CN211228659U

CN211228659U - GPS-RTK technology-based manual auxiliary automatic driving and leveling device of land leveler

Info

Publication number: CN211228659U
Application number: CN201721232685.8U
Authority: CN
Inventors: 陆盈
Original assignee: Inner Mongolia University
Current assignee: Inner Mongolia University
Priority date: 2017-09-26
Filing date: 2017-09-26
Publication date: 2020-08-11
Anticipated expiration: 2027-09-26

Abstract

The utility model relates to a land leveler manual-assisted automatic driving and leveling device based on GPS-RTK technology, which adopts two GPS-RTK sensors respectively arranged at the left and right blade edge angular positions of a blade and a blade inclination angle sensor arranged at the middle part of a traction frame to position the blade, and the land leveler automatically levels a 'surface to be leveled' with vertical and horizontal gradients in an automatic driving state by matching with the auxiliary control of a driver; the device can also preset the elevation of an operation datum line and temporarily store pile point parameters of a temporary starting pile point at a pause vehicle, so that the grader can repeatedly start at the temporary starting pile point, the leveling operation in front of the pause vehicle can be continued, and automatic leveling treatment can be performed on a local road section by starting a new control thread, so that multi-level and layer-by-layer accurate leveling operation is realized, the application range of the grader is expanded, and the applicability of the grader is enhanced.

Description

GPS-RTK technology-based manual auxiliary automatic driving and leveling device of land leveler

Technical Field

The utility model relates to a soil base, organic binder or inorganic binder stabilized soil bed course and basic unit that are used for buildings such as highway, railway, airport and pier to and the autopilot and the leveling device on the smart leveling operation machinery of farmland etc. especially relate to a artifical supplementary autopilot of leveler and leveling device based on GPS-RTK technique.

Background

In the construction of various large-area soil leveling and shaping projects, the operation device of the land leveler has six degrees of freedom of motion in space and has two steering systems of front wheel steering and articulated steering, so that the land leveler has the characteristics of flexibility, high leveling efficiency and high precision during leveling work, and becomes a special fine leveling machine widely applied to foundation construction projects such as national defense projects, road building, mines, water conservancy projects, farmlands and the like. The automatic leveling device installed on the machine is disclosed, such as a "bulldozer automatic leveling device based on GPS-RTK technology", the utility model is applied for the number: 201320721959.5, because most of the structures can only carry out one-time or final forming operation of the horizontal forming surface, the requirement for the flatness precision of the horizontal 'surface to be leveled' is higher, otherwise, the land leveling machine can not move forward when being blocked due to excessive cutting soil, so that a driver needs to frequently switch between an automatic mode and a manual mode during operation, the leveling efficiency is greatly reduced, and because the construction of the horizontal 'surface to be leveled' has higher requirement for the driver, the application significance of the structure on the land leveling machine is not great. Some structures can carry out repeated construction on the slope surface, but the structures are too complex, so that the structures cannot be effectively applied to production practice.

Disclosure of Invention

The utility model discloses the technical problem that will solve is: the device utilizes the advantage that the GPS-RTK technology can accurately position moving mass points, and can realize the automatic driving and leveling functions of the grader by means of the auxiliary control of a driver; the substantial advantage of the automatic driving grader is that the process of piling and paying off by construction lofting personnel can be omitted, the operation flow is simplified, and the operation efficiency is improved; the device adopts two left side or right side shovel blade edge angular position GPS-RTK sensors respectively arranged at the left end and the right end of the shovel blade and a shovel blade inclination angle sensor arranged in the middle of the traction frame to position the shovel blade, so that the grader can level a surface to be leveled with a longitudinal gradient and a transverse gradient.

The technical scheme of the utility model is that: a land leveler manual-assisted automatic driving and leveling device based on GPS-RTK technology is composed of a GPS-RTK base station 1, a left shovel blade angular position GPS-RTK sensor (hereinafter referred to as a left sensor) 2, a left shovel blade angular position GPS-RTK sensor bracket (hereinafter referred to as a left sensor bracket) 3, a right shovel blade angular position GPS-RTK sensor (hereinafter referred to as a right sensor) 4, a right shovel blade angular position GPS-RTK sensor bracket (hereinafter referred to as a right sensor bracket) 5, a shovel blade transverse inclination angle sensor (hereinafter referred to as an inclination angle sensor) 6, an inclination angle sensor bracket 7, a left shovel blade lifting cylinder electromagnetic proportional hydraulic directional valve (hereinafter referred to as a left electrohydraulic directional valve) 8, a right shovel blade lifting cylinder electromagnetic proportional hydraulic directional valve (hereinafter referred to as a right electrohydraulic directional valve) 9, a left-side scraper blade lifting oil cylinder electrohydraulic reversing valve manual button or key or rocker (hereinafter referred to as a left-side electrohydraulic reversing valve key) 10, a right-side scraper blade lifting oil cylinder electrohydraulic reversing valve manual button or key or rocker (hereinafter referred to as a right-side electrohydraulic reversing valve key) 11, a left-side scraper blade lifting oil cylinder manual reversing valve spool travel switch (hereinafter referred to as a left-side manual reversing valve travel switch) 12, a right-side scraper blade lifting oil cylinder manual reversing valve spool travel switch (hereinafter referred to as a right-side manual reversing valve travel switch) 13, a front wheel steering electrohydraulic reversing valve or a waist steering electrohydraulic reversing valve (hereinafter referred to as a steering electrohydraulic reversing valve) 14, a control panel 15 and a control box 16. The left sensor 2 or the right sensor 4 can be directly wirelessly connected with the GPS-RTK base station 1, and also can be directly wirelessly connected with a CORS station or a GPS-RTK satellite station; the left sensor 2, the control box 16 and the steering electro-hydraulic directional valve 14 are connected to form a left automatic driving control unit when the left tracking is selected, and the right sensor 4, the control box 16 and the steering electro-hydraulic directional valve 14 are connected to form a right automatic driving control unit when the right tracking is selected; the left sensor 2, the control box 16 and the left electro-hydraulic directional valve 8 are connected to form an automatic leveling control unit for comparing the elevation of the angular point of the shovel blade (referred to as a comparison blade point for short) on the left side of the shovel blade, and the right sensor 4, the control box 16 and the right electro-hydraulic directional valve 9 are connected to form an automatic leveling control unit for comparing the blade point on the right side of the shovel blade; the inclination angle sensor 6, the control box 16 and the left electro-hydraulic reversing valve 8 are connected to form a shovel blade left side comparison shovel blade transverse inclination angle (referred to as a comparison knife angle for short) automatic leveling control unit, and the inclination angle sensor 6, the control box 16 and the right electro-hydraulic reversing valve 9 are connected to form a shovel blade right side comparison knife angle automatic leveling control unit; when any side of the scraper knife is selected as a control side of a comparison knife point, the side is a manual driving or automatic driving tracing side and also a manual lifting scraper knife side for semi-automatic or automatic leveling, and the other side is a control side of a comparison knife angle; the left electro-hydraulic directional control valve key 10, the control box 16 and the left electro-hydraulic directional valve 8 are connected to form a left manual elevation electro-hydraulic control unit, the right electro-hydraulic directional control valve key 11, the control box 16 and the right electro-hydraulic directional valve 9 are connected to form a right manual elevation electro-hydraulic control unit, and the left manual elevation electro-hydraulic control unit and the right manual elevation electro-hydraulic control unit are mainly used for elevation tool setting operation when the grader enters a line; the left hand-operated reversing valve travel switch 12 and the linked left hand-operated reversing valve thereof are connected with the control box 16 to form a left hand-operated elevation control unit with switch signal output, the right hand-operated reversing valve travel switch 13 and the linked right hand-operated reversing valve thereof are connected with the control box 16 to form a right hand-operated elevation control unit with switch signal output, and the switch electric signals output by the left hand-operated reversing valve travel switch and the right hand-operated reversing valve travel switch are mainly used for guiding the system to finish the operation of a control program when the cutting travel of the grader is finished; the components are connected in a wired or wireless mode. Before the system works, 5 initialization preparation works are needed, and the contents of the initialization preparation works comprise:

