CN102282925A - Land leveling method and device as well as land leveling control device - Google Patents
Land leveling method and device as well as land leveling control device Download PDFInfo
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- CN102282925A CN102282925A CN2011101387713A CN201110138771A CN102282925A CN 102282925 A CN102282925 A CN 102282925A CN 2011101387713 A CN2011101387713 A CN 2011101387713A CN 201110138771 A CN201110138771 A CN 201110138771A CN 102282925 A CN102282925 A CN 102282925A
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Abstract
The invention discloses a land leveling method and device as well as a land leveling control device. The land leveling method comprises the following steps of: obtaining position information of a position to be leveled by a receiving mechanism based on a GPS (Global Positioning System) in real time, wherein the position information at least comprises an altitude value; comparing the altitude value with preset reference altitude to generate a land leveling control signal; and controlling the land leveling operation of a land leveling mechanism according to the land leveling control signal and leveling the land in the preset reference altitude. In the land leveling method, the altitude value of the position to be leveled is obtained in real time based on the GPS and is compared with the preset reference altitude so that the land leveling control signal is generated and the land leveling operation of the land leveling mechanism is controlled, the operation range is not limited, and the lands to be leveled with any areas can be subjected to the land leveling operation.
Description
Technical field
The present invention relates to mechanical control technology, particularly a kind of land readjustment method, land readjustment control device and land readjustment device.
Background technology
Aspect the land readjustment operation, the method for land readjustment mainly contains methods such as conventional level land, laser controlled leveling at present.
The level land equipment that adopts in the method for conventional level land generally comprises bulldozer, scraper and Slicking apparatus etc., the land readjustment equipment of this kind routine has big, the relatively low characteristics of level land expense of cubic metre of earth migration quantity, be suitable for the relatively poor thick flat operation in farmland of bigger, the original smooth degree of surface relief, can effectively change the macrorelief in farmland.
The effect of this conventional land readjustment depends primarily on the construction precision of bulldozer and Slicking apparatus.But because hand-guided is adopted in the lifting of bulldozer, operating personnel can not accurately control the height of its lifting or whereabouts, and the relative position between the shovel of the Slicking apparatus fortune edge of a knife and equipment moving device is fixed, so the edge of a knife will be with the variation dipping and heaving of wheel tyre bead ground mima type microrelief during the construction of level land, the effect of wipeing and repairing the field face off is limited.Therefore, be subjected to the influence of conventional Leveling implements equipment self defective and manual operation precision, after leveling effect reaches certain smooth degree, be difficult to increase again, be difficult to satisfy the requirement of the meticulous irrigation in soil, farmland than unfavorable conditions such as hanging down.
The laser controlled leveling technology is to utilize laser beam to strafe to form reference plane as non-vision operation control device, replace conventional level land equipment operator's range estimation judgement to control the lifting of the hydraulic grader tool edge of a knife automatically, thereby can increase substantially the smooth precision in soil, the sensitivity of its induction system is judged than the artificial vision and accurate 10～50 times of tractor operating personnel's hand-hydraulic control system at least.But the job area of laser land leveling is limited, and the influence that is subjected to the Laser emission radius of generating laser is not suitable for land readjustment operation on a large scale.
Summary of the invention
The invention provides a kind of land readjustment method, land readjustment control device and land readjustment device, to enlarge the job area of land readjustment.
Land readjustment method provided by the invention comprises:
The present invention also provides a kind of land readjustment control device, comprising:
Receiving mechanism is used for obtaining the positional information for the treatment of smooth position in real time based on global position system, wherein, comprises height value in the described positional information at least;
Comparison module is used for described height value and preset reference elevation are compared, and offers level land mechanism to produce the level land control signal, the land readjustment operation of control level land mechanism, with land readjustment to described preset reference elevation.
The present invention also provides a kind of land readjustment device, comprises land readjustment control device provided by the invention mechanism pacifically, and described level land mechanism comprises:
The solenoid-driven unit is used for driving the position of signal with the control spool according to the ratio that the described level land control signal that receives is exported the hydraulic pressure unit spool;
Hydraulic pressure unit is used for being converted to driving force to flat shovel according to the fluid pressure that spool will be flow through in the position of spool;
Level land shovel is used for carrying out the land readjustment operation according to the driving force of hydraulic pressure unit, with land readjustment to described preset reference elevation;
Traction unit is used to draw flat shovel and is treating that entirely interblock is advanced.
