CN114494432B - Leveling and slope-adjusting operation terrain track display system and method based on satellite positioning - Google Patents
Leveling and slope-adjusting operation terrain track display system and method based on satellite positioning Download PDFInfo
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Abstract
The invention discloses a leveling and slope-leveling operation terrain track display system and method based on satellite positioning, comprising a satellite positioning acquisition module, an operation machine tool measurement module, a track processing module and a data query module; the satellite positioning acquisition module is used for acquiring coordinate information of a real-time satellite positioning antenna and elevation information of satellite positioning, wherein the elevation information is real-time altitude and reference altitude of the satellite positioning antenna under different terrain heights; the working tool measuring module is used for acquiring data information measured by a working tool in a movement process; the track processing module is used for combining and processing the data information acquired by the satellite positioning acquisition module and the working machine measurement module and drawing corresponding track information; and the data query module is used for receiving the data information of the track processing module and providing the data information for the user to query at any time.
Description
Technical Field
The invention relates to the technical field of relief track display, in particular to a system and a method for displaying a relief track of leveling and slope-adjusting operation based on satellite positioning.
Background
Leveling operation equipment generally comprises a laser leveling system and a satellite leveling system, and the traditional system has no operation track display and only has real-time height difference prompt display, so that an operator cannot master the height distribution of the terrain of an operation plot, the operation has no clear leveling direction, the operation is seriously missed, the operation efficiency is greatly reduced, and the operation cost is increased;
the new leveling high-low terrain track display scheme has the advantages that due to the reason of algorithm and equipment limitation, during operation, a track higher than a reference surface is displayed as a real high terrain, but is lower than the reference surface, due to the fact that a satellite positioning antenna can keep or trend to the reference surface in an automatic state, the system cannot judge the low-lying degree of the terrain, the operation track displays the leveled or higher-than actual low-lying terrain, the antenna is actually in the reference position, but a leveling shovel body can be higher than the low-lying ground, the terrain at the moment is lower and is shown as leveled from a map, during operation, operators can easily judge that an operation block is leveled by mistake, rework can be caused, the operation efficiency is reduced, and the leveling investment cost is increased; and when farmland operation is carried out, the operation plots in different areas are different in size, the driving direction of the operation machine cannot be effectively adjusted according to the height of the terrain, so that the soil at the high part of the terrain cannot be quickly transported to the low part of the terrain, the limitation of the operation is increased, and the operation efficiency is reduced.
Disclosure of Invention
The invention aims to provide a leveling and slope-leveling operation terrain track display system and method based on satellite positioning, so as to solve the problems in the background technology.
In order to solve the technical problems, the invention provides the following technical scheme: the leveling and slope-leveling operation terrain track display system based on satellite positioning comprises a satellite positioning acquisition module, an operation machine tool measurement module, a track processing module and a data query module; the satellite positioning acquisition module is used for acquiring coordinate information of a real-time satellite positioning antenna and elevation information of satellite positioning, wherein the elevation information is real-time altitude and reference altitude of the satellite positioning antenna under different terrain heights; the operation tool measuring module is used for acquiring the width of the operation tool and data information measured by the operation tool in the movement process; the track processing module is used for combining and processing the data information acquired by the satellite positioning acquisition module and the working machine measurement module and drawing corresponding track information; the data query module is used for receiving the data information of the track processing module and providing the data information for the user to query at any time.
Furthermore, the operation machine tool measuring module comprises an operation machine tool component position unit, the operation machine tool component position unit is used for calibrating the position information of main components in the operation machine tool, and the main components comprise tires of the operation machine tool, a scraper knife of the operation machine tool, an oil cylinder of the operation machine tool and an antenna on the operation machine tool;
the operation machine part position unit marks that the space linear distance between the tire of the operation machine and the scraper knife of the operation machine is not changed, the space linear distance between the scraper knife of the operation machine and the antenna on the operation machine is not changed, and the operation machine part position unit marks that the oil cylinder of the operation machine is lifted to change the space linear distance between the antenna on the operation machine and the tire of the operation machine.