preparation 1: the pile point parameters of each pile point on the operation reference line comprise a plane coordinate K_i(x_i，y_i) And its coordinate azimuth K_i(c_i) Elevation K_i(z_i) Longitudinal slope (plus or minus) K_i(v_i) Transverse gradient K_i(s_i) And pile spacing K_i(d_i) A data input system: through a control panel15, inputting pile point parameters on the operation datum line, including supplementary pile point parameters on the supplementary operation datum line, into a control box 16 by a keyboard or a U disk, wherein coordinate azimuth angle, transverse gradient and pile spacing data in the pile point parameters have directionality, corresponding processing is needed during reverse operation, and starting and ending points and pile point numbers need to be additionally defined; the method is characterized in that a rectangular operation reference surface can be generally represented by two operation reference lines which are longitudinally parallel and have the same number of pile points, pile point parameters of a center line pile, a left pile and a right pile which are bilaterally symmetrical on a road can be generally directly collected and recorded from a construction drawing design file, and supplementary pile point parameters on the supplementary operation reference lines which need to be encrypted transversely are preferably preprocessed by means of software tools such as a road construction measurement coordinate calculation system, or a design unit is entrusted to carry out detailed design on related contents of the construction drawing design file in advance during construction drawing design so as to meet the requirement of splicing operation of a land leveler, or the supplementary pile point parameters are pre-solved according to the known pile point parameters and then are collected and recorded; when a road has an arch with a high middle and low sides, in order to facilitate marking of the transverse gradient of a pile point, a center line pile of the road is divided into a left center pile and a right center pile so as to distinguish the sign of the transverse gradient, and when the center line pile is defined as a reference, the transverse gradient value of a horizontal slope is 0, the angle of left inclination or counterclockwise rotation is positive, and the angle of right inclination or clockwise rotation is negative, the operation driving direction is changed, and the sign of the transverse gradient value needs to be changed; when the pile is reversely operated, the longitudinal gradient refers to the gradient value from the pile point as a starting pile point to a next arrival pile point, the sign of the gradient value also needs to be changed, the coordinate azimuth needs to enable the forward coordinate azimuth to be +/-180 degrees, the pile spacing is the spacing from the pile point as the starting pile point to the next arrival pile point, and corresponding adjustment needs to be carried out when the pile spacing of left or right piles is unequal on a flat curve turning road section; the plane coordinates of pile points on one operation reference line can be marked on the ground to be leveled in a pile driving or dust point hitting mode, so that a driver can track the ground during manual driving; when a certain operation surface is constructed in multiple layers, only the operations are required to be carried out in sequenceIncreasing an increment for the elevation value in all the relevant pile point parameters on the reference line;

preparation 2: setting of initial coordinate conversion parameter values of the left sensor 2 and the right sensor 4: the sum of the measured lengths of the centering rods on the left sensor 2 and the right sensor 4 and the length of a connecting line from the tail end of the centering rod to the corner point of the shovel blade is used as an initial coordinate conversion parameter value through the keyboards of the left sensor 2 and the right sensor or the keyboards on the control panel 15, and the initial coordinate conversion parameter value is input into the left sensor 2 and the right sensor 4;

preparation 3: refresh frequency setting of dynamic output signals of the left sensor 2, the right sensor 4, and the tilt sensor 6: the method is characterized in that selection and setting are required according to the running speed or gear of the land scraper, the response time and the flatness requirement of a corresponding electro-hydraulic control system, and the selection and the setting are matched with the cycle control frequency or period of an automatic driving and automatic leveling control system, generally speaking, each time the land scraper travels for a distance of 0.1m-1.0m, at least one group or one updated signal of pile point parameters is output by the left sensor 2, the right sensor 4 and the tilt sensor 6 respectively in corresponding time, so that the control system can execute a deviation rectifying action;

preparation 4: calibration and calibration of the initial positions of the left sensor 2, the right sensor 4 and the tilt sensor 6: in an initial area of a relatively flat operation field, spreading ash on a connecting line of a left pile and a right pile with the same number as an initial operation line, selecting two operation datum lines with the transverse distance smaller than the length of a scraper knife and intersecting with the initial operation line, driving the two operation datum lines into piles or ash points according to the plane coordinates of pile points, changing the two piles or ash points on the initial operation line into brick ash points with ash on a brick surface, wherein the height of the brick surface with ash of the brick ash points is the elevation of the pile points; returning the cutting blade of the grader (the length direction of the cutting blade is vertical to the running direction or the horizontal rotation angle of the cutting blade is 0 degree), adjusting the cutting angle of the cutting blade to a working position, enabling the machine body to be longitudinally parallel to the marked operation reference line, manually driving the grader to enter the line twice from left to right, stopping the grader and enabling the cutting blade to fall on two brick dust points when the grader reaches an initial operation line, sequentially calibrating and calibrating the left sensor 2 and the right sensor 4 in a mode that the corners of the cutting edge of the grader are centered on the brick dust points, and calibrating the inclination angle sensor 6; the specific method for calibration and calibration comprises the following steps: respectively adjusting a left sensor bracket 3, a right sensor bracket 5 and an inclination angle sensor bracket 7 to ensure that centering rods of a left sensor 2 and a right sensor 4 are kept vertical to the horizontal ground and pass through the angular point of a shovel blade, so that the installation plane of the inclination angle sensor 6 is parallel to the ground, the inclination angle axis of the inclination angle sensor is parallel to the longitudinal center line of a traction frame, and when the values output or displayed by the left sensor 2, the right sensor 4 and the inclination angle sensor 6 are consistent with the pile point parameter value of the pile point, locking the movable connecting parts of the left sensor bracket 3, the right sensor bracket 5 and the inclination angle sensor bracket 7;