Land readjustment method provided by the invention, land readjustment control device and land readjustment device, this land readjustment method is obtained in real time based on global position system and is treated smooth position height value and take out height value, this height value and preset reference elevation are compared to produce the land readjustment operation of control signal control level land, level land mechanism, job area is unrestricted, can carry out the land readjustment operation to the smooth plot for the treatment of of any area.
Description of drawings
The flow chart of the land readjustment method that Fig. 1 is provided for the embodiment of the invention one;
The flow chart of the land readjustment method that Fig. 2 is provided for the embodiment of the invention two;
The structural representation of the land readjustment control device that Fig. 3 is provided for the embodiment of the invention three;
The structural representation of the land readjustment control device that Fig. 4 is provided for the embodiment of the invention four;
The structural representation of the land readjustment device that Fig. 5 is provided for the embodiment of the invention five.
Reference numeral:
The 200-reception antenna; The 201-receiving mechanism;
The 202-comparison module; 203-attitude information acquisition module;
The 204-correction module; 205-first memory module;
206-three-dimensional land map drafting module; 210-solenoid-driven unit;
The 211-hydraulic pressure unit; The flat shovel of 212-;
The 213-traction unit.
Embodiment
For the purpose, technical scheme and the advantage that make the embodiment of the invention clearer, below in conjunction with the accompanying drawing in the embodiment of the invention, technical scheme in the embodiment of the invention is clearly and completely described, obviously, described embodiment is the present invention's part embodiment, rather than whole embodiment.Based on the embodiment among the present invention, those of ordinary skills belong to the scope of protection of the invention not making the every other embodiment that is obtained under the creative work prerequisite.
The embodiment of the invention provides a kind of land readjustment method, this land readjustment method is used to treat smooth plot and carries out the land readjustment operation, can adopt flat shovel as the native parts of shovel, advance between the smooth plot treating by the flat shovel of tractor-drawn, and by hydraulic system reception control signal, control the digging of flat shovel or the operation of banketing by hydraulic system according to control signal, carry out smoothly, make to satisfy and irrigate or requirements such as plantation through smooth plot to treat smooth plot.
Embodiment one
The flow chart of the land readjustment method that Fig. 1 is provided for the embodiment of the invention one, as shown in Figure 1, this land readjustment method comprises:
Receiving mechanism based on global position system, mainly comprise reception antenna and processing terminal, by the reception antenna receiving satellite signal and send processing terminal to, the satellite-signal that processing terminal transmits according to reception antenna and the point at reception antenna place perform calculations with the relative position for the treatment of smooth position and obtain treating the positional information of smooth position, at least comprise height value in this positional information, also can obtain longitude, the latitude value of this position usually.
Reception antenna can be placed in the mechanism of level land, the height value of the shovel soil parts position that the relative position calculation of the position of the point by the reception antenna place and the soil of the shovel in the mechanism of level land parts obtains, the height value of this position is the height value for the treatment of smooth position.Also reception antenna can be placed other places, by the reception antenna receiving satellite signal, performing calculations with the relative position for the treatment of smooth position according to the point at reception antenna place obtains treating the height value of smooth position.
The preset reference elevation is the dispersed elevation that basis is treated this plot that the situation calculated in advance in smooth plot goes out, with its benchmark elevation as the level land.
It also can be a plurality of that this preset reference elevation can be one, decide according to the topographic features for the treatment of smooth plot, if treat that the hypsography in smooth plot is big and area is also bigger, the plot can be divided into several sections, calculate the benchmark elevation in each plot according to the plot landform of every part.
Because in the land readjustment operation, key is to know the height value for the treatment of smooth position and compare with the preset reference elevation, if this height value and preset reference elevation are inconsistent, then produce the level land control signal, mechanism carries out the land readjustment operation according to this level land control signal control level land, with land readjustment to the preset reference elevation.
