Leveling method for automatically setting and adjusting reference height

Abstract

A leveling and slope finishing method for automatically setting and adjusting a reference height. The method comprises: using a satellite or a third-party device to acquire high and low terrain data of a plot; generating a heat map and then performing gridding processing; a system determining whether a leveling reference meets an automatic reference adjustment condition; and determining whether accurate leveling is completed under the current reference, and automatically adjusting a temporary leveling reference to the leveling reference. The method can reduce the technical requirements for an operator, reduce the number of reference adjustments, and improve the accuracy of reference adjustment, thereby improving the operation efficiency and quality.

Description

[Corrected 05.08.2024 according to Rule 26] A leveling and sloping method with automatic setting and adjustment of base height Technical Field

[0001] The present invention relates to the technical field of land leveling operations, and in particular to a leveling method for automatically setting and adjusting a reference height. Background Art

[0002] Land leveling is a crucial component of land use engineering. Field leveling contributes significantly to soil, fertilizer, and water conservation, alkali prevention, seedling protection, mechanized farming, and irrigation water conservation. Land leveling planning is influenced by the project area's topography, soil, and natural factors. Different natural characteristics and land use conditions necessitate different planning priorities, so it must be tailored to local conditions. For example, in flat areas with modest terrain, land leveling can be performed on a larger scale. In low-lying areas with more severe waterlogging, land leveling can be scaled back to address drainage needs.

[0003] Land leveling can be difficult to accurately determine the leveling datum for the work area due to the varying sizes and elevations of the work area. This often requires first collecting the elevation data within the leveling area. The system then calculates a relatively accurate leveling datum (base height) for the work area based on the collected data. If the elevation difference in the leveling area is significant, automatic leveling requires multiple manual adjustments to the leveling datum. During adjustments, the operator's visual inspection or experience often prevents them from confirming the appropriate datum size. Consequently, multiple inappropriate adjustments may result, preventing efficient leveling.

[0004] Summary of the Invention

[0005] The object of the present invention is to provide a leveling method for automatically setting and adjusting the reference height to solve the problems raised in the above-mentioned background technology.

[0006] In order to solve the above technical problems, the present invention provides the following technical solution: a leveling method for automatically setting and adjusting the reference height, comprising the following steps:

[0007] ①. Collect the terrain data of the operation site through the satellite positioning function of the system, or collect the terrain data of the operation site through the use of third-party equipment;

[0008] ② The system generates a high and low terrain heat map based on the high and low terrain data and the parameters set by the system, and grids the generated heat map. The size of the grid is based on the parameters set by the system;

[0009] ③. Generate leveling benchmark and other data according to the parameters set in step ②;

[0010] ④. Record all gridded data, including but not limited to grid coordinates and elevations;

[0011] ⑤. According to the automatic adjustment benchmark related parameters set by the system, determine whether the current benchmark meets the automatic adjustment benchmark conditions. If not, use the leveling benchmark generated in step ③ for leveling. If it meets the conditions, the system automatically adjusts the temporary leveling benchmark for the current operation.

[0012] ⑥. During the leveling process, the system determines whether the precise leveling is completed under the current benchmark (temporary leveling benchmark or leveling benchmark). If the precise leveling is completed under the temporary leveling benchmark, the system automatically adjusts the temporary leveling benchmark to the next temporary leveling benchmark; if the precise leveling is completed under the leveling benchmark, the system prompts that the precise leveling of the plot is completed.

[0013] ⑦. When the system automatically adjusts to the last temporary leveling reference, the next adjustment will be to the leveling reference.

[0014] Furthermore, in step ①, use the satellite leveling system to drive along the following recommended path within the plot that needs to be accurately leveled to collect the altitude of the current plot;

[0015] First, it circles the edge of the field, and then circles the working area in an S-shaped manner. The system collects data at a frequency of 10Hz or 20Hz. After the collection is completed, the coordinate data of the n points are recorded as a set S0 = {(X1, Y1, H1), (X2, Y2, H2), ... (X n ,Y n ,H n )};X n Indicates the longitude of the nth point, Y n Indicates the latitude of the nth point, H n Indicates the altitude of the nth point.

