Land grader and slope control method and device thereof

Abstract

The present invention relates to a motor grader and a slope control method and device thereof, wherein the motor grader comprises: a front frame (1); a blade (2) mounted on the front frame (1), and the posture of the blade (2) relative to the front frame (1) is adjustable; an actuator (5) used to adjust the posture of the blade (2); a first angle detection component (90) used to detect a first inclination angle (θ1) in the front-rear direction of the motor grader relative to a horizontal plane and a second inclination angle (θ2) in the left-right direction relative to the horizontal plane; a blade detection component (10) used to detect posture information of the blade (2) relative to the front frame (1); and a controller (11) used to derive an actual slope angle of the blade (2) based on the first inclination angle (θ1), the second inclination angle (θ2) and the posture information, and to activate the actuator (5) when the actual slope angle is inconsistent with a preset target slope angle, so as to adjust the posture of the blade (2) to the preset target slope angle.

Description

Technical Field

[0001] The present disclosure relates to the technical field of motor graders, and in particular to a motor grader and a slope scraping control method and device thereof. Background Art

[0002] A motor grader is a machine used for large-scale site leveling, road construction, slope scraping, ditch digging, side canal repair, drainage ditch, snow removal, soil loosening, bulldozing, land reclamation, etc. Motor graders are often used for slope scraping in highway, agricultural and forestry operations to meet the design requirements of the project.

[0003] At present, in order to meet the requirements of the slope angle during construction, during the operation, the operator manually adjusts the left linear drive component, right linear drive component, oblique linear drive component, displacement cylinder, rotary motor and other actuators by observing the position of the scraper to achieve constant slope angle control. However, the uneven construction road surface causes the whole machine to be not in a horizontal state, and it needs to rely on the operator's experience to control and grasp it, with large errors. The slope angle formed is often too different from the target value, and it needs to be repeated for adjustment, which is time-consuming and labor-intensive, and the degree of automation is low. Summary of the invention

[0004] The embodiments of the present disclosure provide a motor grader and a slope scraping control method and device thereof, which can improve the construction accuracy and work efficiency of the motor grader in slope scraping.

[0005] According to a first aspect of the present disclosure, there is provided a motor grader, comprising:

[0006] Front rack;

[0007] A scraper is mounted on the front frame, and the posture of the scraper relative to the front frame is adjustable;

[0008] an actuator configured to adjust the posture of the blade;

[0009] A first angle detection component is configured to detect a first inclination angle of the front-rear direction of the grader relative to the horizontal plane and a second inclination angle of the left-right direction of the grader relative to the horizontal plane;

[0010] A blade detection component configured to detect posture information of the blade relative to the front frame; and

[0011] The controller is configured to obtain an actual slope angle of the blade according to the first inclination angle, the second inclination angle and the posture information, and to activate the actuator when the actual slope angle is inconsistent with the preset target slope angle to adjust the posture of the blade to the preset target slope angle.

[0012] In some embodiments, the blade detection component includes:

[0013] A second angle detection component configured to detect a rotation angle of the blade relative to the front frame; and

[0014] a third angle detection component configured to detect a swing angle of the blade relative to the front frame;

[0015] The controller is configured to derive an actual slope angle of the blade according to the first inclination angle, the second inclination angle, the rotation angle and the swing angle.

[0016] In some embodiments, the first angle detection component is disposed on the front frame; and / or the second angle detection component is disposed on the blade and is configured to detect an angle between a lower edge of the blade and a horizontal reference plane on the front frame.

[0017] In some embodiments, the grader also includes a traction frame, a left linear drive component, a right linear drive component, a rocker arm and two rocker frames, each of the two rocker frames having a first hinge portion, a second hinge portion and a third hinge portion, the first hinge portions of the two rocker frames are respectively hinged to the first ends of the left linear drive component and the right linear drive component, the second hinge portions of the two rocker frames are respectively hinged to the front frame, the third hinge portions of the two rocker frames are respectively hinged to the two ends of the rocker arm, and the third angle detection component is arranged at the hinge position between the second hinge portion of one of the rocker frames and the front frame.

[0018] In some embodiments, the actual slope angle is the angle between the normal vector of the combined plane of the grader and the horizontal ground in the front-rear direction, and the forward direction vector of the grader and the lower edge direction vector of the blade are located in the combined plane.