Furthermore, the operation tool measuring module comprises an attitude sensor unit, and the attitude sensor unit is used for acquiring the change of the angle size of the operation tool caused by the change of the terrain height in the real-time operation process based on the data information of the operation tool component position unit;
the method comprises the following steps that when an attitude sensor unit detects the operation of a working machine, a satellite positioning acquisition module acquires the real-time altitude of an antenna on the working machine in real time; the operating tool measurement module performs attitude calibration on data of the attitude sensor unit and the satellite positioning acquisition module, wherein the attitude calibration comprises threshold data acquired by the attitude sensor unit and the satellite positioning acquisition module when an oil cylinder of the operating tool is within a space linear distance threshold between an antenna on the operating tool and a tire of the operating tool under the condition of horizontal ground height; when the attitude sensor processes the threshold data to obtain any operation position of the operation machine, the lifting height of a scraper knife of the operation machine is obtained;
the operation machine tool measuring module comprises a real-time topography evaluation unit, wherein the real-time topography evaluation unit is used for calculating the difference value between the real topography of the operation machine tool and a reference altitude on different high and low topography, and the reference altitude is the altitude of the antenna on the operation machine tool, which is acquired by the satellite positioning acquisition module when the operation machine tool operates on the level ground.
Further, the track processing module carries out sequential connection processing on the coordinate information of the real-time satellite positioning antenna in the satellite positioning acquisition module to obtain a track graph of real-time work of the operation machine; the track processing module sets color reference intervals to be in one-to-one correspondence to obtain block chromaticities corresponding to different difference values based on the data information of the real-time terrain evaluation unit; the track processing module maps the block chrominance information with the track map to obtain a track map with chrominance distinction; the track processing module transmits the track map with the chromaticity distinction to the data query module;
the data query module receives the data information of the track processing module and updates the data in real time, and the data query module provides real-time high-low topography distribution conditions of the operation land parcel of the operation machine tool for users.
A leveling and slope-leveling operation terrain track display method based on satellite positioning comprises the following steps:
step S100: acquiring coordinate information and elevation information of an antenna on a working machine in real time, wherein the coordinate information is a point coordinate A of a satellite positioning antenna i ，i＝{1,2,3......r}，A i Point coordinates representing the satellite positioning antenna at the ith time; the elevation information is real-time elevation and reference elevation of the satellite positioning antenna under different terrain heights;
the point coordinates of the antenna are obtained through satellite positioning and serve as a reference for drawing the track map, positioning information is obtained accurately and mature, the satellite positioning is installed on the operation machine tool, the track and the position are effectively surveyed at the same time, and the height of the terrain of the operation machine tool is further measured.
Step S200: carrying out attitude calibration on an attitude sensor on the working machine tool, and solving the distance between the positions of main components on the working machine tool and the height of a scraper knife from the ground; the main components comprise tires of the operation machine tool, a shovel blade of the operation machine tool, an oil cylinder of the operation machine tool and an antenna on the operation machine tool;
step S300: calculating the difference between the terrain height of the working tool and the actual reference altitude height in a real-time state based on the data in the step S200;
step S400: setting color reference intervals to be in one-to-one correspondence based on the difference values in the step S300, matching colors corresponding to different difference values to obtain chromaticity intervals, drawing a complete track graph with the chromaticity intervals corresponding to the point coordinates in the step S100, and judging the height of the terrain by a user according to the colors on the track graph.
Further, the specific process of step S200 is:
step S210: the attitude sensor performs attitude calibration when the work tool is on the horizontal ground, and records the attitude of the work tool at the momentHeight h of the antenna 1 Angle alpha to attitude sensor 1 ；
Step S220: raising the scraper knife of the operation machine to the upper limit distance of the threshold value on the horizontal ground, wherein the upper limit distance of the threshold value is the maximum value of the space linear distance between the antenna on the operation machine and the tire on the operation machine, and recording the height h of the antenna on the operation machine at the moment 2 Angle alpha to attitude sensor 2 ；
The spatial linear distance between the antenna on the working machine and the tire on the working machine can be changed in real time, so that the maximum value of the whole motion process is obtained to obtain the upper limit angle of the attitude sensor;
step S230: the range of the height of the antenna on the work implement obtained based on the steps S210 and S220 is [ h ] 1 ，h 2 And h is 2 >h 1 (ii) a The angle range of the attitude sensor is [ alpha ] 1 ，α 2 And α, and 2 >α 1 (ii) a The linear distance between the tire of the working machine and the shovel blade of the working machine is determined as l 1 ，l 1 ＝(h 2 -h 1 )/sin(α 2 -α 1 )；
The tire of the operation machine tool and the space linear distance of the shovel blade of the operation machine tool are fixed and invariable, and are calibrated in a circle, so that the space linear distance between the tire of the operation machine tool and the shovel blade of the operation machine tool is the radius of the circle, the motion of the operation machine tool can be depicted in the circle, and the radius moves along the circle at a fixed point on the circle;
step S240: based on the data of step S230, let the division angle be α 1 And alpha 2 At any time, the angle of the attitude sensor is alpha i ，i＝{1，2，3......r}，α i The angle of the attitude sensor at the i-th moment is represented by the height H of the blade of the working tool from the ground i ，i＝{1，2，3......r}，H i H represents the height of the blade of the work tool from the ground at the i-th time i ＝l 1 *sin(α i -α 1 )＝(h 2 -h 1 )/sin(α 2 -α 1 )*sin(α i -α 1 )。
The attitude calibration is carried out for accurately calculating the range of distance which can be reached by the antenna and the angle change range of the attitude sensor when the working machine is on the flat ground, and is prepared for calculating compensation values of the working machine on the ground with uneven high and low terrain distribution; and after attitude calibration is carried out, the space linear distance between the tire of the operation machine and the scraper knife of the operation machine can be accurately obtained, so that the height of the scraper knife from the ground under real-time dynamic operation is further calculated according to the circle characteristic.