preparation 5: limitation of operating conditions: the driver can set the operation conditions and the left and right tool setting through the keys on the control panel 15 (see fig. 3) so as to guide the operation of the program and simplify the fine steps of the program operation, and meanwhile, the operation state can be clear and the driver can operate conveniently; for convenience of description, the assumed operating conditions are: the working surface is left-inclined slope or upward slope; the operating line is positioned in the first quadrant of a measuring coordinate system (an upper/north x axis-a right/east y axis), the sequence of the serial numbers of the pile points on the operating line is consistent with that of the mile piles, the operation is carried out from left to right in a forward direction, and the azimuth angle of the coordinate is more than 0 degree and less than c_iLess than 90 degrees and the direction is right-up; adopting the left side of a scraper knife to compare knife points for tool setting; it should be noted that, if the operating conditions and the tool setting side are changed, the related algorithms in the following steps need to be adjusted correspondingly, and because the control principles and processes of the algorithms are the same, the structures of the corresponding subcircuit statements or subcircuit paragraphs in the program are the same, and are not described again; the operation process of the preparation work is as follows: on the initial production line, the initial pile point K can be arranged in a brick ash point or piling mode_i(x_i，y_i，z_i) Lofting; the driver can start the stake point K by means of the positioning information output by the GPS-RTK sensor, the menu key and the selection confirmation key on the control panel 15, and the node position and the coordinate value thereof which can be displayed on the grid-shaped operation datum line graphical interface on the screen_i(x_i，y_i，z_i) Confirming the coordinate value address; it should be noted that the selection confirmation key may adopt a combination form of an outer ring as a wheel disk key and a center as a key, and a preset elevation selection confirmation key, wherein the outer ring wheel disk key rotates clockwise or counterclockwise by one gear, and L is a preset elevation selection confirmation key_jK of all pile points_i(z_i) Z of (a)_iThe value can be increased or decreased by 10mm, namely the level difference can be +/-10 mm, and when the preset elevation combination key has options, the system automatically operates on the current operation datum line L_jK of all pile points_i(z_i) Plus or minus a subjective elevation deviation value delta_zForming a current operation reference line L_j(ii) a When a driver operates the grader to move back and forth and operates the scraper to move left and right, line entry, centering or tool setting of the left side edge angle point of the scraper on a lofting pile point or on a position ahead of the lofting pile point are sequentially completed, and after the grader is operated to start, an automatic driving and automatic leveling key is pressed on the control panel 15, and the system enters an automatic control state; the work cycle of the land leveler manual-assisted automatic driving and leveling device based on the GPS-RTK technology is divided into the following 14 steps:

step 1: establishing a starting pile point K_s(x_i，y_i) And reaches pile point K_e(x_i+1，y_i+1) Two points connecting line K_sK_eThe linear equation of the rectangular plane coordinate system is as follows: when the initial pile point K is confirmed manually_i(x_i，y_i) Coordinate value address, after the left edge angle point of the scraper knife and the lofting pile point are centered, the system defines the centering pile point as a starting pile point K_sDefining the next pile point in the working direction as the arrival pile point K_e(ii) a System reading centering pile point K_i(x_i，y_i) X of_i，y_iIs assigned to K_s(x_i，y_i) Read K_i+1(x_i+1，y_i+1) X of_i+1，y_i+1Is assigned to K_e(x_i+1，y_i+1) On the plan view, a two-point connection K is established by using a two-point formula_sK_eThe equation of the straight line of (1) is:

namely:

in the formula, i is a stake point number which can be 1, 2 or 3 … n, and can correspond to the sequence of the mileage stake marks when stake point parameters are input, for example, the corresponding mileage stake marks can be K12+131.88, K12+141.88, K12+151.88 and K12+161.88 … n; j is the operation reference line number, which can be 1, 2, 3 … m, and L is the operation reference line_jThe sequence of the upper pile point numbers is the operation sequence, which determines the operation direction of the land leveler to form L_jThe pile point path is 1 → 2 → 3 → … → n, the step is assumed to be arranged in ascending order, the plus sign of the minus sign of the lower corner sign numbers of x and y in the formula ① is taken as the plus sign, and the minus sign is taken during reverse construction;

step 2: establishing the point-in-time P of the output of the left sensor 2_a(x_a，y_a) And with the aforementioned K_sK_ePerpendicular line P of line segment_aK_cThe equation of (2): system definition P_a(x_a，y_a) Coordinates of the point of time output by the left sensor 2 or the right sensor 4; suppose the system reads the instantaneous point P of the left sensor 2 output_a(x_a，y_a) The plane coordinate value of (A) is x_a，y_aFirst, P is determined_a(x_a，y_a) Whether or not on a straight line K_sK_eThe method comprises the following steps: x is to be_aSolving for y by substituting formula ① to obtain the result of y_aiIf the discriminant y_a＝y_aiIs established, P_a(x_a，y_a) In a straight line K_sK_eIn the system, P_a(x_a， y_a) Assigned a value of P_c(x_c，y_c) Then, step 4 is executed; if the discriminant is not satisfied, P is established_a(x_a，y_a) Point and the aforementioned straight line K_sK_ePerpendicular to and intersect atK_c(x_c，y_c) Perpendicular line P_aK_cAccording to the vertical line formula, the equation (2) is:

will know the instant point P_a(x_a，y_a) X of_a，y_aSubstituted into the above formula to obtain

Then c is put_iSubstituting into the above formula to obtain the perpendicular line P_aK_cThe equation of (1) is:

and step 3: determining over P_a(x_a，y_a) Perpendicular line P of point_aK_cHorizontal projection line K with operation reference line_sK_ePoint of intersection K_c(x_c，y_c) Coordinate value x of_c，y_c: on the plane measurement coordinate system, the intersection point K is determined_cCoordinate value x of_c，y_cSubstituting into equations ① and ②, let in equation ①