[0019] In some embodiments, the machine further comprises a traction frame and a slewing circle, wherein the traction frame is located below the front frame and is connected to the front frame through a ball joint, the slewing circle is located below the traction frame, and the blade is connected below the slewing circle, and the actuator comprises:

[0020] A left linear drive component, wherein a first end of the left linear drive component is rotatably connected to the front frame, and a second end of the left linear drive component is rotatably connected to the left end of the traction frame, and is configured to drive the left end of the traction frame to move up and down;

[0021] A right linear drive component, wherein a first end of the right linear drive component is rotatably connected to the front frame, and a second end of the right linear drive component is rotatably connected to the right end of the traction frame, and is configured to drive the right end of the traction frame to move up and down;

[0022] An oblique linear driving component configured to drive the traction frame to tilt and swing relative to the front frame; and

[0023] The rotary drive component is configured to drive the rotary circle to rotate.

[0024] In some embodiments, the controller is configured to adjust the actuator according to the three priority groups when the actual slope angle is inconsistent with the preset target slope angle, and switch to the next priority group adjustment when the actuator reaches the limit position through a set of priority actions and still fails to adjust to the preset target slope angle;

[0025] Among them, the three groups of priorities include: the first priority, including at least one action of the left linear drive component and the right linear drive component; the second priority, including the action of the oblique linear drive component; and the third priority, including the action of the rotation drive component to drive the rotating circle to rotate.

[0026] In some embodiments, the controller is configured to determine that the preset target slope angle cannot be reached when the actual slope angle still does not reach the preset target slope angle after the actuator is actuated according to the three groups of priorities.

[0027] In some embodiments, the controller is configured to determine the action direction of the actuator based on the left and right scraping directions and the magnitude relationship between the actual slope angle and the preset target slope angle when the actual slope angle is inconsistent with the preset target slope angle.

[0028] In some embodiments, the controller is configured to stop the adjusting action of the actuator when the actual slope angle reaches a preset target slope angle.

[0029] According to a second aspect of the present disclosure, a slope control method for a motor grader is provided, comprising:

[0030] Detecting, by a first angle detection component, a first inclination angle of the motor grader relative to the front-rear direction in a vertical plane where the front-rear direction is located and a second inclination angle of the motor grader relative to the left-right direction in a vertical plane where the left-right direction is located;

[0031] Detecting the posture information of the blade relative to the front frame through the blade detection component;

[0032] The controller obtains the actual slope angle of the blade according to the first tilt angle and the posture information of the blade;

[0033] When the actual slope angle is inconsistent with the preset target slope angle, the controller activates the actuator to adjust the posture of the blade to the preset target slope angle.

[0034] In some embodiments, obtaining, by the controller, the actual slope angle of the blade according to the first tilt angle and the posture information of the blade includes:

[0035] Detecting the rotation angle of the blade relative to the horizontal plane by a second angle detection component;

[0036] Detecting the swing angle of the blade in the horizontal plane by means of a third angle detection component;

[0037] The actual slope angle of the blade is obtained by the controller according to the first inclination angle, the second inclination angle, the rotation angle and the swing angle.

[0038] In some embodiments, obtaining the actual slope angle of the blade according to the first tilt angle, the second tilt angle, the rotation angle, and the swing angle by the controller includes:

[0039] Calculate a forward direction vector of the grader according to the first inclination angle and the second inclination angle;

[0040] Calculating a lower edge direction vector of the blade according to the first inclination angle, the second inclination angle, the rotation angle, and the swing angle;

[0041] Calculate the normal vector of the combined plane formed by the forward direction vector and the lower edge direction vector;

[0042] The angle between the normal vector of the combined plane and the left and right directions is calculated as the actual slope angle.

[0043] In some embodiments, when the actual slope angle is inconsistent with the preset target slope angle, causing the actuator to actuate includes:

[0044] When the actual slope angle is inconsistent with the preset target slope angle, the actuator is adjusted according to the first priority, and the first priority includes at least one action of the left linear drive component and the right linear drive component;

[0045] When the actuator reaches the limit position through the first priority action and still has not adjusted to the preset target slope angle, it is then adjusted according to the second priority, and the second priority includes the action of the oblique linear drive component;

[0046] When the actuator reaches the limit position through the second priority action and has not yet adjusted to the preset target slope angle, it is then adjusted according to the third priority, and the third priority includes the action of the rotating drive component to drive the rotating circle to rotate.