Further, the specific process of step S300 is:
step S310: obtaining the space linear distance between a shovel blade of an operating machine and an antenna on the operating machine as l 3 And l is 3 The numerical value remains unchanged when the work tool works to any terrain; let the antenna reference altitude be H 0 The real-time altitude of the positioning antenna is G i ；
The space linear distance between the scraper knife of the operation machine tool and the antenna on the operation machine tool is fixed and constant, the distance is the distance of a certain point motion depicted on the circumference, and the linear distance is obtained to obtain the real scraper knife altitude and the actual reference altitude, because the scraper knife is used for directly scraping soil in the actual working process, the altitude difference can be generated;
step S320: based on the data of step S310, the height of the blade of the work tool from the ground is known to be H i The actual reference altitude of the antenna can be obtained as H 0 -l 3 Altitude of the shovel blade of the actual working machine is G i -l 3 (ii) a Further obtaining the difference P between the terrain height of the working machine and the actual reference altitude height 0 ＝(G i -l 3 )+H i -(H 0 -l 3 )＝G i +H i -H 0 。
The process is to obtain the altitude difference between the real terrain height and the reference altitude of the operation machine during operation, effectively judge the height of the terrain and then master the real-time leveling condition of the ground, compensate the height of the scraper knife from the ground into the difference between the antenna and the reference altitude, obtain the difference, namely the real altitude difference between the ground and the reference height, and display the real height condition relative to the reference altitude of the real representation ground.
Further, the specific process of matching the colors corresponding to the different differences in step S400 to obtain the chromaticity interval is as follows:
step S410: setting color reference intervals as k chrominance intervals, wherein k is {1,2, a.... m }, which represents the k-th chrominance interval, the 1 st chrominance interval and the m-th chrominance interval are respectively provided with an upper threshold value and a lower threshold value, the upper threshold value is an upper limit value of the chrominance interval which can be distinguished by the difference between the terrain height of the working machine and the actual reference altitude, and the lower threshold value is a lower limit value of the chrominance interval which can be distinguished by the difference between the terrain height of the working machine and the real-time reference altitude;
step S420: setting a color difference range except for the middle chroma interval of the 1 st chroma interval and the mth chroma interval, wherein the color difference range comprises a top value and a bottom value, the bottom value of the m-2 th chroma interval is the same as the top value of the m-1 th chroma interval, and the top value of the m-2 th chroma interval is the same as the bottom value of the m-3 th chroma interval; the top value of the 2 nd chromaticity interval is equal to the upper limit value, and the bottom value of the m-1 st chromaticity interval is equal to the lower limit value.
In order to display the difference of the terrain height on the satellite positioning track by setting different chromaticity intervals and assigning different chromatic aberration ranges, the user can query corresponding numerical values according to different colors, and the terrain distribution of the operation ground in the working state of the operation machine can be obtained, so that purposeful leveling operation can be performed.