In equation ②

Simultaneous equations ① and ② determine the intersection point K_c(x_c，y_c) Coordinate value x of_c，y_cComprises the following steps:

and 4, step 4: determining the point of immediacy P of the output of the left sensor 2_a(x_a，y_a) Dynamic interval position of (2): when P is present_a(x_a，y_a) Running to next interval K of pile spacing_i+1(x_i+1，y_i+1)K_i+2(x_i+2，y_i+2) In time, the system needs to redefine the starting pile point K_s(x_i，y_i) And reaches pile point K_e(x_i+1，y_i+1) The system calculates x according to formula ③ and formula ④_cOr y_cIf the discriminant x_c≥x_i+1Or y_c≥y_i+1Is established, P_a(x_a，y_a) Having entered the next block segment, the system will K_i+1(x_i+1，y_i+1) Is assigned as a new departure pile point K_s(x_i，y_i) While reading the stake point K_i+2(x_i+2，y_i+2) And assigning it as a new arrival stake point K_e(x_i+1，y_i+1) The system returns to the step 1 to restart the operation; if the discriminant x_c≥x_i+1Or y_c≥y_i+1If not, the system executes the next step;

and 5: determining the point of immediacy P of the output of the left sensor 2_a(x_a，y_a) Located on the selected operation reference line L_jLeft or right area of: the basic idea is divided into three layers, namely, the system assigns a starting pile point K according to the step 1_s(x_i，y_i) Coordinate value x of_i，y_iA combination of signs of (1), determination immediate point P_a(x_a，y_a) The quadrant in which the sensor is located; secondly, the system reads the coordinate azimuth angle K of the starting pile point_i(c_i) Or assigned K according to step 1_s(x_i，y_i) And K_e(x_i+1，y_i+1) Determining the running direction of the land leveler according to the numerical relationship; third, the system is according to P_a(x_a，y_a) Establishing corresponding discriminant according to the quadrant and the running direction, and determining P according to the result of the discriminant_a(x_a，y_a) Located on the selected operation reference line L_jLeft or right regions of; this example assumes x_j，y_iAre all positive numbers, P_a(x_a，y_a) Is positioned in the first quadrant; suppose 0 ° < c_i< 90 DEG or x_i+1-x_iOr y_i+1-y_iThe difference value of (a) is a positive number, and the operation direction of the land leveler is the upper right (northeast); if the discriminant x_a＞x_cOr y_a＜y_cIs established, P_a(x_a，y_a) At L_jIf the discriminant x_a＜x_cOr y_a＞y_cIs established, P_a(x_a，y_a) The point is located at L_jRight side of (c); suppose that this example P_a(x_a，y_a) At L_jLeft side of (2); in addition, P is_a(x_a，y_a) The combination forms of the quadrant in which the sensor is positioned and the operation direction are different, the forms of the discriminants are different, but the discriminant principles are the same and are not repeated;

step 6: determining P_a(x_a，y_a) Left deviation Delta of plane locus of points_lOr a right deviation Δ_r: this example requires determining P_a(x_a，y_a) Left deviation of point Δ_lP read by the system according to step 2_a(x_a，y_a) Point and K found in step 3_c(x_c，y_c) The coordinate values of the points can be used for obtaining the line segment P according to the distance formula between the two points_aK_cIf let Δ_l＝P_aK_cThen, there are:

and 7: the system being dependent on the path of the blade to the blade sideLeft deviation Δ_lOr a right deviation Δ_rCarrying out plane track deviation rectifying control: system according to_lSending a right-turn deviation rectifying instruction to the steering electro-hydraulic directional valve 14, wherein the deviation rectifying instruction can be a proportional pulse control signal of PWM or pulse frequency modulation, and the quantized value of the control signal needs to be determined by combining experiments, as follows; it should be noted that if K_a(x_a，y_a) The point is located at L_jRight side of (1), system needs to be based on the right deviation Δ_rSending a left-turning deviation rectifying instruction to the steering electro-hydraulic directional valve 14, wherein the control instruction can also be in a left-turning/right-turning-delaying-returning-to-original position combined form;

and 8: determining a line segment K_sK_eUpper and lower lead from horizontal plane intersection point K_c(x_c，y_c) Perpendicular line K_c(x_c，y_c)K_c(z_c) Point of intersection K_c(z_c) Elevation reference z_c: suppose line segment K_sK_eThere is a longitudinal slope, in the expression K_sK_eDrawing K on the longitudinal section chart with the line segment as the operation datum line_s(z_i) O and K_e(z_i+1) Right triangle K formed by three-point connecting line_s(z_i)OK_e(z_i+1) Wherein the O point is a self-starting pile point K_s(z_i) Horizontal line led out and self-arrival pile point K_e(z_i+1) The intersection point of the drawn vertical lines; the system reads the elevation value z of the departure pile point and the arrival pile point_iAnd z_i+1And calculating the difference of the two heights, i.e. the line segment K_e(z_i+1) Length of O (z)_i+1-z_i) (ii) a At right triangle K_s(z_i)OK_e(z_i+1) Right angle edge K_s(z_i) O, combined with the plan view, the intersection point is known as K_c(x_c，y_c) Let us follow K_c(x_c，y_c) With the vertical line drawn at the bevel edge K_s(z_i)K_e(z_i+1) Upper cross at K_c(z_c) Obtaining K of the starting pile point according to a distance formula between two points_s(z_i) To the intersection point K_c(x_c，y_c) Horizontal distance of (i.e. line segment K)_s(z_i)K_c(x_c，y_c) The length of (A) is as follows:

system reading starting pile point K_i(d_i) Pile spacing d_iAnd make d_i＝K_s(z_i) O, obtaining K according to the proportional triangle principle_c(z_c)K_c(x_c，y_c) Comprises the following steps:

namely:

system reading starting pile point K_i(v_i) Positive or negative sign v of longitudinal slope_iAssuming that the line segment is an upward slope and the positive sign of the slope value is plus, the intersection point K is obtained_c(x_c， y_c，z_c) Elevation reference z_cComprises the following steps:

z_c＝z_i±K_c(z_c)K_c(x_c，y_c) Namely:

the plus or minus sign in the formula is plus; it should be noted that if the line segment is a downhill, the sign of the gradient value is-the plus or minus sign in the formula is-sign;

and step 9: determining P_a(x_a，y_a，z_a) Elevation reference z of points_daLet z be calculated by equation ⑧_cApproximately equal to the instant point P of the output of the left sensor 2_a(x_a，y_a，z_a) Elevation reference z_daNamely:

the method comprises the following steps:

the same applies below;

step 10: determining P_a(x_a，y_a，z_a) Elevation deviation delta of points_z: system read P_a(x_a，y_a，z_a) Is a height value z_aAnd calculating z_a-z_daObtaining P_a(x_a，y_a，z_a) Elevation deviation delta of points_z：