[0047] In some embodiments, it also includes:

[0048] After the actuator is adjusted according to the three groups of priorities, if the actual slope angle still does not reach the preset target slope angle, it is determined that the preset target slope angle cannot be reached.

[0049] In some embodiments, when the actual slope angle is inconsistent with the preset target slope angle, causing the actuator to actuate includes:

[0050] Determine the left and right direction of the grader when performing slope scraping operations;

[0051] Determine the magnitude relationship between the actual slope angle and the preset target slope angle;

[0052] Determine the priority order for adjusting the actuators.

[0053] In some embodiments, determining the priority order of adjusting the actuators includes:

[0054] When the grader performs a left-slope scraping operation and the actual slope angle is less than the preset target slope angle, the priority order of adjusting the actuator includes: a first priority, including the right linear drive component extending first and the left linear drive component shortening later; a second priority, including shortening the oblique linear drive component; and a third priority, including the rotary drive component driving the rotary circle to rotate clockwise; and / or

[0055] When the grader performs a left-slope scraping operation and the actual slope angle is greater than the preset target slope angle, the priority order of adjusting the actuator includes: a first priority, including the right linear drive component shortening first and the left linear drive component extending later; a second priority, including the oblique linear drive component extending; and a third priority, including the rotary drive component driving the rotary circle to rotate counterclockwise; and / or

[0056] When the grader performs right-slope scraping and the actual slope angle is less than the preset target slope angle, the priority order of adjusting the actuator includes: a first priority, including the left linear drive component extending first and the right linear drive component shortening later; a second priority, including the oblique linear drive component extending; and a third priority, including the rotary drive component driving the rotary circle to rotate counterclockwise; and / or

[0057] When the grader performs a right slope scraping operation and the actual slope angle is greater than the preset target slope angle, the priority order of adjusting the actuator includes: a first priority, including shortening the left linear drive component first and extending the right linear drive component later; a second priority, including shortening the oblique linear drive component; and a third priority, including driving the rotating circle to rotate clockwise by the rotary drive component.

[0058] In some embodiments, it also includes:

[0059] When the actual slope angle is inconsistent with the preset target slope angle, the action direction of the actuator is determined by combining the left and right scraping directions and the magnitude relationship between the actual slope angle and the preset target slope angle.

[0060] In some embodiments, it also includes:

[0061] When the actual slope angle is adjusted to reach the preset target slope angle, the actuator stops adjusting.

[0062] According to a third aspect of the present disclosure, a slope control device for a motor grader is provided, comprising:

[0063] Memory; and

[0064] A processor coupled to the memory is configured to execute instructions stored in the memory. In some embodiments, computer program instructions are stored thereon, and when the instructions are executed by the processor, the grader slope control method of the above embodiment is implemented.

[0065] According to a fourth aspect of the present disclosure, a computer-readable storage medium is provided, on which computer program instructions are stored, and when the instructions are executed by a processor, the grader slope scraping control method of the above embodiment is implemented.

[0066] The motor grader of the disclosed embodiment, when calculating the actual slope angle, not only considers the posture of the blade relative to the motor grader, but also fully considers the influence of the road surface unevenness on the actual slope scraping angle, so as to accurately obtain the actual slope angle, and control the slope angle in real time when the motor grader is scraping the slope, so that the actual slope angle is consistent with the preset target slope angle, thereby improving the accuracy of slope scraping construction, reducing errors, and avoiding repeated finishing operations, thereby improving construction efficiency and automation, and being suitable for complex construction conditions. BRIEF DESCRIPTION OF THE DRAWINGS

[0067] The drawings described herein are used to provide a further understanding of the present disclosure and constitute a part of the present application. The illustrative embodiments of the present disclosure and their descriptions are used to explain the present disclosure and do not constitute an improper limitation on the present disclosure. In the drawings:

[0068] Figure 1 is a side view of some embodiments of the motor grader disclosed herein;