Compared with the prior art, the invention has the following beneficial effects: according to the invention, the attitude detection module is added on the basis of the existing scheme and algorithm, and an operator can really master the on-site leveling condition by detecting the lifting height of the land leveling shovel, so that the directional and purposeful leveling operation is realized, the state of the shovel body does not need to be concerned constantly, the body fatigue caused by frequent turning back is reduced, and the phenomena of poor leveling operation quality, low operation efficiency, rework and the like caused by the fact that the operation state of the shovel blade and the height information of a land parcel cannot be seen clearly at night can be avoided; meanwhile, the invention has low cost, and only one attitude sensor needs to be added; the calibration is convenient, only one calibration is needed after the installation is finished, and the calibration time is short; the operation efficiency is improved, the high-low topography track map of a real operation land is realized by combining a software algorithm, the operation manipulator can continuously operate for 24 hours without looking back to see whether the land leveling shovel scrapes soil and unloads soil, the high-low topography distribution details of the whole operation land can be mastered in real time, the leveling operation does not run carelessly, the operation efficiency is improved, the cost investment is reduced, and the fuel consumption and the pollution to the environment are reduced.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention. In the drawings:
FIG. 1 is a schematic diagram of a system for displaying a terrain track of a leveling and grading operation based on satellite positioning according to the present invention;
FIG. 2 is a flow chart of a method for displaying a terrain track of leveling and grading operations based on satellite positioning according to the present invention;
FIG. 3 is a process of attitude sensor calibration for the method of displaying a contour trace for leveling and grading operations based on satellite positioning according to the present invention;
FIG. 4 is a calculation process of the difference between the real terrain and the reference altitude in the method for displaying the terrain trajectory of leveling and grading operations based on satellite positioning according to the present invention;
FIG. 5 is a chromaticity interval matching process of the leveling and slope setting operation terrain trajectory display method based on satellite positioning.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1-5, the present invention provides a technical solution: the leveling and slope-leveling operation terrain track display system based on satellite positioning comprises a satellite positioning acquisition module, an operation machine tool measurement module, a track processing module and a data query module; the satellite positioning acquisition module is used for acquiring coordinate information of a real-time satellite positioning antenna and elevation information of satellite positioning, wherein the elevation information is real-time altitude and reference altitude of the satellite positioning antenna under different terrain heights; the working tool measuring module is used for acquiring the width of the working tool and data information measured by the working tool in the movement process; the track processing module is used for combining and processing the data information acquired by the satellite positioning acquisition module and the working machine measurement module and drawing corresponding track information; the data query module is used for receiving the data information of the track processing module and providing the data information for the user to query at any time.
The operation machine tool measuring module comprises an operation machine tool component position unit, the operation machine tool component position unit is used for calibrating position information of main components in the operation machine tool, and the main components comprise tires of the operation machine tool, a scraper knife of the operation machine tool, an oil cylinder of the operation machine tool and an antenna on the operation machine tool;
the operation machine part position unit marks that the space linear distance between the tire of the operation machine and the scraper knife of the operation machine is not changed, the space linear distance between the scraper knife of the operation machine and the antenna on the operation machine is not changed, and the operation machine part position unit marks that the oil cylinder of the operation machine is lifted to change the space linear distance between the antenna on the operation machine and the tire of the operation machine.
The operation tool measuring module comprises an attitude sensor unit, and the attitude sensor unit is used for acquiring the change of the angle of the operation tool caused by the change of the terrain height in the real-time operation process based on the data information of the operation tool part position unit;
the method comprises the following steps that when an attitude sensor unit detects the operation of a working machine, a satellite positioning acquisition module acquires the real-time altitude of an antenna on the working machine in real time; the operating tool measurement module performs attitude calibration on data of the attitude sensor unit and the satellite positioning acquisition module, wherein the attitude calibration comprises threshold data acquired by the attitude sensor unit and the satellite positioning acquisition module when an oil cylinder of the operating tool is within a space linear distance threshold between an antenna on the operating tool and a tire of the operating tool under the condition of horizontal ground height; when the attitude sensor processes the threshold data to obtain any operation position of the operation machine, the lifting height of a scraper knife of the operation machine is obtained;
the operation machine tool measuring module comprises a real-time terrain evaluating unit, the real-time terrain evaluating unit is used for calculating the difference value between the real terrain of the operation machine tool and the reference altitude of the operation machine tool on different high-low terrains, and the reference altitude is the altitude of the antenna on the operation machine tool acquired by the satellite positioning acquisition module when the operation machine tool is positioned on the level ground.
The track processing module is used for sequentially connecting the coordinate information of the real-time satellite positioning antenna in the satellite positioning acquisition module to obtain a track graph of the real-time work of the operation machine; the track processing module sets color reference intervals to be in one-to-one correspondence to obtain block chromaticities corresponding to different difference values based on the data information of the real-time terrain evaluation unit; the track processing module maps the block chrominance information with the track map to obtain a track map with chrominance distinction; the track processing module transmits the track map with the chromaticity distinction to the data query module;
the data query module receives the data information of the track processing module and updates the data in real time, and the data query module provides real-time high-low topography distribution conditions of the operation land parcel of the operation machine tool for a user.
