to improve the positioning accuracy.

[0046] The bulldozer leveling device further comprises a switching button electrically connected with the controller and used for switching the manual control hydraulic system valve and the automatic control hydraulic system valve; preferably, the manual control hydraulic system valve is superior to the automatic control hydraulic system valve of the controller, and the setting of manual control can always ensure high safety performance of construction operation. Preferably, a touch screen electrically connected with the controller is installed in the cab of the vehicle body 1, the setting of the touch screen facilitates the driver to operate and view relevant data, and realizes man-machine interaction.

[0047] Embodiment 2

[0048] The bulldozer leveling method provided by the application comprises the following steps as shown in the figure: Figures 1-3

[0049] S1: Obtain a construction electronic map of a construction site. Preferably, the construction electronic map is electrically connected with an elevation fine adjustment controller, the elevation fine adjustment controller is electrically connected with a controller, and the setting of the elevation fine adjustment controller can add or subtract and fine adjust the data of the construction electronic map, which is beneficial for the construction unit and the construction personnel to operate according to the actual situation of the construction site.

[0050] S2: As shown in the figure, 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 a calibration state, and calibration coordinate data of the bulldozer in the calibration state is obtained; wherein the calibration data comprises coordinates of a specified point A point 5 on the vehicle body 1 of the bulldozer Figure 4 , coordinates of a B point 6 where the large arm of the shovel 2 is rotationally connected with the vehicle body 1 , coordinates of a D point 7 which is a right side sharp point of the shovel 2 , coordinates of an M point 8 which is a left side sharp point of the shovel 2 , vehicle body 1 inclination data , and shovel 2 inclination data , the vehicle body 1 inclination refers to the angle of the vehicle body 1 relative to the Cartesian coordinate system O-XYZ, and the shovel 2 inclination refers to the angle of the cutting edge of the shovel 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 vehicle body 1 inclination data and the shovel 2 inclination data in the calibration state are both ∈ [-1°, 1°]. Preferably, the A point 5 is the connection point of the first GNSS antenna 3 with the vehicle body 1 or the connection point of the second GNSS antenna 4 with the vehicle body 1.

[0051] S3: Real-time obtain construction coordinate data of the bulldozer during construction, convert the construction data based on the calibration data, and obtain conversion coordinate data of the bulldozer adapted to the construction electronic map.

[0052] ​​The real-time position coordinates of the selected point A5 represent any position of the vehicle body 1 on the construction ground during the construction process. In the calibration state, the coordinates of the point A5 in the Cartesian coordinate system are denoted as , and the matrix form is denoted as R A ;

[0053] As shown in Figure 5 , the calculation steps of the conversion coordinate data R D are as follows:

[0054] The point A5 and the point B6 are both fixed on the vehicle body 1, so the three-dimensional coordinate difference between the point A5 and the point B6 in the Cartesian coordinate system is a constant value. Taking the point A5 as the origin, the coordinates of the point B6 are , and , and the matrix form of the point B6 is denoted as ;

[0055] When the shovel 2 is lifted, lowered, and tilted, the large-arm hinge center B point of the shovel 2 is relatively static with the vehicle body 1, and the direction of the B point reference system is consistent with the vehicle roof A point. Therefore, in the calibration state, the three-dimensional coordinate difference between the point B6 and the point D7 is a constant value. Taking the point A5 as the origin, the three-dimensional coordinate difference between the point B6 and the point D7 is , and , and the matrix form of the point D7 is denoted as ;

[0056] The inclination data θ1, α1, β1 of the vehicle body 1 during construction are obtained to form a rotation matrix R1. Since the inclination data of the vehicle body 1 in the calibration state are all zero, θ1, α1, β1 are equal to the actual angle values of the current vehicle body 1;

[0057] The inclination data θ2, α2, β2 of the shovel 2 during construction are obtained to form a rotation matrix R2. Since the inclination data of the shovel 2 in the calibration state are all zero, θ2, α2, β2 are equal to the actual angle values of the current shovel 2;

[0058] Based on the rotation matrix R1 and the rotation matrix R2, the rotation angles θ3, α3, β3 of the shovel 2 relative to the vehicle body 1 are calculated to form a rotation matrix R3;

[0059] During the construction process of the bulldozer, the rotation of the shovel 2 relative to the vehicle body 1 is equivalent to the rotation of the point D7 around the point B6. Based on the rotation matrix R3 and R BD , the displacement matrix R B~D of the point D7 relative to the point B6 in the Cartesian coordinate system is calculated;

[0060] Based on R AB and the displacement matrix R B~D , the displacement matrix R A~D of the point D7 relative to the point A5 is calculated, with the point A5 as the origin;

[0061] The displacement matrix R A~D The conversion coordinate data R of the D point 7 is obtained from the conversion from the A point 5 as the origin to the Cartesian coordinate system with the O point as the origin D . R A~D is a 3x1 matrix, in which the three rows of elements represent the x, y, and z coordinate values of the right side of the shovel tip D point in the coordinate system with the A point 5 as the origin. Due to the difference in the reference coordinate system, this coordinate value cannot be directly used for the construction electronic map elevation coordinate calculation, and needs to be converted into three-dimensional coordinate data in the Cartesian coordinate system O-XYZ (i.e. the North-East-Height coordinate system) through spatial transformation.