If Δ_zIs positive, i.e. the discriminant Δ_z> 0, Δ_zIs an upper deviation; if Δ_zHas a negative value, i.e. the discriminant Δ_z< 0 true, Δ_zIs a lower deviation; this example assumes Δ_zIs an upper deviation;

step 11: the system is based on the elevation deviation delta of the opposite side_zAnd (3) performing elevation deviation correction control: delta of this example_z＝z_a-z_daAssuming a positive value, i.e. the discriminant z_a＞z_daIs established, the system is according to_zSending a control instruction of a falling oil cylinder to the left electro-hydraulic directional valve 8; on the contrary, if Δ_z＝z_a-z_daIs negative, the discriminant z_a＜z_daIf true, the system is based on Δ_zSending a control instruction for lifting the oil cylinder to the left electro-hydraulic directional valve 8; if z is_a＝z_adThe system does not act;

step 12: the system compares the transverse gradient deviation delta of the angle side of the blade according to the shovel blade_sAnd (3) carrying out transverse gradient deviation rectifying control: the system defining and reading tilt sensors 6Instantaneous lateral gradient value A_a(s_a) Using it to the horizontal gradient K of the starting pile point_s(s_i) Comparing, and working according to the assumed left slope if delta_s＝s_a-s_iNegative value, discriminant s_a＜s_iIs established, the system is according to_sSending a control instruction of a falling oil cylinder to the electro-hydraulic directional valve 9 on the right side; on the contrary, if Δ_s＝s_a-s_iIs a positive value, s_a＞s_iSystem according to Δ_sSending a control instruction for lifting the oil cylinder to the electro-hydraulic directional valve 9 on the right side; the deviation correction control principle of the right slope is the same and is not repeated;

step 13: the driver operates the dormant key to interrupt or suspend and restart the control program of the system: when the grader carries out primary leveling (rough leveling for short) operation by adopting a layered leveling operation mode, the condition that the grader cannot move when being blocked occurs, and the operation method of a driver at the moment is as follows: stopping while pressing the dormant key indicator light on the control panel 15, and automatically turning off the automatic driving and leveling key, namely turning off the indicator light, marking the position of the scraper knife tool setting point on the ground as a temporary initial pile point on or beside the operation track line of the tool setting side → processing the convex section to be blocked in a manual, semi-automatic or preset-elevation automatic leveling manner → referring to the original L again_jWhen the operation track of the line enters the line, the temporary initial pile point mark is referred to for tool setting → the land leveler starts, the dormant key indicator lamp is pressed, the automatic driving and automatic leveling key is pressed simultaneously, and the original feed stroke is continued; the control process of the system is as follows: when the system reads the electric signal of the dormant key, the system sequentially executes the program interruption or pause and the instruction of the related running data of the instant point, so that the system enters a dormant state, and after the temporary initial pile point parameter at the pause position is stored, a new initial pile point is added; at this time, the linkage action of the relevant keys needs to be set, namely, the automatic driving and automatic leveling keys on the control panel 15 are turned off, namely, the indicator light is turned off; when the driver starts the vehicle by taking the temporary initial pile point as the tool setting point, the system can also set and start a new control thread so as to treat the obstacle projection by adopting an automatic leveling mode with a preset elevationStarting the road section, and then pressing the automatic driving and leveling keys; when the driver starts the vehicle by taking the temporary initial pile point as a tool setting point and continues the original feed stroke, the system executes an interruption or pause releasing instruction and continues to execute the original control program or process only by pressing the dormant key indicator lamp; if the system does not read the electric signal of the sleep key, executing the next step;

step 14: the driver lifts the scraper knife by hands to make the system end the operation of the control program: if the system does not read the linkage electromagnetic pulse or the electric signal of the manual end, the system returns to and executes the step 1, wherein the linkage electromagnetic pulse or the electric signal comprises a linkage lifting scraper knife electromagnetic pulse signal triggered by the left electro-hydraulic directional valve key 10 and the right electro-hydraulic directional valve key 11 and a linkage lifting scraper knife electric signal triggered by the left manual directional valve travel switch 12 and the right manual directional valve travel switch 13; if the linkage electromagnetic pulse or the electric signal of the double-hand-operated end is read, the system finishes the operation of the control program;

it should be noted that when the driver presses the manual driving key on the control panel 15, the system may be in the manual driving mode, and the control steps may omit step 5, step 6 and step 7 of the 14 steps of the automatic driving and leveling device work cycle; when the driver presses the semi-automatic leveling key on the control panel 15, the system can be in a semi-automatic leveling mode, and the control steps only need to execute the steps 1-4 of the 14 steps of the working cycle of the automatic driving and leveling device and the step 12; the semi-automatic leveling mode is mainly suitable for occasions without GPS-RTK signals, when in operation, a driver preselects one side of a shovel blade on the control panel 15 through a key to be a tool setting tracing side, the side is also set to be a manual control side for semi-automatic leveling by experience, and the other side is an automatic control side for comparing a tool angle;

the composition, working principle and use of each part of the device are explained as follows.

Left side sensor 2 or right side sensor 4, its characterized in that: the positioning device comprises a GPS-RTK positioning unit and a centering rod, wherein the GPS-RTK positioning unit and the centering rod are arranged above two ends of a shovel blade through a left sensor support 3 and a right sensor support 5 (see figure 2), and are responsible for outputting a space three-dimensional coordinate value of a shovel blade corner point according to a certain refreshing frequency under the condition that the shovel blade is in all working conditions of various postures, and the refreshing frequency output by the positioning information is greater than the frequency of control circulation of an automatic driving and leveling system; the length of the centering rod is subject to no influence when the GPS-RTK positioning unit receives signals;

left sensor support 3 or right sensor support 5, its characterized in that: the centering rod comprises a connecting part, a middle movable connecting part and a connecting part, wherein the upper end of the connecting part is detachably connected with the tail end of the centering rod of the corresponding left sensor 2 or right sensor 4, the middle movable connecting part can be locked, and the lower end of the connecting part is detachably connected with a scraper knife (see figure 2); the middle movable connecting part which can be locked and cannot move needs to meet 2 conditions, firstly, the centering rod of the left sensor 2 or the right sensor 4 can swing back and forth along an axis parallel to the transverse axis of the scraper knife and can swing left and right along an axis perpendicular to the transverse axis of the scraper knife before the middle movable connecting part is locked, so that the initialization calibration and calibration operation of the left sensor 2 and the right sensor 4 can be completed; and secondly, when the extension line of the centering rod of the left sensor 2 or the right sensor 4 at the tail end side of the centering rod is at a working position or a calibration position, the extension line can pass through the corner point of the shovel blade.