Owing to treat that the landform in smooth plot is rugged state, usually level land mechanism hockets according to the level land control signal and cuts the earth or the operation of banketing in the land readjustment process, the soil that is dug from the physical features higher position can be filled out the lower position of physical features, level land mechanism works continuously according to the level land control signal, treating smooth plot carries out smooth, depend primarily on the height value obtained mechanism's construction precision of carrying out operation according to the level land control signal pacifically for smooth precision and effect, generally, level land mechanism can finish the land readjustment operation for the treatment of smooth plot according to the level land control signal, reaches the requirement of the uniformity of field surface irrigation.
If the required precision for land readjustment is higher, also can adopt above-mentioned method to carry out repeatedly land readjustment operation, with the precision that improves land readjustment with reach better effect.
Certainly, if run into special circumstances, can combine with manual operation, for example, when the soil that digs out in case occur needing digging always surpasses the scope of level land mechanism powered, the level land mechanism soil that can not promote to dig out just, perhaps the harder and flat mechanism of the soil property of this position digs when motionless, can give level land mechanism control signal by manual operation, flat mechanism is risen, level land mechanism no longer promotes to carry the soil that digs out, and level land mechanism continues to advance and carries out follow-up operation, or needs the operation of banketing always, and the soil amount that level land mechanism carries is when not enough, give the operation of no longer banketing of flat mechanism controls signal, flat mechanism by manual operation, level land mechanism continues to advance and carries out follow-up operation.
As shown from the above technical solution, this land readjustment method, obtain in real time based on global position system and to treat smooth position height value, height value and preset reference elevation are compared to produce the land readjustment operation of control signal control level land, level land mechanism, job area is unrestricted, can carry out the land readjustment operation to the smooth plot for the treatment of of any area, and, this land readjustment method is obtained height value according to global position system, obtain height value even weather condition changes also not influence, it is little influenced by natural cause.
In the present embodiment, the mode of carrying out the land readjustment operation according to level land control signal control level land mechanism is, according to the depth displacement in the control signal of level land, the amount of movement of the native parts vertical direction of shovel in the mechanism of control level land, to the land readjustment operation, with with land readjustment to the preset reference elevation, wherein, depth displacement is the difference between height value and the preset reference elevation.
Concrete is, if height value is greater than the benchmark elevation, the physical features that this point is described is higher, then export the native parts decline of shovel shoveling in the mechanism of control signal control level land, level land, height value up to this position equates with the benchmark elevation, and the soil that will dig out is promoted to carry by the native parts of shovel, if height value is less than the benchmark elevation, the physical features that this position is described is lower, then export in the mechanism of level land control signal control level land the native parts of shovel and rise and banket, can fill out the lower position of physical features with digging out the soil that promotes to carry by the native parts of shovel, the height value up to this position equates with the benchmark elevation, if the height value of obtaining equals the benchmark elevation, level land mechanism is failure to actuate.
Certainly, the mode of carrying out the land readjustment operation according to level land control signal control level land mechanism can have multiple, for example carry out the land readjustment operation by level land control signal control bulldozer, control the position and the angle of the dozer blade of bulldozer by the level land control signal, shovel soil or the operation of banketing with land readjustment to the preset reference elevation, perhaps the scraper by level land control signal control Slicking apparatus carries out the land readjustment operation.
Embodiment two
The flow chart of the land readjustment method that Fig. 2 is provided for the embodiment of the invention two, on the basis of the foregoing description one, receiving mechanism comprises reception antenna at least, as shown in Figure 2, this land readjustment method also comprises after above-mentioned step 1:
Step 11, obtain the attitude information of reception antenna in real time;
Step 12, according to attitude information elevation is proofreaied and correct, then execution in step 2.
Usually receiving mechanism comprises that reception antenna is used for receiving satellite signal, usually be placed in the mechanism of level land, mechanism carries by the level land, but owing to treat the with a varied topography of smooth plot, therefore, level land mechanism is expert at and into can produces vibration in the process, therefore also can cause rocking of reception antenna, make that calculating resulting height value by the position of reception antenna exists than mistake, has reduced the precision that obtains altitude data.
Therefore, can proofread and correct the height value that obtains, in the present embodiment by obtaining the attitude information of reception antenna in real time, this attitude information mainly comprises the course angle of reception antenna when level land mechanism advances, parameter such as the angle of pitch and roll angle, the height value of utilizing these attitude information parameter corrections to obtain, form closed loop feedback, reception antenna is compensated because of rocking the error that causes, reject the vibrations error, the height value that correction obtains, to reduce data error, for the later stage carries out land readjustment more accurate data is provided, thereby improve the precision of land readjustment, and the three-dimensional land map that also can be the plot after the follow-up drafting land readjustment provides accurate more measurement data.