[0016] Furthermore, in step ②, parameters related to the automatic adjustment benchmark are set;

[0017] Grid size: W; After the device generates the heat map, it divides the heat map into areas with a grid size of W*W, where W is in meters, and displays and calculates data in the form of a grid;

[0018] The data contains the coordinates of the four vertices of the square grid and the coordinates of the center point of the grid;

[0019] Randomly collect the spatial three-dimensional point coordinates of the plot within the plot; perform interpolation calculation based on the collected point coordinates and the set plot grid data to generate a set of spatial point coordinates of the set grid size; the newly generated point coordinates are the grid center point coordinates; based on the grid center point coordinates, calculate the coordinates of the four grid vertices corresponding to the grid center point coordinates (used to calculate whether the trajectory of the work tool passes through this grid); the set order of the grid four vertex coordinates is consistent with the order of the grid center point coordinates, which facilitates more rapid viewing of the area of ​​the work tool passing through this grid;

[0020] Leveling benchmark: The leveling benchmark or temporary benchmark is an altitude parameter that is compared in real time during leveling operations;

[0021] The automatic adjustment value of the benchmark is: h; it means that the system adjusts the benchmark downward by h centimeters each time;

[0022] Leveling completion judgment percentage: p; represents the percentage of the number of grid points that meet the conditions compared with the current number of all grid points;

[0023] Benchmark check time: T; means that every T minutes, the altitude of all points in the current time point set S1 is recalculated and the value of the check benchmark height H is calculated t ;

[0024] Grid Percentage: Q; represents the ratio of the area of ​​the grid passed by the current operating system to the area of ​​the grid. When the percentage is greater than or equal to Q, the system is considered to have passed through the grid; otherwise, it is considered not to have passed through the grid.

[0025] During operation, the satellite positioning device is installed at the center of the work tool and the width of the work tool is input; based on the satellite positioning data and the driving direction, the trajectory of the work tool can be calculated in real time (a certain period of time); the grid passed by is calculated based on the coordinates of the driving trajectory; the area occupied when passing through the grid is calculated; the ratio of this area to the grid area is the grid percentage, and this value is compared with Q.

[0026] Furthermore, based on the set S0, and using the interpolation algorithm, a new point set S1 of the heat map with a grid size of W*W is generated = {(X1, Y1, H1), (X2, Y2, H2), ... (X m ,Y m ,H m )};X m Indicates the longitude of the center of the mth grid point, Y m Indicates the latitude of the center of the mth grid point, H m represents the altitude of the center of the mth grid point;

[0027] When leveling: the highest altitude is H max, the lowest altitude is H min , the average altitude value calculated based on the set S1 is the base height, set as H; the fill volume P0 and the excavation volume P1 are calculated using the irregular triangulated network (TIN) model;

[0028] According to the generated horizontal reference height, calculate H1, H2, ..., H in the current set S1 m The difference from the benchmark height H is divided into different intervals and displayed in different colors to generate a high and low terrain heat map; the terrain height (fill and cut) distribution details of the current plot are displayed.

[0029] Furthermore, in step ③, the value h is automatically adjusted according to the set benchmark, and the system determines whether to adjust the benchmark downward;

[0030] When H max When -h≤H, the system does not need to automatically adjust the reference height and uses the current reference height H as the operating reference height;

[0031] When H max - When h>H, the system automatically adjusts the reference height;

[0032] The base height is H, and the temporary base is ΔH i =H max -h×i, i is the i-th automatic adjustment benchmark. When the benchmark is adjusted for the first time, i=1, i≤[(H max -H) / h], i value is an integer; (hereinafter ΔS i The i value of refers to the i value here).

[0033] Furthermore, during leveling, the principle of adjusting the reference height is to increase or decrease the reference height H value.