The tilt sensor 6 is characterized in that: the device is arranged on a scraper knife traction frame which can incline together with a scraper knife but does not rotate together with the scraper knife through an inclination angle sensor bracket 7 and is responsible for outputting a transverse inclination angle value of the scraper knife according to a certain refreshing frequency under the condition that the scraper knife is in various postures and under the full working condition, wherein the refreshing frequency of the inclination angle information output is greater than the frequency of the control cycle of an automatic driving and leveling system;

the tilt sensor support 7 is characterized in that: the device comprises a detachable connecting part of the upper end and the inclination angle sensor 6, a middle movable connecting part which can be locked, and a detachable connecting part of the lower end and the scraper knife traction frame; the middle movable connecting part which can be locked can lead the inclination angle sensor 6 to swing back and forth in the direction of measuring the angle, so as to finish the initialization calibration and calibration operation of the inclination angle sensor 6;

left side electricity liquid switching-over valve 8 and right side electricity liquid switching-over valve 9, its characterized in that: the valve bodies of the left scraper knife lifting oil cylinder manual reversing valve and the right scraper knife lifting oil cylinder manual reversing valve are connected in series to form a combined valve structure; the left electro-hydraulic directional valve 8 and the oil way of the manual directional valve of the left scraper knife lifting oil cylinder, and the right electro-hydraulic directional valve 9 and the oil way of the manual directional valve of the right scraper knife lifting oil cylinder are connected in parallel; if the electro-hydraulic reversing valve is additionally arranged on the existing land leveller, a customized mode can be adopted, so that the structural form, particularly the connection form of the valve body of the electro-hydraulic reversing valve is consistent with that of the original machine;

the left side electricity liquid switching-over valve button 10 and right side electricity liquid switching-over valve button 11, its characterized in that: they are respectively arranged on the control panel 15, each side is respectively provided with 2 upward or downward manual buttons or keys or rocker directions, so that the driver can conveniently operate the electric vehicle, and the electric vehicle can also adopt a split structure form separated from the control panel 15; electromagnetic pulse control signals generated by triggering the two parts can drive the left electro-hydraulic directional valve 8 and the right electro-hydraulic directional valve 9 to slightly move, so that the left and right scraper knife lifting oil cylinders are slightly moved, and a driver can conveniently carry out cutter setting operation;

left side hand operated direction valve travel switch 12 and right side hand operated direction valve travel switch 13, its characterized in that: the valve body can be respectively arranged in the valve body or on the valve body of the left hand-operated reversing valve and the right hand-operated reversing valve, and can also be arranged on other linkage parts except the left hand-operated reversing valve and the right hand-operated reversing valve;

the steering electro-hydraulic directional valve 14 is characterized in that: the device can be butted with a front wheel steering hydraulic system of a land leveler, and can also be butted with a articulated steering system of the land leveler; when the hydraulic control valve is in butt joint with a front wheel steering hydraulic system, the hydraulic control valve can be arranged near the front wheel steering hydraulic control valve through a connecting piece, and can also be arranged in a manual hydraulic combination valve of a land leveler in series, and an oil circuit of the hydraulic control valve is connected with an oil circuit of the front wheel steering manual reversing valve in parallel; when the hydraulic control valve is in butt joint with a waist-bending steering hydraulic system, the hydraulic control valve can be arranged beside a waist-bending steering manual reversing valve and is connected in series in a land leveler manual hydraulic combined valve, and an oil way of the hydraulic control valve is connected with an oil way of the waist-bending steering manual reversing valve in parallel; if the electro-hydraulic reversing valve is additionally arranged on the existing land leveller, a customized mode can be adopted, so that the structural form, particularly the connection form of the valve body of the electro-hydraulic reversing valve is consistent with that of the original machine;

the control panel 15 is characterized in that: the keyboard consists of a display screen or a touch screen, buttons or keys or rocking bars, a wheel disc type selection key, a numeric keyboard (comprising a USB keyboard), an indicator light, an alarm buzzer and the like, wherein five groups of basic configuration keys (see figure 3) are provided, and the basic configuration keys are generally circulating keys with indicator lights and specifically comprise: one group of keys for limiting operation conditions is used for indicating the gradient of an operation field and guiding the operation of a program, and comprises a left pile-left middle pile key for indicating left inclination, a right middle pile-right pile key for indicating right inclination and a middle pile key for indicating a horizontal slope, which can be used in pairs or independently; pile point number ascending/descending order arranging keys for indicating the operation direction and guiding the program to run are also arranged; two sets of start pile point coordinate address selection confirmation keys with operation reference lines L_jInitial pile point coordinate K_i(x_i，y_i) Preset elevation K_i(z_i± Δ) and a selection confirmation key; three groups of the key sets are tool setting confirmation keys, including a left side edge corner point tool setting key of a scraper knife, a right side edge corner point tool setting key of the scraper knife and an elevation tool setting key on the tool setting side; four groups are operation mode keys, namely manual driving, automatic leveling, semi-automatic leveling and dormancy keys; the five groups of scraper knife lifting micro-motion keys comprise left side lifting ↓andleft side descending ↓andright side lifting ↓andright side descending ↓; in addition, the control panel 15 can be provided with left and right warning indicator lights of manual driving tracks, so that a driver can conveniently seek a track without a pile; an RTK signal alarm indicator lamp, a power key and the like are also arranged.

The control box 16 is characterized in that: the device is installed or fixed in a cab and comprises a box body, a main board, a single chip microcomputer or a PLC or an industrial control machine, a data input device or a keyboard or a handbook, a pile point parameter leading-in USB interface, a data conversion module, a communication module, an input/output interface, a bus, a power supply and the like, wherein the input end of the device is connected with the left sensor 2, the right sensor 4, the inclination angle sensor 6, the left electro-hydraulic reversing valve key 10, the right electro-hydraulic reversing valve key 11, the output end interfaces of the left hand-operated reversing valve travel switch 12 and the right hand-operated reversing valve travel switch 13 in a wired or wireless mode, the output end of the device is connected with the input ends of the left electro-hydraulic reversing valve 8, the right electro-hydraulic reversing valve 9 and the steering electro.

Drawings

Fig. 1 is a schematic view of the structural principle of the present invention.

FIG. 2 is a schematic view of the positioning sensor mounting positions, wherein 2-the left blade edge angular position GPS-RTK sensor, 3-the left blade edge angular position GPS-RTK sensor mount, 4-the right blade edge angular position GPS-RTK sensor, 5-the right blade edge angular position GPS-RTK sensor mount, 6-the tilt sensor.

Fig. 3 is a schematic diagram of the layout of keys on the control panel 15.

Detailed Description

The implementation of the operation and control principle of the present invention is described below by taking the PY180 grader to level the gravel cushion of the second-level road surface as an example.