The land readjustment method that present embodiment provides is further, also comprises longitude and the latitude value for the treatment of smooth position in the positional information, also comprises after step 3:
Step 31, real-time storage also refresh surperficial longitude, latitude value and the height value for the treatment of smooth position, and the longitude after will refreshing, latitude value and height value are as surperficial longitude, latitude value and the height value in the plot of the relevant position after the land readjustment.
Step 32, according to surperficial longitude, latitude value and the height value in the plot of the relevant position after the land readjustment, the three-dimensional land map in the plot after the real-time rendering land readjustment.
The positional information of obtaining by receiving mechanism for the treatment of smooth position can comprise height value, also longitude and latitude value can be obtained, also other needed information can be obtained as required, for example, can obtain azimuth for the treatment of smooth position etc., be not limited to the positional information in the present embodiment.
Because in the process of leveling land, need cut the earth or banket operation, therefore some treats the longitude of smooth position, latitude value and height value may change, if the coordinate of some position changes, can refresh according to back one this location information data constantly this location information data previous moment, data after will refreshing are as the surperficial longitude in the plot of this position after the land readjustment, latitude value and height value, and utilize the surperficial longitude in above-mentioned plot, the three-dimensional land map in the plot after latitude value and the land readjustment of height value real-time rendering, after treating that smooth plot is smooth and finishing, also just drawn out simultaneously the smooth three-dimensional land map in whole plot afterwards, therefore realize that land readjustment and topographic survey carry out simultaneously, and can estimate leveling effect according to the smooth three-dimensional land map of drawing out in plot afterwards.
When utilizing level land mechanism to carry out the level land, need carry out digging to the position of high-land, and to the operation of banketing of the low position of physical features, therefore need rationally to determine the level land route of level land mechanism, the operation of will cutting the earth and banket combines, for example, if level land mechanism advances in needs banket the route of operation or shoveling always, the power that the soil of level land mechanism carrying can not satisfy banket requirement or level land mechanism can not promote entrained soil, mechanism advances continuing by the manual operation level land, but therefore influences the effect of land readjustment operation.
At above-mentioned situation, on the basis of the foregoing description one or embodiment two, further, also comprise before the step 1:
The three-dimensional land map in smooth plot is treated in step 101, storage and demonstration.
Step 102, determine the level land route of level land mechanism according to the three-dimensional land map for the treatment of smooth plot that shows.
Treat that by demonstration the three-dimensional land map in smooth plot can understand the topographic features for the treatment of smooth plot, understand the height of each position physical features, for allocating the ground route, the land leveller body plan provides foundation, determine rational level land route, preferred route is to make level land mechanism in the process of level land the position soil of high-land directly be filled out the low position of physical features, can improve the land readjustment efficiency of operation.
Embodiment three
The embodiment of the invention also provides a kind of land readjustment control device, can implement the land readjustment method that the embodiment of the invention provides, the structural representation of the land readjustment control device that Fig. 3 is provided for the embodiment of the invention three, as shown in Figure 3, this land readjustment control device comprises receiving mechanism 201 and comparison module 202.
The land readjustment method that embodiment of the invention land readjustment control device can adopt the embodiment of the invention to provide, control level land mechanism carries out the land readjustment operation, obtain in real time by receiving mechanism and to treat smooth position height value, adopt comparison module that height value and preset reference elevation are compared, produce the level land control signal according to comparative result and offer level land mechanism, the land readjustment operation of control level land mechanism, with with land readjustment to the preset reference elevation, the scope of utilizing this control device control level land mechanism to carry out the land readjustment operation is unrestricted, can carry out the land readjustment operation to the smooth plot for the treatment of of any area, and it is little influenced by natural cause.
Embodiment four
The structural representation of the land readjustment control device that Fig. 4 is provided for the embodiment of the invention four, on the basis of the foregoing description three, further, as shown in Figure 4, receiving mechanism 201 comprises reception antenna 200 at least, and this land readjustment control device also comprises attitude information acquisition module 203 and correction module 204.