[0034] Furthermore, in step ④, the temporary reference height after the i-th automatic reference adjustment is set to ΔH i , output the temporary job heat map under the temporary benchmark:

[0035] Calculate the grid map point set S1 under the current temporary benchmark = {(X1, Y1, H1), (X2, Y2, H2), ... (X m ,Y m ,H m All elevation data H1, H2, ...H m and temporary reference height ΔH i The difference is divided into different intervals and displayed in different colors;

[0036] The system is based on the temporary benchmark height ΔH i , redraw the thermal map; the distribution of high and low terrain, prompting the operator to take soil from high places and fill soil in low places;

[0037] Calculate the temporary grid point set above the temporary benchmark;

[0038] In set S1, all elevation data H1, H2, ...H m and temporary reference height ΔH i The grid point coordinate set whose difference is greater than or equal to 0 is set as ΔS i , ΔS i Contained in S1, is a subset of set S1.

[0039] Furthermore, when the system is operating, the elevation values ​​of the grid points within the plot that the leveling operation passes through are updated in real time:

[0040] Check the value H of the high reference t Initially, it is equal to the value of the reference height H;

[0041] Determine whether the current operating system passes through this grid area based on the judgment condition Q set by the system;

[0042] When the operating system passes through any grid area in the plot, the system replaces the altitude of the grid in the original grid map point set S1 with the current leveled altitude and saves the set S1; synchronously updates the set ΔS i The data within.

[0043] Furthermore, in step ⑥, it is determined that the current plot is higher than ΔH i Whether the grid area of ​​the benchmark has been leveled and whether the system automatically adjusts the next benchmark;

[0044] During the leveling operation, the point set S1 is updated in real time, and the benchmark height H is calculated and checked according to the benchmark check time T set by the system. t ;

[0045] Check the value H of the high reference t Equal to the average altitude within S1;

[0046] During leveling operation, the system updates S1 and ΔS in real time i At the same time, according to the leveling completion percentage data p set by the system, the current temporary benchmark ΔH is determined. i Whether the above grid point data meets the judgment conditions;

[0047] If ΔS i All the values ​​in the set that are less than or equal to ΔH i The ratio of the number of altitude points to ΔS i If the value of the number of all altitude points in the set is greater than or equal to p, the system determines that the current temporary benchmark ΔH i When all the iComplete precise leveling work in the grid area;

[0048] And when H t ≤ΔH i+1 When the system adjusts the benchmark downward, the benchmark is ΔH i+1 ; When adjusting the benchmark, when i reaches the maximum value, i=[(H max -H) / h], when the value of i is an integer, the system performs the last adjustment of the benchmark phase, ends the temporary adjustment mode, and sets the current benchmark H to H t ;

[0049] When H t >ΔH i+1 When the temporary adjustment mode is ended, the current reference H is set to H t ;

[0050] In step ⑦, when the system enters the next automatic reference leveling, it will continue to cycle from step ④ to perform the operation; when the system reference height is H t , the system enters the final leveling operation state.

[0051] Furthermore, the last round of leveling is completed: when the number of points whose differences between all elevation data and the benchmark height in step ② are within the threshold range is greater than or equal to p as a percentage of the total number of points, the leveling of the land is completed.

[0052] Abnormal handling during leveling: During leveling, there may be too much soil to pull, which can be handled through the overload automatic unloading solution.

[0053] Compared with the prior art, the beneficial effects achieved by the present invention are:

[0054] 1. The present invention can reduce the technical requirements of the operator; reduce the number of benchmark adjustments, improve the accuracy of benchmark adjustment, and improve the efficiency and quality of operation; reduce the operation of the operation system, focus more on the operation of the agricultural machinery, improve operation safety, reduce the probability of danger, and reduce the number of times the ground is crushed; it can reduce damage to the ground, reduce the stroke of the operation machinery, and save energy and reduce emissions; night operation is not affected by sight, and the system automatically adjusts the benchmark; it can automatically determine whether the land is leveled, and there is no need for the operator to frequently look back to check the leveling effect and progress. The leveling area of ​​the land is displayed in different colors to prompt the operator's operation area, and there is no need to drive around the entire land during operation; the present invention uses a method for automatically adjusting the height of the leveling reference surface. The height of the leveling reference surface can be automatically adjusted according to the adjustment parameters set by the load of the operation machinery, avoiding the phenomenon of low work efficiency caused by repeated adjustment of the reference surface, while reducing the skill requirements for the operator, so that the operator can focus more on driving the operation vehicle;