PY180 grader as the mainstream machine type, the size of the cutting edge is [ length × height ]]3.965 × 0.65.65 percent, a gravel cushion layer of a secondary highway pavement is 9 m wide, an arch is in a two-way slope form with a high middle and two low sides, the transverse slope of the arch is 2 percent, the construction adopts a leveling process of unloading soil from two sides to the middle, the length (flowing water takt) of an intermittent line production section is 50m, the operation is carried out in a forward direction, the pile spacing of an operation datum line is 10m, and the leveling step is that ① 3 operation datum lines L from left to right are arranged on a starting operation line and a stopping line of the flowing water operation section₁-L₃The initial pile point and the final pile point are the left pile, the supplemental pile 2m away from the right pile and the ash spreading point of the right pile or pile driving lofting; it should be noted that, among them, the pile operation reference line L is added 2m from the right pile₂Elevation K of all upper pile points_i(z_i) And transverse gradient K_i(s_i) Value, K of corresponding pile point on the middle pile operation reference line should be taken during sampling_i(z_i) And K_i(s_i) Value ② selecting left pile-left middle pile (left incline) key, selecting operation reference line L₁Line merging confirmation, selection and confirmation of initial pile point coordinate K of system according to left pile lofting mark coordinate_i(x_i，y_i) Selecting a key position which is not increased or decreased and is preset with an elevation key, confirming and selecting a left shovel blade corner point tool setting key; manually adjusting the scraper knife to slightly incline leftwards, adjusting the horizontal rotation angle of the scraper knife to the right soil unloading position, and manually driving the land leveler along L₁The method comprises the steps of setting a line, setting a lofting mark on a left pile on an initial operation line by using an angular point of a blade of a left shovel, setting a tool bit, starting a manually-driven grader, simultaneously pressing an automatic driving key and an automatic leveling key, automatically leveling the grader in an automatic driving state, simultaneously operating an operating handle of a manual reversing valve of a left shovel blade lifting oil cylinder and a right shovel blade lifting oil cylinder when the grader reaches a pile termination point on the operation termination line of a flow line operation section, lifting the shovel blades, stopping the grader after soil unloading is finished, backing the grader, returning to the initial operation line, finishing a cutter feeding stroke, ③ selecting a right pile-right middle pile (right slope) key and selecting an operation reference line L₃Line merging confirmation, selection according to right pile lofting mark coordinates and confirmation of initial pile point coordinates K of system_i(x_i，y_i) Selecting a key position which is not increased or decreased and is preset with an elevation key, confirming and selecting a right shovel blade corner point tool setting key; manually adjusting the scraper knife to slightly incline to the right, adjusting the horizontal rotation angle of the scraper knife to the left soil unloading position, and manually driving the land leveler along the L direction₃The line is entered, and the right pile lofting mark on the initial operating line is subjected to tool setting by using the angular point of the right shovel blade; the operation method of other subsequent procedures is the same as L₁Line, rough line ④ selection of middle pile (horizontal slope) key and operation reference line L₂Line merging confirmation, selection of pile lofting mark coordinates according to 2m supplementary piles from the right pile and confirmation of initial pile point coordinates K of the system_i(x_i，y_i) Selecting a key position which is not increased or decreased and is preset with an elevation key, confirming and selecting a right shovel blade corner point tool setting key; manually adjusting the scraper knife to be in a horizontal posture, and adjusting the horizontal rotation angle of the scraper knife to 0 degree, namely adjusting the soil unloading positions on two sides, or adjusting the soil unloading position on the left side, or adjusting the soil unloading position on the right side; hand-operated land leveler edge L₂The thread is inserted into the line and the right shovel blade is usedThe corner pairs are used for setting a pile lofting mark on the starting operating line 2m away from the right pile; the operation method of other subsequent procedures is the same as L₁And (4) manually shaping the wire and the wire into ⑤, and then entering the next operation section, and circulating the steps until the leveling operation engineering is finished.

Claims

1. The manual auxiliary automatic driving and leveling device of the land leveler based on the GPS-RTK technology is characterized in that: the device consists of a GPS-RTK base station (1), a left shovel blade angular position GPS-RTK sensor, a left sensor (2) for short, a left shovel blade angular position GPS-RTK sensor bracket, a left sensor bracket (3) for short, a right shovel blade angular position GPS-RTK sensor, a right sensor (4) for short, a right shovel blade angular position GPS-RTK sensor bracket, a right sensor bracket (5) for short, a shovel blade transverse inclination angle sensor, an inclination angle sensor (6) for short, an inclination angle sensor bracket (7), a left shovel blade lifting oil cylinder electromagnetic proportional hydraulic reversing valve, a left electro-hydraulic reversing valve (8) for short, a right shovel blade lifting oil cylinder electromagnetic proportional hydraulic reversing valve, a right electro-hydraulic reversing valve (9) for short, and a left shovel blade lifting oil cylinder electro-hydraulic reversing valve manual button or key or rocker, the hydraulic control system is characterized by comprising a left-side electro-hydraulic reversing valve key (10), a right-side scraper knife lifting oil cylinder electro-hydraulic reversing valve manual button or key or rocker for short, a right-side electro-hydraulic reversing valve key (11), a left-side scraper knife lifting oil cylinder manual reversing valve spool travel switch for short, a left-side manual reversing valve travel switch (12) and a right-side scraper knife lifting oil cylinder manual reversing valve spool travel switch for short, a right-side manual reversing valve travel switch (13), a front wheel steering electro-hydraulic reversing valve or a waist steering electro-hydraulic reversing valve for short, a steering electro-hydraulic reversing valve (14), a control panel (15) and a control box (16) for short; the left sensor (2) or the right sensor (4) is directly in wireless connection with the GPS-RTK base station (1), the CORS station or the GPS-RTK satellite station; the left sensor (2) and the control box (16) are connected with the steering electro-hydraulic directional valve (14) to form a left automatic driving control unit when the left-side tracing is selected, and the right sensor (4) and the control box (16) are connected with the steering electro-hydraulic directional valve (14) to form a right automatic driving control unit when the right-side tracing is selected; the left side sensor (2), the control box (16) and the left side electro-hydraulic reversing valve (8) are connected to form a shovel blade left side comparison shovel blade corner point elevation automatic leveling control unit, which is called a left side comparison shovel blade point automatic leveling control unit for short, and the right side sensor (4), the control box (16) and the right side electro-hydraulic reversing valve (9) are connected to form a shovel blade right side comparison shovel blade point automatic leveling control unit; the inclination angle sensor (6), the control box (16) and the left electro-hydraulic reversing valve (8) are connected to form a shovel blade left side comparison shovel blade transverse inclination angle automatic leveling control unit, which is called a left side comparison knife angle automatic leveling control unit for short, and the inclination angle sensor (6), the control box (16) and the right electro-hydraulic reversing valve (9) are connected to form a shovel blade right side comparison knife angle automatic leveling control unit; the left electro-hydraulic reversing valve key (10), the control box (16) and the left electro-hydraulic reversing valve (8) are connected to form a left manual elevation electro-hydraulic control unit, and the right electro-hydraulic reversing valve key (11), the control box (16) and the right electro-hydraulic reversing valve (9) are connected to form a right manual elevation electro-hydraulic control unit; the left hand-operated reversing valve travel switch (12) and the linked left hand-operated reversing valve thereof are connected with the control box (16) to form a left hand-operated elevation control unit with switch signal output, and the right hand-operated reversing valve travel switch (13) and the linked right hand-operated reversing valve thereof are connected with the control box (16) to form a right hand-operated elevation control unit with switch signal output; the components are connected in a wired or wireless mode.