[0062] The conversion coordinate data in step S3 includes the conversion coordinate data R of the D point 7 D and the conversion coordinate data R M of the M point 8.

[0063] Similarly, the calculation steps of the conversion coordinate data R M are as follows:

[0064] The three-dimensional coordinate difference between the A point 5 and the B point 6 in the Cartesian coordinate system is a constant value. Taking the A point 5 as the origin, the coordinates of the B point 6 are , and , and the B point 6 is recorded in the matrix form as ;

[0065] When the shovel 2 is lifted, lowered, and tilted, the B point of the large arm hinge center of the shovel 2 is relatively static with the vehicle body 1, and the direction of the B point reference system is consistent with the vehicle top A point. Therefore, in the calibration state, the three-dimensional coordinate difference between the B point 6 and the M point 8 is a constant value. Taking the A point 5 as the origin, the three-dimensional coordinate difference between the B point 6 and the M point 8 is , which is also the translation required for the spatial point coordinate transformation, and , and the M point 8 is recorded in the matrix form as ;

[0066] Real-time acquisition of the vehicle body 1 inclination data θ1, α1, β1 to form a rotation matrix R1;

[0067] Real-time acquisition of the shovel 2 inclination data θ2, α2, β2 to form a rotation matrix R2;

[0068] Based on the rotation matrix R1 and the rotation matrix R2, the rotation angle θ3, α3, β3 of the shovel 2 relative to the vehicle body 1 is calculated to form a rotation matrix R3;

[0069] During the bulldozer construction process, the rotation of the shovel 2 relative to the vehicle body 1 is equivalent to the rotation of the M point 8 around the B point 6. Based on the rotation matrix R3 and R BD , the displacement matrix R of the M point 8 relative to the B point 6 in the Cartesian coordinate system is calculatedB~M ;

[0070] Based on R AB and displacement matrix R B~M , the displacement matrix R of the M point 8 relative to the A point 5 is calculated, with the A point 5 as the origin A~M ;

[0071] The displacement matrix R A~M is converted from the Cartesian coordinate system with the A point 5 as the origin to the Cartesian coordinate system with the O point as the origin, to obtain the conversion coordinate data R M of the M point 8.

[0072] S4: The conversion coordinate data R D and the conversion coordinate data R M are mapped into the construction electronic map, and the mapped conversion coordinate data R D and the conversion coordinate data R M are calculated.

[0073] 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 spade 2 to realize leveling, so that the spade 2 performs lifting, lowering and tilting actions. The elevation difference has positive and negative signs, and the positive and negative nature is used to indicate the direction of the spade 2 action. When the elevation difference is positive, the spade 2 needs to be lifted, and when the elevation difference is negative, the spade 2 needs to be lowered. The greater 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 spade 2 maintains smooth action during the entire response process; preferably, a threshold range is set, 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 automatic leveling operation.

[0074] In summary, the present application not only has the functions of fixed height construction and fixed slope construction, but also can make electronic maps according to the construction scene for construction.

Claims

1. A leveling method for a bulldozer leveling device, 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. This is the calibration state, and obtain the calibration coordinate data of the bulldozer in the calibration state. The calibration data includes the coordinates of the designated point A (5) on the bulldozer body (1) , the coordinates of point B (6) where the arm of the bulldozer's blade (2) is connected to the vehicle body (1) , the coordinates of the right sharp point D (7) of the blade (2) , the coordinates of the left tip of the blade (2) M (8) 、Car body (1) tilt angle data And the blade (2) inclination data , the vehicle body (1) inclination angle refers to the angle of the vehicle body (1) relative to the Cartesian coordinate system O-XYZ, and the blade (2) inclination angle 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 calibration state vehicle body (1) inclination angle data and blade (2) inclination angle data are both ∈ [-1°, 1°]; 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 converted coordinate data that is compatible with the bulldozer and the construction electronic map; The construction data 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 angle data θ2, α2, and β2 of the blade (2) constitute the 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 ; 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.

2. The leveling method of the bulldozer leveling device according to claim 1, 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 ,and , point B (6) is expressed in matrix form as ; In 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 ;and , 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 the 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 calculation shows that, with point A (5) as the origin, the 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 .

3. The leveling method of the bulldozer leveling device according to claim 1, 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 ,and , point B (6) is expressed in matrix form 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 ,and , M points (8) matrix form 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 the 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 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 ; 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 .

4. The leveling method of the bulldozer leveling device according to claim 1, characterized in that: In step S5 , the greater the absolute value of the elevation difference, the faster the response speed of the hydraulic system valve.

5. The leveling method of the bulldozer leveling device according to claim 1, characterized in that: A first GNSS antenna (3) and a second GNSS antenna (4) are installed on the top central axis of the bulldozer body (1), and the point A (5) is the connection point between the first GNSS antenna (3) and the body (1) or the connection point between the second GNSS antenna (4) and the body (1).

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