[0055] 2. The satellite leveling system of the present invention can detect the altitude of the ground after leveling in real time during the leveling operation. After generating a heat map using a gridding scheme, the heat map is divided into grids according to the set grid size. The system determines whether the current operating machine is within this grid (the percentage of the current operating machine in the grid size can be used to determine whether to replace the original altitude of the grid with the current altitude after leveling. All data involved in the elevation calculation are compared with the benchmark height H or the benchmark height H. t The difference between the two values ​​is calculated, and the threshold is used in the calculation when comparing. BRIEF DESCRIPTION OF THE DRAWINGS

[0056] The accompanying drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention and do not constitute a limitation of the present invention. In the accompanying drawings:

[0057] FIG1 is a flowchart of the operation of the present invention. DETAILED DESCRIPTION

[0058] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0059] A leveling method for automatically setting and adjusting a reference height as shown in FIG1 includes the following steps:

[0060] ①. Collect the elevation data of the working area through the satellite positioning function of the system: Use the satellite leveling system to drive along the recommended route within the area that needs to be accurately leveled to collect the elevation data of the current area;

[0061] First, it circles the edge of the field, and then circles the working area in an S-shaped manner. The system collects data at a frequency of 10Hz or 20Hz. After the collection is completed, the coordinate data of the n points are recorded as a set S0 = {(X1, Y1, H1), (X2, Y2, H2), ... (X n ,Y n ,H n )};X n Indicates the longitude of the nth point, Y n Indicates the latitude of the nth point, H n Indicates the altitude of the nth point;

[0062] ② The system generates a high and low terrain heat map based on the high and low terrain data and the parameters set by the system, and grids the generated heat map:

[0063] Set parameters related to automatic adjustment of benchmarks;

[0064] Grid size: W; After the equipment generates the heat map, it divides the heat map into areas with a grid size of W*W, where W is in meters, and displays and calculates data in the form of a grid; the data includes the coordinates of the four vertices of the square grid and the coordinates of the grid center point; the spatial three-dimensional point coordinates of the plot are randomly collected within the plot; based on the collected point coordinates and the set plot grid data, interpolation calculation is performed to generate a set of spatial point coordinates of the set grid size; the new point coordinates generated are the coordinates of the grid center point; based on the coordinates of the grid center point, the coordinates of the four vertices of the grid corresponding to the coordinates of the grid center point are calculated; (used to calculate whether the trajectory traveled by the work tool has passed through Passing this grid); The set order of the coordinates of the four vertices of the grid is consistent with the order of the coordinates of the grid center point, which facilitates faster viewing of the area of ​​the work tool passing through this grid; Leveling benchmark: The leveling benchmark or temporary benchmark is an altitude parameter for real-time comparison during leveling operations; The automatic adjustment value of the benchmark is: h; It indicates that the system adjusts the height downward by h centimeters each time it adjusts the benchmark; Leveling completion judgment percentage: p; It indicates the percentage of the number of grid points that meet the conditions compared to the number of all grid points currently compared; Benchmark verification time: T; It indicates that every T minutes, the altitude of all points in the current time point set S1 will be recalculated and the verification benchmark height value H will be calculated. t Grid percentage: Q represents the ratio of the area within this grid that the current operating system has passed through to the area of ​​the grid. When the percentage is greater than or equal to Q, the system determines that the grid has been passed through, otherwise it is determined that the grid has not been passed through. During operation, the satellite positioning device is installed at the center of the operating machine and the width of the operating machine is input. Based on the satellite positioning data and the driving direction, the trajectory of the operating machine can be calculated in real time (for a certain period of time). The grids passed through are calculated based on the coordinates of the driving trajectory. The area occupied when passing through the grid is calculated. The ratio of this area to the grid area is the grid percentage, and this value is compared with Q.