Attitude information acquisition module 203 is used for obtaining in real time the attitude information of reception antenna 200.
Further, this land readjustment control device also comprises first memory module 205 and three-dimensional land map drafting module 206.
Three-dimensional land map drafting module 206 is used for the three-dimensional land map according to the plot after surperficial longitude, latitude value and the land readjustment of height value real-time rendering in the plot of the relevant position after the land readjustment.
In the land readjustment process, can obtain the longitude for the treatment of smooth position in real time by receiving mechanism, latitude value and height value, and send to first memory module, the longitude of obtaining by the first memory module real-time storage for the treatment of smooth position, latitude value and height value, but owing to when land readjustment, cutting the earth or banketing operation, therefore some treats the longitude of smooth position, latitude value and height value may change, if the coordinate of some position changes, first memory module can refresh according to back one this location information data constantly this location information data to previous moment, data after will refreshing are as the surperficial longitude in the plot of this position after the land readjustment, latitude value and height value, and send the three-dimensional land map drafting module to, utilize the three-dimensional land map of above-mentioned location information data by the plot after the land readjustment of three-dimensional land map drafting module real-time rendering, when treating after smooth plot all finishes grading operation, also just drawn out simultaneously the smooth three-dimensional land map in plot afterwards, therefore realize land readjustment and plot topographic survey carried out simultaneously, and can by according to draw out smooth after the three-dimensional land map in plot estimate leveling effect.
Further, this land readjustment control device also comprises second memory module and display module.
Second memory module is used to store the three-dimensional land map for the treatment of smooth plot.
Display module is used to show the three-dimensional land map for the treatment of smooth plot.
Each functional module and mechanism in the above-mentioned land readjustment control device can realize by hardware mode, or realize by the hardware mode that has programmed instruction, needn't limit for the form of module.Such as, receiving mechanism can adopt the GPS receiver to realize, the attitude information acquisition module can adopt attitude transducer, comparison module and correction module can be realized by interlock circuit or the processor that has a programmed instruction, first memory module and second memory module can adopt memory, storage medium such as disk or CD is realized, display module can be various display terminals, also can in a calculator, dispose and realize above-mentioned comparison simultaneously, proofread and correct, the functional module of storage and Presentation Function, by computer realization relatively, proofread and correct, storage and Presentation Function, also can be in this calculator also be provided with and comprise functional module, realize that simultaneously three-dimensional land map draws function with the instruction of three-dimensional land map drawing program.
The embodiment of the invention also provides a kind of land readjustment device, comprise the smooth control device in ground that above-mentioned arbitrary embodiment provides mechanism pacifically, can implement the land readjustment method that the embodiment of the invention provides, and the land readjustment control device control level land mechanism that utilizes the embodiment of the invention to provide carries out the land readjustment operation.
Embodiment five
The structural representation of the land readjustment device that Fig. 5 is provided for the embodiment of the invention five, as shown in Figure 5, this land readjustment device comprises land readjustment control device mechanism pacifically, this land readjustment control device comprises receiving mechanism 201, comparison module 202, attitude information acquisition module 203, correction module 204, first memory module 205 and three-dimensional land map drafting module 206, receiving mechanism 201 comprises reception antenna 200, and this level land mechanism comprises solenoid-driven unit 210, hydraulic pressure unit 211, flat shovel 212 and traction unit 213.
Solenoid-driven unit 210 is used for driving the position of signal with the control spool according to the ratio that the level land control signal that receives is exported the hydraulic pressure unit spool.
The solenoid-driven unit can be realized by PLC, (Programmable Logic Controller, programmable logic controller (PLC), be called for short PLC), perhaps realize by relevant circuit, hydraulic pressure unit can be various hydraulic presses with by the driving force of hydraulic pressure transfer to flat shovel, be not limited to the mode that present embodiment provides.
When the level land mechanism that utilizes present embodiment to provide carries out the land readjustment operation, because the transmission frequency of level land control signal is carried out the frequency of action usually greater than hydraulic pressure unit, need change the level land control signal that receives by the solenoid-driven unit, carry out the ratio conversion according to the frequency that the signal frequency and the hydraulic pressure unit of the level land control signal that receives are carried out action, the ratio of output spool drives signal, spool drives unblanking according to this ratio after changing and moves to corresponding position, the pressure that will flow through the liquid of spool by hydraulic pressure unit is converted to the driving force to flat shovel, the flow and the direction of liquid that can be by flowing through spool, generation is banketed or is cut the earth to carry out the land readjustment operation by the flat shovel of this drive force the different directions driving force of flat shovel.