2. The GPS-RTK technology based grader hand-assisted autopilot and leveling apparatus of claim 1 wherein: the left sensor (2) or the right sensor (4) consists of a GPS-RTK positioning unit and a centering rod, and the GPS-RTK positioning unit and the centering rod are arranged above two ends of the shovel blade through a left sensor support (3) and a right sensor support (5); the length of the centering rod is subject to the condition that the GPS-RTK positioning unit is not influenced when receiving signals.

3. The GPS-RTK technology based hand-assisted autopilot and leveling device of a grader according to claim 1 or 2, characterized in that: the left sensor support (3) or the right sensor support (5) consists of three parts, namely a connecting part with the upper end detachable from the tail end of the centering rod of the corresponding left sensor (2) or right sensor (4), a middle movable connecting part capable of being locked, and a connecting part with the lower end detachable from the scraper knife; the middle movable connecting part which can be locked and cannot move needs to meet 2 conditions, and firstly, the centering rod of the left sensor (2) or the right sensor (4) can swing back and forth along an axis parallel to the transverse axis of the scraper knife and can swing left and right along an axis vertical to the transverse axis of the scraper knife before the middle movable connecting part is locked; and secondly, the extension line of the centering rod of the left sensor (2) or the right sensor (4) at the tail end side can pass through the corner point of the shovel blade when the extension line is at the working position or the calibration position.

4. The GPS-RTK technology based grader hand-assisted autopilot and leveling apparatus of claim 1 wherein: the inclination angle sensor (6) is arranged on a scraper knife traction frame which can incline together with the scraper knife and can not rotate together with the scraper knife through an inclination angle sensor bracket (7).

5. The GPS-RTK technology based grader hand-assisted autopilot and leveling apparatus of claim 1 wherein: the left electro-hydraulic reversing valve (8) and the right electro-hydraulic reversing valve (9) are respectively arranged at the sides of the manual reversing valve of the left scraper knife lifting oil cylinder and the manual reversing valve of the right scraper knife lifting oil cylinder, and valve bodies of the left electro-hydraulic reversing valve and the right electro-hydraulic reversing valve are connected in series to form a combined valve structure; the left electro-hydraulic directional valve (8) and the oil way of the manual directional valve of the left scraper knife lifting oil cylinder, and the right electro-hydraulic directional valve (9) and the oil way of the manual directional valve of the right scraper knife lifting oil cylinder are connected in parallel.

6. The GPS-RTK technology based grader hand-assisted autopilot and leveling apparatus of claim 1 wherein: the left electro-hydraulic directional valve key (10) and the right electro-hydraulic directional valve key (11) can be respectively installed on a control panel (15), each side is respectively provided with 2 upward or downward manual buttons or keys or rocker directions, and the left electro-hydraulic directional valve key and the right electro-hydraulic directional valve key can also be in a split structure form separated from the control panel (15).

7. The GPS-RTK technology based grader hand-assisted autopilot and leveling apparatus of claim 1 wherein: and the left hand-operated directional valve travel switch (12) and the right hand-operated directional valve travel switch (13) are respectively arranged in the valve bodies or on the valve bodies of the left hand-operated directional valve and the right hand-operated directional valve or arranged on other linkage parts except the left hand-operated directional valve and the right hand-operated directional valve.

8. The GPS-RTK technology based grader hand-assisted autopilot and leveling apparatus of claim 1 wherein: the steering electro-hydraulic reversing valve (14) is in butt joint with a front wheel steering hydraulic system of the land scraper or a articulated steering system of the land scraper; when the hydraulic control valve is in butt joint with a front wheel steering hydraulic system, the hydraulic control valve is arranged near the front wheel steering hydraulic control valve through a connecting piece, or the hydraulic control valve is arranged in a manual hydraulic combination valve of a land leveler in series, and an oil circuit of the hydraulic control valve is connected with an oil circuit of the front wheel steering manual reversing valve in parallel; when the hydraulic control valve is in butt joint with a waist-bending steering hydraulic system, the hydraulic control valve is arranged beside a waist-bending steering manual reversing valve and is connected in series in a land leveler manual hydraulic combined valve, and an oil way of the hydraulic control valve is connected with an oil way of the waist-bending steering manual reversing valve in parallel.

9. The GPS-RTK technology based grader hand-assisted autopilot and leveling apparatus of claim 1 wherein: the control panel (15) comprises a display screen or a touch screen, buttons or keys or a rocker, a wheel disc type selection key, a numeric keyboard with a USB keyboard, an indicator light and an alarm buzzer, and five groups of basic configuration keys specifically comprise: a group of left pile-left middle pile key for representing left inclination, right middle pile-right pile key for representing right inclination and middle pile key for representing horizontal inclination; pile point number ascending/descending order arranging keys are also arranged; two groups have operation reference lines L_jInitial pile point coordinate K_i(x_i，y_i) Preset elevation K_i(z_i± Δ) and a selection confirmation key; three groups of elevation tool setting keys are provided with a left side edge angle point tool setting key, a right side edge angle point tool setting key and a tool setting side; four groups of keys comprise manual driving, automatic leveling, semi-automatic leveling and dormancy; the five groups of scraper knife lifting micro-motion keys comprise left side lifting ↓andleft side descending ↓andright side lifting ↓andright side descending ↓; in addition, the control panel (15) can also be provided with an artificial driving track left-right alarm indicator lamp; an RTK signal alarm indicator lamp and a power key are also arranged.

10. The GPS-RTK technology based grader hand-assisted autopilot and leveling apparatus of claim 1 wherein: the control box (16) is arranged or fixed in the cab; the device consists of a box body, a mainboard, a single chip microcomputer or a PLC or an industrial controller, a data input device or a keyboard or a handbook, a USB interface for importing pile point parameters, a data conversion module, a communication module, an input/output interface, a bus and a power supply; the input end of the electro-hydraulic steering valve is connected with the left sensor (2), the right sensor (4), the inclination angle sensor (6), the left electro-hydraulic steering valve key (10) and the right electro-hydraulic steering valve key (11) and the output end interfaces of the left hand-operated steering valve travel switch (12) and the right hand-operated steering valve travel switch (13) in a wired or wireless manner, the output end of the electro-hydraulic steering valve is connected with the input ends of the left electro-hydraulic steering valve (8), the right electro-hydraulic steering valve (9) and the steering electro-hydraulic steering valve (14), and the electro-hydraulic steering valve can be integrated with a control panel (15.