[0065] The horizontal leveling parameters can be generated according to the parameters selected by the system settings; based on the set S0, and using the interpolation algorithm, a new point set S1 of the heat map with a grid size of W*W is generated = {(X1, Y1, H1), (X2, Y2, H2), ... (X m ,Y m ,H m )};X m Indicates the longitude of the center of the mth grid point, Y m Indicates the latitude of the center of the mth grid point, H m Indicates the altitude of the center of the mth grid point; when leveling: the highest altitude value is H max , the lowest altitude is H min, calculate the average altitude value based on the set S1 as the base height, set it as H; use the irregular triangulated network (TIN) model to calculate the fill volume P0 and the excavation volume P1; calculate H1, H2, ..., H in the current set S1 based on the generated horizontal base height m The difference from the benchmark height H is divided into different intervals and displayed in different colors to generate a high and low terrain heat map; the details of the terrain height distribution of the current plot are displayed;

[0066] ③. Generate the leveling benchmark according to the parameters set in step ②: Automatically adjust the value h according to the set benchmark, and the system determines whether to adjust the benchmark downward; when H max -h≤H, the system does not need to automatically adjust the reference height, and uses the current reference height H as the operating reference height; when H max -h>H, the system automatically adjusts the reference height; the reference height is H, and the temporary reference is ΔH i =H max -h×i, i is the i-th automatic adjustment benchmark. When the benchmark is adjusted for the first time, i=1, i≤[(H max -H) / h], i value is an integer; (hereinafter ΔS i The i value of the reference is the i value here); when leveling, the principle of adjusting the reference height is to increase or decrease the reference height H value;

[0067] ④. Record all gridded data, including coordinates and elevations: The temporary benchmark height after the i-th automatic benchmark adjustment is set to ΔH i , output the temporary operation heat map under the temporary benchmark: calculate the grid map point set S1 under the current temporary benchmark = {(X1, Y1, H1), (X2, Y2, H2), ... (X m ,Y m ,H m All elevation data H1, H2, ...H m and temporary reference height ΔH i The difference is divided into different intervals and displayed in different colors; the system is based on the temporary benchmark height ΔH i , redraw the heat map; the distribution of high and low terrain, prompting the operator to take soil from high places and fill soil at low places; in set S1, all elevation data H1, H2, ...H m and temporary reference height ΔH i The grid point coordinate set whose difference is greater than or equal to 0 is set as ΔS i , ΔS i Included in S1, it is a subset of set S1; when the system is working, it updates the elevation value of the grid points in the plot in real time: check the value of the benchmark height H tInitially, it is equal to the value of the benchmark height H; determine whether the current operating system passes through this grid area, and make a judgment based on the judgment condition Q set by the system; when the operating system passes through any grid area in the plot, the system replaces the altitude of the grid in the original grid map point set S1 with the current leveled altitude and saves the set S1; synchronously update the set ΔS i Data within;

[0068] ⑤. According to the automatic adjustment benchmark related parameters set by the system, determine whether the current benchmark meets the automatic adjustment benchmark. If not, use the leveling benchmark generated in step ③ for leveling. If it meets, the system automatically adjusts the temporary leveling benchmark for the current operation.

[0069] ⑥. Determine if the current plot is higher than ΔH i Whether the grid area of ​​the benchmark has been leveled, and whether the system automatically adjusts the next benchmark; during the leveling process, it is judged whether the current benchmark (temporary leveling benchmark or leveling benchmark) has completed accurate leveling. If accurate leveling is completed under the temporary leveling benchmark, the system automatically adjusts the temporary leveling benchmark to the next temporary leveling benchmark; if it is the leveling benchmark, the system prompts that the accurate leveling of the plot is completed: during the leveling operation, the benchmark height H is calculated and checked by updating the point set S1 in real time according to the benchmark verification time T set by the system. t ; Check the value of the benchmark high H t Equal to the average altitude within S1; during leveling operation, the system updates S1 and ΔS in real time i At the same time, according to the leveling completion percentage data p set by the system, the current temporary benchmark ΔH is determined. i Whether the above grid point data meets the judgment conditions; if ΔS i All the values ​​in the set that are less than or equal to ΔH i The ratio of the number of altitude points to ΔS i If the value of the number of all altitude points in the set is greater than or equal to p, the system determines that the current temporary benchmark ΔH i When all the i The grid area is precisely leveled; and when H t ≤ΔH i+1 When the system adjusts the benchmark downward, the benchmark is ΔH i+1 ; When adjusting the benchmark, when i reaches the maximum value, i=[(H max -H) / h], when the value of i is an integer, the system performs the last benchmark adjustment phase, ends the temporary adjustment mode, and sets the current benchmark H to H t When H t >ΔH i+1 When the temporary adjustment mode is ended, the current reference H is set to H t ;