The level land mechanism that present embodiment provides drives the action that the level land is shoveled by hydraulic pressure unit, realize automation control easily, and hydraulically powered reaction velocity is fast, and driving error is little, helps improving the homework precision to land readjustment.
Certainly, level land mechanism also can adopt other version, is not limited to present embodiment, for example, receives the level land control signal by PLC, and exports the control signal of respective electric element and then the land readjustment operation of control bulldozer or Slicking apparatus by PLC.
Be better receiving satellite signal, the level land that reception antenna can be fixed in level land mechanism is shoveled on the mast of top, the flat shovel position height value that the relative position calculation of the position by flat shovel place and the point at reception antenna place obtains, this height value is the height value for the treatment of smooth position.Because the point at reception antenna place and the position at flat shovel place is only vertically having relative distance on the height, when therefore utilizing this relative position calculation to treat the height value of smooth position, computing is simple, and error is less, can improve the precision that obtains height value.
Also reception antenna can be placed on other positions of level land mechanism, by the reception antenna receiving satellite signal, performing calculations with the relative position for the treatment of smooth position according to the point at reception antenna place obtains treating the height value of smooth position.
The land readjustment device that utilizes the embodiment of the invention to provide carries out the land readjustment operation, job area is unrestricted, can carry out the land readjustment operation to the plot of any area, it is little influenced by natural cause, and can realize the land readjustment operation with and the topographic institutional operation in plot, in gathering the altitude data process, add the data correction link, effectively improved precision and topographic precision of land readjustment operation.
It should be noted that at last: above embodiment only in order to technical scheme of the present invention to be described, is not intended to limit; Although with reference to previous embodiment the present invention is had been described in detail, those of ordinary skill in the art is to be understood that: it still can be made amendment to the technical scheme that aforementioned each embodiment put down in writing, and perhaps part technical characterictic wherein is equal to replacement; And these modifications or replacement do not make the essence of appropriate technical solution break away from the spirit and scope of various embodiments of the present invention technical scheme.
Claims (10)
1. a land readjustment method is characterized in that, comprising:
Step 1, obtain the positional information for the treatment of smooth position in real time based on global position system, wherein, comprise height value in the described positional information at least by receiving mechanism;
Step 2, described height value and preset reference elevation are compared to produce the level land control signal;
Step 3, according to the land readjustment operation of described level land control signal control level land mechanism, with land readjustment to described preset reference elevation.
2. land readjustment method according to claim 1 is characterized in that, described step 3 specifically comprises:
According to the depth displacement in the control signal of described level land, the amount of movement of the native parts vertical direction of shovel in the control level land mechanism, to the land readjustment operation, with land readjustment to described preset reference elevation, wherein, described depth displacement is the difference between described height value and the preset reference elevation.
3. land readjustment method according to claim 1 and 2 is characterized in that described receiving mechanism comprises reception antenna at least, also comprises after the described step 1:
Step 11, obtain the attitude information of reception antenna in real time;
Step 12, according to described attitude information described height value is proofreaied and correct, then execution in step 2.
4. land readjustment method according to claim 1 and 2 is characterized in that, also comprises longitude and the latitude value for the treatment of smooth position in the described positional information, also comprises after the then described step 3:
Step 31, real-time storage also refresh longitude, latitude value and the height value for the treatment of smooth position, and described longitude, latitude value and height value after will refreshing are as surperficial longitude, latitude value and the height value in the plot of the relevant position after the land readjustment;
Step 32, according to surperficial longitude, latitude value and the height value in the plot of the relevant position after the described land readjustment, the three-dimensional land map in the plot after the real-time rendering land readjustment.
5. land readjustment method according to claim 1 and 2 is characterized in that, also comprises before the described step 1:
The three-dimensional land map in smooth plot is treated in step 101, storage and demonstration;
Step 102, determine the level land route of level land mechanism according to the three-dimensional land map for the treatment of smooth plot of described demonstration.