[0069] Figure 2 are auxiliary views of some embodiments of the motor grader disclosed herein;

[0070] Figure 3 It is a rear view of the adjustment mechanism of the blade in the motor grader disclosed in the present invention;

[0071] Figure 4 It is a schematic diagram of the movement direction of the motor grader and the spatial position of the blade of the present invention;

[0072] Figure 5 It is a schematic diagram of the module composition of the motor grader disclosed in the present invention;

[0073] Figure 6 The present invention is a flowchart of some embodiments of the slope control method for a motor grader disclosed herein. DETAILED DESCRIPTION

[0074] The present disclosure is described in detail below. In the following paragraphs, different aspects of the embodiments are defined in more detail. Each aspect so defined can be combined with any other aspect or aspects, unless explicitly stated not to be combined. In particular, any feature that is considered to be preferred or advantageous can be combined with one or more other features that are considered to be preferred or advantageous.

[0075] The terms "first", "second", etc. that appear in the present disclosure are only for the convenience of description to distinguish different components with the same name, and do not indicate a sequence or a primary and secondary relationship.

[0076] In addition, when an element is referred to as being "on" another element, the element may be directly on the other element, or may be indirectly on the other element with one or more intermediate elements interposed therebetween. In addition, when an element is referred to as being "connected to" another element, the element may be directly connected to the other element, or may be indirectly connected to the other element with one or more intermediate elements interposed therebetween. Hereinafter, the same reference numerals represent the same elements.

[0077] For example Figure 1 and Figure 2 As shown, the absolute coordinate system is defined. When the grader is on the horizontal ground, the left and right direction of the grader is defined as the x direction, the front and rear direction is defined as the y direction, and the up and down direction is defined as the z direction. However, when the grader is driving, it is difficult for the ground to remain absolutely flat, so the grader will tilt, so the direction in the absolute coordinate system deviates from the direction of the grader itself. In the following embodiments, the "front and rear direction", "left and right direction" and "up and down direction" are all relative to the direction of the grader itself, and are defined by the direction of the driver sitting in the grader.

[0078] Based on the above definition, the descriptions of directions or positional relationships indicated by "up", "down", "top", "bottom", "front", "back", "inside" and "outside" used in the present disclosure are all directions defined based on the grader itself. This is only for the convenience of describing the present disclosure, and does not indicate or imply that the device referred to must have a specific direction, be constructed and operated in a specific direction. Therefore, it cannot be understood as a limitation on the scope of protection of the present disclosure.

[0079] In some embodiments, Figures 1 to 5 The present disclosure provides a motor grader, including: a front frame 1, a blade 2, an actuator, a first angle detection component 90, a blade detection component 10, and a controller 11. In addition, the motor grader also includes a front axle steering part 8, a rear axle frame assembly, a rear auxiliary device 9, and a cab 10.

[0080] The blade 2 is mounted on the front frame 1, and the posture of the blade 2 relative to the front frame 1 is adjustable. The actuator 5 is configured to adjust the posture of the blade 2 relative to the front frame 1.

[0081] When the ground on which the motor grader is traveling is uneven, the motor grader may tilt in the front-to-back direction and the left-to-right direction. The first angle detection component 90 is configured to detect a first tilt angle θ1 of the motor grader in the front-to-back direction relative to the horizontal plane and a second tilt angle θ2 of the motor grader in the left-to-right direction relative to the horizontal plane. For example, the first angle detection component 90 may be a gyro angle sensor, a potentiometer, a rotary encoder, or other sensors capable of realizing angle detection. The first angle detection component 90 may adopt a dual-axis tilt sensor to simultaneously detect the tilt angles of the motor grader in the front-to-back direction and the left-to-right direction relative to the horizontal plane.

[0082] The blade detection device 10 is configured to detect posture information of the blade 2 relative to the front frame 1 .

[0083] The controller 11 is configured to obtain the actual slope angle of the blade 2 according to the first inclination angle θ1, the second inclination angle θ2 and the posture information, and to actuate the actuator 5 when the actual slope angle is inconsistent with the preset target slope angle, so as to adjust the posture of the blade 2 to the preset target slope angle. The controller 11 can control the electric proportional valve 12 through the PWM port to realize the action of the actuator 5, thereby realizing the adjustment of the posture of the blade 2. The preset target slope angle can be pre-stored in the controller 11 according to the working condition requirements, or can be input through the signal input interface 111.