A leveling and slope-leveling operation terrain track display method based on satellite positioning comprises the following steps:
step S100: acquiring coordinate information and elevation information of an antenna on a working machine in real time, wherein the coordinate information is a point coordinate A of a satellite positioning antenna i ，i＝{1,2,3......r}，A i Point coordinates representing the satellite positioning antenna at the ith time; the elevation information is real-time elevation and reference elevation of the satellite positioning antenna under different terrain heights;
the point coordinates of the antenna are obtained through satellite positioning and serve as a reference for drawing the track map, positioning information is obtained accurately and mature, the satellite positioning is installed on the operation machine tool, the track and the position are effectively surveyed at the same time, and the height of the terrain of the operation machine tool is further measured.
Step S200: carrying out attitude calibration on an attitude sensor on the working machine tool, and solving the distance between the positions of main components on the working machine tool and the height of a scraper knife from the ground; the main components comprise tires of the operation machine tool, a shovel blade of the operation machine tool, an oil cylinder of the operation machine tool and an antenna on the operation machine tool;
the specific process of step S200 is:
step S210: the attitude sensor performs attitude calibration when the work implement is on a level ground, and records the height h of an antenna on the work implement at the moment 1 Angle alpha to attitude sensor 1 ；
Step S220: raising the scraper knife of the operation machine to the upper limit distance of the threshold value on the horizontal ground, wherein the upper limit distance of the threshold value is the maximum value of the space linear distance between the antenna on the operation machine and the tire on the operation machine, and recording the height h of the antenna on the operation machine at the moment 2 Angle alpha to attitude sensor 2 ；
The spatial linear distance between the antenna on the working machine and the tire on the working machine can be changed in real time, so that the maximum value of the whole motion process is obtained to obtain the upper limit angle of the attitude sensor;
step S230: obtaining the range of the height of the antenna on the working machine as h based on the step S210 and the step S220 1 ，h 2 And h is 2 >h 1 (ii) a The angle range of the attitude sensor is [ alpha ] 1 ，α 2 And α, and 2 >α 1 (ii) a The linear distance l between the tire of the working machine and the shovel blade of the working machine is obtained 1 ，l 1 ＝(h 2 -h 1 )/sin(α 2 -α 1 )；
The tire of the operation machine tool and the space linear distance of the shovel blade of the operation machine tool are fixed and invariable, and are calibrated in a circle, so that the space linear distance between the tire of the operation machine tool and the shovel blade of the operation machine tool is the radius of the circle, the motion of the operation machine tool can be depicted in the circle, and the radius moves along the circle at a fixed point on the circle;
step S240: based on the data of step S230, let the division angle be α 1 And alpha 2 At any time, the angle of the attitude sensor is alpha i ，i＝{1，2，3......r}，α i The angle of the attitude sensor at the i-th time is represented by the height H of the blade of the working machine from the ground i ，i＝{1，2，3......r}，H i H represents the height of the blade of the work tool from the ground at the i-th time i ＝l 1 *sin(α i -α 1 )＝(h 2 -h 1 )/sin(α 2 -α 1 )*sin(α i -α 1 )。
For example: the height range of an antenna on the working machine is (2 m, 5 m), and the angle range of the attitude sensor is (20 degrees, 70 degrees); then find l 1 ＝(h 2 -h 1 )/sin(α 2 -α 1 ) (5-2)/sin (70-20) is 3.89m, and the height of the shovel blade of the working machine from the ground is H n ＝(h 2 -h 1 )/sin(α 2 -α 1 )*sin(α 3 -α 1 )＝3.89×sin(30°-20°)＝0.66m；
The attitude calibration is carried out for accurately calculating the range of distance which can be reached by the antenna and the angle change range of the attitude sensor when the working machine is on the flat ground, and is prepared for calculating compensation values of the working machine on the ground with uneven high and low terrain distribution; and after the attitude calibration is carried out, the space linear distance between the tire of the operation machine and the scraper knife of the operation machine can be accurately obtained, so that the height of the scraper knife from the ground under real-time dynamic operation is further calculated according to the characteristics of the circle.