6. a land readjustment control device is characterized in that, comprising:
Receiving mechanism, described receiving mechanism comprises reception antenna at least, is used for obtaining the positional information for the treatment of smooth position in real time based on global position system, wherein, comprises height value in the described positional information at least;
Comparison module is used for described height value and preset reference elevation are compared, and offers level land mechanism to produce the level land control signal, the land readjustment operation of control level land mechanism, with land readjustment to described preset reference elevation.
7. land readjustment control device according to claim 6 is characterized in that, also comprises:
The attitude information acquisition module is used for obtaining in real time the attitude information of reception antenna;
Correction module is used for according to described attitude information described height value being proofreaied and correct.
8. according to claim 6 or 7 described land readjustment control device, it is characterized in that, also comprise longitude and the latitude value for the treatment of smooth position in the described positional information, also comprise:
First memory module, be used for real-time storage and refresh longitude, latitude value and the height value for the treatment of smooth position, and described longitude, latitude value and height value after will refreshing are as surperficial longitude, latitude value and the height value in the plot of the relevant position after the land readjustment;
The three-dimensional land map drafting module is used for the three-dimensional land map according to the plot after surperficial longitude, latitude value and the land readjustment of height value real-time rendering in the plot of the relevant position after the described land readjustment.
9. according to claim 6 or 7 described land readjustment control device, it is characterized in that, also comprise:
Second memory module is used to store the three-dimensional land map for the treatment of smooth plot;
Display module is used to show the three-dimensional land map for the treatment of smooth plot.
10. a land readjustment device is characterized in that, comprises the arbitrary described land readjustment control device of claim 6-9 mechanism pacifically, and described level land mechanism comprises:
The solenoid-driven unit is used for driving the position of signal with the control spool according to the ratio that the described level land control signal that receives is exported the hydraulic pressure unit spool;
Hydraulic pressure unit is used for being converted to driving force to flat shovel according to the fluid pressure that spool will be flow through in the position of spool;
Level land shovel is used for carrying out the land readjustment operation according to the driving force of hydraulic pressure unit, with land readjustment to described preset reference elevation;
Traction unit is used to draw flat shovel and is treating that entirely interblock is advanced.
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| CN102607499A (en) * | 2012-03-12 | 2012-07-25 | 华南农业大学 | Vehicle-mounted farm three-dimensional topographical surveying device |
| CN103196403A (en) * | 2013-03-21 | 2013-07-10 | 中国农业大学 | Earth volume measurement method based on GPS control ground system |
| CN103650695A (en) * | 2013-12-17 | 2014-03-26 | 陕西地建土地工程技术研究院有限责任公司 | Method for leveling land according to soil layer thicknesses |
| WO2015143964A1 (en) * | 2014-03-24 | 2015-10-01 | 常州华达科捷光电仪器有限公司 | Grader control system and control method thereof |
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| CN110149831A (en) * | 2019-06-03 | 2019-08-23 | 上海港城建筑安装工程有限公司 | A kind of park prepartion of land method |
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| CN103650695A (en) * | 2013-12-17 | 2014-03-26 | 陕西地建土地工程技术研究院有限责任公司 | Method for leveling land according to soil layer thicknesses |
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| CN112020926A (en) * | 2020-09-14 | 2020-12-04 | 上海联适导航技术有限公司 | Flat ground control method, device and equipment |
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| CN112650221A (en) * | 2020-12-03 | 2021-04-13 | 广州极飞科技有限公司 | Flat ground path generation method, flat ground path generation device, processing equipment and storage medium |
| WO2022116935A1 (en) * | 2020-12-03 | 2022-06-09 | 广州极飞科技股份有限公司 | Path range determination method and apparatus, and path planning method and apparatus |
| WO2023050684A1 (en) * | 2021-09-28 | 2023-04-06 | 上海三一重机股份有限公司 | Land leveling assistance system and method, and operation machine |
| CN114494432A (en) * | 2021-12-31 | 2022-05-13 | 上海联适导航技术股份有限公司 | Leveling and slope-adjusting operation terrain track display system and method based on satellite positioning |
| CN116784041A (en) * | 2023-07-26 | 2023-09-22 | 上海联适导航技术股份有限公司 | Leveling and slope-trimming method for automatically setting and adjusting reference height |
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