[0070] ⑦. When the system automatically adjusts to the last temporary leveling reference, the next adjustment is the leveling reference: When the system enters the next automatic reference leveling, continue to cycle from step ④ to the next step; when the system reference height is H t When , the system enters the last leveling operation state; the last leveling is completed: when the difference between all elevation data and the benchmark height in step ② is within the threshold range, the number of points is greater than or equal to the percentage of all points p, the land leveling is completed.

[0071] The beneficial effects of the present invention are:

[0072] In the present invention, the satellite leveling system can detect the altitude of the ground after leveling in real time during the leveling operation. After generating a heat map using a gridding scheme, the heat map is divided into grids according to the set grid size. The system determines whether the current operating machine is within this grid (the percentage of the current operating machine in the grid size can be used to determine whether to replace the original altitude of the grid with the current altitude after leveling. All data involved in the elevation calculation are compared with the benchmark height H or the benchmark height H. t The difference, the threshold value when compared, is involved in the calculation; the present invention can reduce the technical requirements of the operating machine operator; it can reduce the number of benchmark adjustments, improve the accuracy of benchmark adjustment, and improve operating efficiency and quality; it can reduce the operation of the operating system, focus more on the operation of the agricultural machinery, improve operating safety, reduce the probability of danger, and reduce the number of times the ground is crushed; it can reduce damage to the ground, reduce the stroke of the operating machinery, and save energy and reduce emissions; night operations are not affected by sight, and the system automatically adjusts the benchmark; it can automatically determine whether the land is leveled, and there is no need for the operator to frequently look back to check the leveling effect and progress. The leveling area of ​​the land is displayed in different colors to prompt the operator's operating area, and there is no need to drive around the entire land during operation; the present invention uses a method for automatically adjusting the height of the leveling reference surface. The height of the leveling reference surface can be automatically adjusted according to the adjustment parameters set by the load of the operating machinery, avoiding the phenomenon of low rework efficiency caused by repeated adjustment of the reference surface, while reducing the skill requirements for the operator, so that the operator can focus more on driving the operating vehicle.

[0073] Finally, it should be noted that the above descriptions are merely preferred embodiments of the present invention and are not intended to limit the present invention. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art will be able to modify the technical solutions described in the aforementioned embodiments or substitute equivalents for some of the technical features. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention shall be included within the scope of protection of the present invention.

Claims

1. A leveling method for automatically setting and adjusting the reference height, characterized in that: The following steps are involved: ①. Collect the terrain data of the working area through the satellite positioning function of the system, or collect the terrain data of the working area through the use of third-party equipment; ② The system generates a high and low terrain thermal map based on the high and low terrain data and the parameters set by the system, and grids the generated thermal map; ③. Generate leveling benchmark and other data according to the parameters set in step ②; ④. Record all gridded data, including but not limited to grid coordinates and elevations; ⑤. According to the parameters related to the automatic adjustment of the benchmark set by the system, determine whether the current benchmark meets the automatic adjustment benchmark conditions. If not, use the leveling benchmark generated in step ③ for leveling. If it does, the system automatically adjusts the temporary leveling benchmark of the current operation. ⑥. During the leveling process, determine whether the precise leveling is completed under the current benchmark. If the precise leveling is completed under the temporary leveling benchmark, the system automatically adjusts the temporary leveling benchmark to the next temporary leveling benchmark; if it is the leveling benchmark, the system prompts that the precise leveling of the plot is completed; ⑦. When the system automatically adjusts to the last temporary leveling reference, the next adjustment will be to the leveling reference.