Step S300: calculating the difference between the terrain height of the working tool and the actual reference altitude height in a real-time state based on the data in the step S200;
the specific process of step S300 is:
step S310: scraper knife for obtaining operation machine and operation machineThe space linear distance of the upper antenna is l 3 And l is 3 The numerical value remains unchanged when the work tool works to any terrain; let the antenna reference altitude be H 0 The real-time altitude of the positioning antenna is G i ；
The space linear distance between the scraper knife of the operation machine tool and the antenna on the operation machine tool is fixed and constant, the distance is the distance of a certain point motion depicted on the circumference, and the linear distance is obtained to obtain the real scraper knife altitude and the actual reference altitude, because the scraper knife is used for directly scraping soil in the actual working process, the altitude difference can be generated;
step S320: based on the data of step S310, the height of the blade of the work tool from the ground is known to be H i The actual reference altitude of the antenna can be obtained as H 0 -l 3 Altitude of the shovel blade of the actual working machine is G i -l 3 (ii) a Further obtaining the difference P between the terrain height of the working machine and the actual reference altitude height 0 ＝(G i -l 3 )+H i -(H 0 -l 3 )＝G i +H i -H 0 ；
For example: the antenna reference altitude is 2m, the real-time altitude of the positioning antenna is 2.5m, the distance from the antenna to the scraper knife on the operation machine is 1.5m, the height from the scraper knife of the operation machine to the ground is 0.66m, and then P is measured 0 ＝(H i -l 2 )+H n -(H 0 -l 2 )＝H i +H n -H 0 ＝2.5+0.66-2＝1.16m；
The process is to obtain the altitude difference between the real terrain height and the reference altitude of the operation machine during operation, effectively judge the height of the terrain and then master the real-time leveling condition of the ground, compensate the height of the scraper knife from the ground into the difference between the antenna and the reference altitude, obtain the difference, namely the real altitude difference between the ground and the reference height, and display the real height condition relative to the reference altitude of the real representation ground.
Step S400: setting color reference intervals to be in one-to-one correspondence based on the difference values in the step S300, matching colors corresponding to different difference values to obtain a chromaticity interval, drawing a complete track graph with the chromaticity interval by corresponding the chromaticity interval to the point coordinates in the step S100 and the width W of the work tool in the step S200, and judging the height of the terrain by a user according to the colors on the track graph.
The specific process of matching the colors corresponding to the different differences to obtain the chromaticity interval in step S400 is as follows:
step S410: setting color reference intervals as k chrominance intervals, wherein k is {1,2, a.... m }, which represents the k-th chrominance interval, the 1 st chrominance interval and the m-th chrominance interval are respectively provided with an upper threshold value and a lower threshold value, the upper threshold value is an upper limit value of the chrominance interval which can be distinguished by the difference between the terrain height of the working machine and the actual reference altitude, and the lower threshold value is a lower limit value of the chrominance interval which can be distinguished by the difference between the terrain height of the working machine and the real-time reference altitude;
for example: 9 chromaticity intervals are set, the upper limit value of the threshold value of the first chromaticity interval is set to be 20cm, and the lower limit value of the threshold value of the ninth chromaticity interval is set to be-20 cm; when the difference value exceeds the upper limit value of the threshold value by 20cm, the displayed chromaticity is the color of the first chromaticity interval, and when the difference value exceeds the lower limit value of the threshold value by-20 cm, the displayed chromaticity is the color of the ninth chromaticity interval.
Step S420: setting a color difference range except for the middle chroma interval of the 1 st chroma interval and the mth chroma interval, wherein the color difference range comprises a top value and a bottom value, the bottom value of the m-2 th chroma interval is the same as the top value of the m-1 th chroma interval, and the top value of the m-2 th chroma interval is the same as the bottom value of the m-3 th chroma interval; the top value of the 2 nd chromaticity interval is equal to the upper limit value, and the bottom value of the m-1 st chromaticity interval is equal to the lower limit value.
The second to eighth chromaticity intervals set a color difference range, for example: the second chromaticity interval is between +10cm and +20cm, the third chromaticity interval is between +5cm and +10cm, the fourth chromaticity interval is between +5cm and +2.5cm, the fifth chromaticity interval is between-2.5 cm and +2.5cm, the sixth chromaticity interval is between-2.5 cm and-5 cm, the seventh chromaticity interval is between-5 cm and-10 cm, and the eighth chromaticity interval is between-10 cm and-20 cm;
in order to display the difference of the terrain height on the satellite positioning track by setting different chromaticity intervals and assigning different chromatic aberration ranges, the user can query corresponding numerical values according to different colors, and the terrain distribution of the operation ground in the working state of the operation machine can be obtained, so that purposeful leveling operation can be performed. For example: the satellite land leveling system is used for judging the height distribution of the land parcels in different areas by the experience of an operator during the process of leveling the land parcels in the farmland, and then leveling operation is carried out.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.
Finally, it should be noted that: although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that changes may be made in the embodiments and/or equivalents thereof without departing from the spirit and scope of the invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (6)
1. The leveling and slope-leveling operation terrain track display system based on satellite positioning is characterized by comprising a satellite positioning acquisition module, an operation machine tool measurement module, a track processing module and a data query module; the satellite positioning acquisition module is used for acquiring coordinate information of a real-time satellite positioning antenna and elevation information of satellite positioning, wherein the elevation information is real-time altitude and reference altitude of the satellite positioning antenna under different terrain heights; the working tool measuring module is used for acquiring data information measured by a working tool in a movement process; the track processing module is used for combining and processing the data information acquired by the satellite positioning acquisition module and the working machine measurement module and drawing corresponding track information; the data query module is used for receiving the data information of the track processing module and providing the data information for a user to query at any time;
the operation machine tool measuring module comprises an operation machine tool component position unit, the operation machine tool component position unit is used for calibrating position information of main components in the operation machine tool, and the main components comprise tires of the operation machine tool, a scraper knife of the operation machine tool, an oil cylinder of the operation machine tool and an antenna on the operation machine tool;
the operation machine tool component position unit calibrates that the space linear distance between the tire of the operation machine tool and the scraper knife of the operation machine tool is not changed, the space linear distance between the scraper knife of the operation machine tool and the antenna on the operation machine tool is not changed, and the operation machine tool component position unit calibrates that the oil cylinder of the operation machine tool is lifted to change the space linear distance between the antenna on the operation machine tool and the tire of the operation machine tool;
the working tool measuring module comprises an attitude sensor unit, and the attitude sensor unit is used for acquiring the change of the angle size of the working tool caused by the change of the terrain height in the real-time working process based on the data information of the working tool component position unit;
the satellite positioning acquisition module acquires the real-time altitude of an antenna on the working machine in real time while the attitude sensor unit detects the working of the working machine; the operating tool measuring module performs attitude calibration on the data of the attitude sensor unit and the satellite positioning acquisition module, wherein the attitude calibration comprises that under the condition of horizontal ground height, an oil cylinder of the operating tool is within a spatial linear distance threshold between an antenna on the operating tool and tires of the operating tool, and the attitude sensor unit and the satellite positioning acquisition module acquire threshold data; the attitude sensor processes the threshold data to obtain the rising height of a scraper knife of the operation machine tool when the operation machine tool is at any operation position;
the operation machine tool measuring module comprises a real-time topography evaluation unit, the real-time topography evaluation unit is used for calculating the difference value between the real topography of the operation machine tool and the reference altitude on different high and low topography, the reference altitude is the altitude of the antenna on the operation machine tool acquired by the satellite positioning acquisition module when the operation machine tool is on the level ground.
2. The satellite positioning based grading and grading work topography track display system according to claim 1, characterized in that: the track processing module is used for sequentially connecting the coordinate information of the real-time satellite positioning antenna in the satellite positioning acquisition module to obtain a track graph of the real-time work of the operation machine; the track processing module sets color reference intervals to be in one-to-one correspondence to obtain block chromaticities corresponding to different difference values based on the data information of the real-time terrain evaluation unit; the track processing module maps the block chrominance information with the track map to obtain a track map with chrominance distinction; the track processing module transmits the track map with the chromaticity distinction to the data query module;
the data query module receives the data information of the track processing module and updates data in real time, and the data query module provides real-time high-low topography distribution conditions of the operation land parcel of the operation machine tool for users.