2. A leveling method for automatically setting and adjusting the reference height according to claim 1, characterized in that: In step ①, use the satellite leveling system to drive along the recommended path in the plot that needs to be accurately leveled to collect the altitude of the current plot; First, it goes around the edge of the ground, and then goes around the working area in an S shape. The system collects data. The data is collected at a frequency of 10Hz or 20Hz. After the collection is completed, the coordinate data of the n points are recorded as a set S0 = {(X1, Y1, H1), (X2, Y2, H2), ... (X n ,Y n ,H n )};X n Indicates the longitude of the nth point, Y n Indicates the latitude of the nth point, H n Indicates the altitude of the nth point.

3. A leveling method for automatically setting and adjusting the reference height according to claim 2, characterized in that: In step ②, set the parameters related to automatic adjustment of the benchmark; Grid size: W; after the device generates the thermal map, it divides the thermal map into areas with a grid size of W*W, where W is in meters, and displays and calculates data in the form of a grid; The data contains the coordinates of the four vertices of the square grid and the coordinates of the center point of the grid; Randomly collect the spatial three-dimensional point coordinates of the plot within the plot; perform interpolation calculation based on the collected point coordinates and the set plot grid data to generate a set of spatial point coordinates of the set grid size; the generated new point coordinates are the grid center point coordinates; calculate the coordinates of the four vertices of the grid corresponding to the grid center point coordinates based on the grid center point coordinates; (used to calculate whether the track traveled by the work tool passes through this grid); the set sorting of the coordinates of the four vertices of the grid is consistent with the sorting of the grid center point coordinates, so as to more quickly view the area of ​​the work tool passing through this grid; Leveling benchmark: The leveling benchmark or temporary benchmark is an altitude parameter that is compared in real time during leveling operations; The automatic adjustment value of the benchmark is: h; it means that the system adjusts the benchmark downward by h centimeters each time; Leveling completion judgment percentage: p; represents the percentage of the number of grid points that meet the conditions compared to the current number of all grid points; Benchmark check time: T; means that every T minutes, the altitude of all points in the current time point set S1 is recalculated and the value of the check benchmark height H is calculated t ; Grid Percentage: Q; indicates the ratio of the area of ​​the grid that the current operating system passes through to the area of ​​the grid. When the percentage is greater than or equal to Q, the system determines that it passes through the grid, otherwise it is determined that it does not pass through the grid. During operation, install the satellite positioning device at the center of the work tool and input the width of the work tool; Based on the satellite positioning data and the driving direction, the trajectory of the working tool can be calculated in real time (a certain period of time); the grids passed through can be calculated based on the coordinates of the driving trajectory; the area occupied when passing through the grid is calculated; the ratio of this area to the grid area is the grid percentage, and this value is compared with Q.

4. A leveling method for automatically setting and adjusting the reference height according to claim 3, characterized in that: Horizontal leveling parameters can be generated according to the parameters selected by the system settings; Based on the set S0, and using the interpolation algorithm, a new point set S1 of the heat map with a grid size of W*W is generated = {(X1, Y1, H1), (X2, Y2, H2), ... (X m ,Y m ,H m )};X m Indicates the longitude of the center of the mth grid point, Y m represents the latitude of the center of the mth grid point, H m Indicates the altitude of the center of the mth grid point; When leveling: the highest altitude is H max , the minimum altitude is H min , the average altitude value calculated according to the set S1 is the base height, set as H; the filling volume P0 and the excavation volume P1 are calculated using the irregular triangulated network (TIN) model; According to the generated horizontal reference height, calculate H1, H2, ..., H in the current set S1 m The difference with the benchmark height H is divided into different intervals and displayed in different colors to generate a high and low terrain heat map; the details of the high and low terrain distribution of the current plot are displayed.

5. A leveling method for automatically setting and adjusting the reference height according to claim 4, characterized in that: In step ③, the value h is automatically adjusted according to the set benchmark, and the system determines whether to adjust the benchmark downward; When H max - When h≤H, the system does not need to automatically adjust the reference height, and uses the current reference height H as the operating reference height; When H max - When h>H, the system automatically adjusts the reference height; The base height is H, and the temporary base is ΔH i =H max -h×i, i is the i-th automatic adjustment benchmark. When the benchmark is adjusted for the first time, i=1, i≤[(H max -H) / h], i value is an integer.

6. A leveling method for automatically setting and adjusting the reference height according to claim 5, characterized in that: When leveling, the principle of adjusting the reference height is to increase or decrease the reference height H value.

7. A leveling method for automatically setting and adjusting the reference height according to claim 6, characterized in that: In step ④, the temporary reference height after the i-th automatic reference adjustment is set to ΔH i , output the temporary job heat map under the temporary benchmark: Calculate the grid map point set S1 under the current temporary benchmark = {(X1, Y1, H1), (X2, Y2, H2), ... (X m ,Y m ,H m )} All elevation data H1, H2, ...H m and temporary reference height ΔH i The difference is divided into different intervals and displayed in different colors; The system is based on the temporary benchmark height ΔH i , redraw the heat map; The high and low terrain distribution prompts the operator to take soil from high places and fill soil in low places; Calculate a temporary grid point set above the temporary benchmark; In set S1, all elevation data H1, H2, ...H m and temporary reference height ΔH i The grid point coordinate set whose difference is greater than or equal to 0 is set as ΔS i , ΔS i Contained in S1, is a subset of set S1.

8. A leveling method for automatically setting and adjusting the reference height according to claim 7, characterized in that: When the system is operating, the elevation values ​​of the grid points in the plot where the leveling operation passes are updated in real time: Check the value H of the high standard t Initially, it is equal to the value of the reference height H; Determine whether the current operating system passes through this grid area, and make a judgment based on the judgment condition Q set by the system; When the operating system passes through any grid area in the plot, the system replaces the altitude of the original grid map point set S1 corresponding to this grid with the current altitude after leveling and saves the set S1; synchronously updates the set ΔS i The data within.

9. A leveling method for automatically setting and adjusting the reference height according to claim 8, characterized in that: In step ⑥, determine that the current plot is higher than ΔH i Whether the grid area of ​​the benchmark has been leveled and whether the system automatically adjusts the next benchmark; During the leveling operation, the point set S1 is updated in real time, and the reference height H is calculated and checked according to the reference check time T set by the system. t ; When leveling, check the value of the reference height H t Equal to the average altitude within S1; During leveling operation, the system updates S1 and ΔS in real time i At the same time, according to the leveling completion percentage data p set by the system, the current temporary benchmark ΔH is determined i Whether the above grid point data meets the judgment conditions; If ΔS i All the values ​​in the set that are less than or equal to ΔH i The ratio of the number of points at altitude to ΔS i If the value of the number of all altitude points in the set is greater than or equal to p, the system determines that the current temporary benchmark ΔH i When all the i Complete precise leveling work in the grid area; And when H t ≤ΔH i+1 When the system adjusts the reference downward, the reference is ΔH i+1 ; When adjusting the benchmark, when i reaches the maximum value, that is, i=[(H max -H) / h], when the value of i is an integer, the system performs the last benchmark adjustment phase, ends the temporary adjustment mode, and sets the current benchmark H to H t ; When H t >ΔH i+1 When the temporary adjustment mode is ended, the current reference H is set to H t ; In step ⑦, when the system enters the next automatic reference leveling, it continues to cycle from step ④ to perform the operation; When the system reference high is H t , the system enters the last leveling operation state.

10. A leveling method for automatically setting and adjusting reference height according to claim 9, characterized in that: The last leveling is completed: when the number of points whose difference between all elevation data and the benchmark height in step ② is within the threshold range is greater than or equal to p as a percentage of the total number of points, the leveling of the land is completed.

Images