3. A leveling and slope-leveling operation terrain track display method based on satellite positioning is characterized by comprising the following steps: the method comprises the following steps:
step S100: acquiring coordinate information and elevation information of an antenna on a working machine in real time, wherein the coordinate information is a point coordinate A of a satellite positioning antenna i ，i＝{1，2，3......r}，A i Point coordinates representing the satellite positioning antenna at the ith time; the elevation information is real-time elevation and reference elevation of the satellite positioning antenna under different terrain heights;
step S200: carrying out attitude calibration on an attitude sensor on the working machine tool, and solving the distance between the positions of main components on the working machine tool and the height of a scraper knife from the ground; the main components comprise tires of the operation machine tool, a shovel blade of the operation machine tool, an oil cylinder of the operation machine tool and an antenna on the operation machine tool;
step S300: calculating the difference between the terrain height of the working tool and the actual reference altitude height in a real-time state based on the data in the step S200;
step S400: setting color reference intervals to be in one-to-one correspondence based on the difference values in the step S300, matching colors corresponding to different difference values to obtain chromaticity intervals, drawing a complete track graph with the chromaticity intervals corresponding to the point coordinates in the step S100, and judging the height of the terrain by a user according to the colors on the track graph.
4. The method for displaying the terrain trajectory of the leveling and grading operation based on the satellite positioning as claimed in claim 3, wherein: the specific process of the step S200 is as follows:
step S210: the attitude sensor performs attitude calibration when the work implement is on a level ground, and records the height h of an antenna on the work implement at the moment 1 Angle alpha to attitude sensor 1 ；
Step S220: raising a scraper knife of a working machine to a threshold upper limit distance on the horizontal ground, wherein the threshold upper limit distance is the maximum value of the space linear distance between an antenna on the working machine and a tire on the working machine, and recording the height h of the antenna on the working machine at the moment 2 Angle alpha to attitude sensor 2 ；
Step S230: base ofThe range of the height of the antenna on the working tool obtained in the steps S210 and S220 is h 1 ，h 2 And h is 2 ＞h 1 (ii) a The angle range of the attitude sensor is [ alpha ] 1 ，α 2 And α, and 2 ＞α 1 (ii) a The linear distance l between the tire of the working machine and the shovel blade of the working machine is obtained 1 ，l 1 ＝(h 2 -h 1 )/sin(α 2 -α 1 )；
Step S240: based on the data of step S230, let the division angle be α 1 And alpha 2 At any time, the angle of the attitude sensor is alpha i ，i＝{1，2，3......r}，α i The angle of the attitude sensor at the i-th moment is represented by the height H of the blade of the working tool from the ground i ，i＝{1，2，3......r}，H i H represents the height of the blade of the work tool from the ground at the i-th time i ＝l 1 *sin(α i -α 1 )＝(h 2 -h 1 )/sin(α 2 -α 1 )*sin(α i -α 1 )。
5. The method for displaying the terrain trajectory of the leveling and grading operation based on the satellite positioning as claimed in claim 4, wherein: the specific process of step S300 is:
step S310: obtaining the space linear distance between a shovel blade of an operating machine and an antenna on the operating machine as l 3 And l is 3 The numerical value remains unchanged when the work tool works to any terrain; let the antenna reference altitude be H 0 The real-time altitude of the positioning antenna is G i ；
Step S320: based on the data of step S310, the height of the blade of the work tool from the ground is known to be H i The actual reference altitude of the antenna can be obtained as H 0 -l 3 Altitude of the shovel blade of the actual working machine is G i -l 3 (ii) a Further obtaining the difference P between the terrain height of the working machine and the actual reference altitude height 0 ＝(G i -l 3 )+H i -(H 0 -l 3 )＝G i +H i -H 0 。
6. The method for displaying the terrain trajectory of the leveling and grading operation based on the satellite positioning as claimed in claim 5, wherein: the specific process of matching the colors corresponding to the different differences in the step S400 to obtain the chromaticity interval is as follows:
step S410: setting k chromaticity intervals in a color reference interval, wherein k is {1,2,.. m }, and represents the kth chromaticity interval, the 1 st chromaticity interval and the mth chromaticity interval are respectively provided with an upper threshold value and a lower threshold value, the upper threshold value is an upper limit value of the chromaticity interval which can be distinguished by the difference between the terrain height of the working machine and the actual reference altitude, and the lower threshold value is a lower limit value of the chromaticity interval which can be distinguished by the difference between the terrain height of the working machine and the real-time reference altitude;
step S420: setting a color difference range except for the middle chroma interval of the 1 st chroma interval and the mth chroma interval, wherein the color difference range comprises a top value and a bottom value, the bottom value of the m-2 th chroma interval is the same as the top value of the m-1 th chroma interval, and the top value of the m-2 th chroma interval is the same as the bottom value of the m-3 th chroma interval; the top value of the 2 nd chromaticity interval is equal to the upper limit value, and the bottom value of the m-1 st chromaticity interval is equal to the lower limit value.
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