[0084] For example, the controller 11 is a computing device with one or more microcontrollers, which reads and loads executable instructions or codes from a computer-readable medium to implement the execution process. The controller 11 can be a controller such as a PLC, a DSP, a single-chip microcomputer, or can also be composed of an integrated circuit.

[0085] This embodiment can, when calculating the actual slope angle in the case of an uneven road surface under construction by a grader, not only consider the posture of the blade 2 relative to the grader, but also fully consider the influence of the road surface unevenness on the actual slope scraping angle, so as to accurately obtain the actual slope angle, and control the slope angle in real time when the grader is scraping the slope, so that the actual slope angle is consistent with the preset target slope angle, thereby improving the accuracy of slope scraping construction, reducing errors, avoiding repeated finishing operations, thereby improving construction efficiency and automation, reducing the labor intensity of operators, and being suitable for complex construction conditions.

[0086] In some embodiments, Figure 2 , 3As shown in Figures 5 and 6, the blade detection component 10 includes: a second angle detection component 101 and a third angle detection component 102. The second angle detection component 101 is electrically connected to the controller 11 and is configured to detect the rotation angle θ3 of the blade 2 relative to the front frame 1, and the rotation angle θ3 refers to the rotation angle of the blade 2 relative to the horizontal reference plane of the front frame 1; the third angle detection component 102 is electrically connected to the controller 11 and is configured to detect the swing angle θ4 of the blade 2 relative to the front frame 1, and the swing angle θ4 refers to the rotation angle of the blade 2 relative to the vertical reference plane where the front and rear directions of the front frame 1 are located. For example, the first angle detection component 90 can be a gyro angle sensor, a potentiometer, a rotary encoder, and other sensors capable of realizing angle detection. The controller 11 is configured to derive the actual slope angle of the blade 2 based on the first inclination angle θ1, the second inclination angle θ2, the rotation angle θ3, and the swing angle θ4.

[0087] This embodiment can comprehensively reflect the posture of the blade 2 relative to the front frame 1 through the second angle detection component 101 and the third angle detection component 102, so that the actual slope angle can be calculated by jointly calculating the first inclination angle θ1 and the second inclination angle θ2, thereby controlling the actual slope angle in real time and automatically adjusting the actual slope angle to be consistent with the preset target slope angle.

[0088] The actual slope angle of the blade 2 refers to the angle between the inclined slope and the horizontal plane after the blade 2 scrapes the slope. Of course, in this disclosure, for ease of understanding, the angle between the projection of the lower edge of the blade 2 on the plane perpendicular to the forward direction of the grader and the horizontal plane is used.

[0089] The method for determining the actual slope angle is described in detail below.

[0090] When the grader is scraping the slope, the ground is usually uneven. Figure 4 and Figure 5 As shown, the inclination angles of the motor grader in the forward direction and the left and right direction are θ1 and θ2 respectively, the rotation angle of the blade 2 relative to the front frame 1 is θ3, and the swing angle of the blade 2 relative to the front frame 1 is θ4. The sensor module 6 transmits the signal to the control module 7.

[0091] Figure 3 The moving direction of the motor grader and the spatial position of the blade 2 are shown, wherein the z axis is the direction of gravity, the xy plane is the horizontal plane, and the zx plane is the vertical plane perpendicular to the horizontal plane. When the motor grader is on the horizontal plane, the zx plane is perpendicular to the front-rear direction of the motor grader. When the motor grader is on an uneven road, is the actual forward direction of the grader. for The projection on the horizontal plane xy, for Projection on the original vertical plane zx. Assume that plane ABFE coincides with plane zx, and plane AKJE coincides with It is easy to get that ∠JAK is the actual blade 2 slope angle, and ∠FAK is the blade 2 slope angle when the ground is flat when the grader is on a horizontal plane.

[0092] Therefore, the grader forward direction vector

[0093]

[0094] Blade 2 lower edge direction vector

[0095]

[0096] In order to facilitate calculation, in:

[0097]

[0098] The normal vector of the plane formed by the forward direction of the grader and the edge direction of blade 2 is

[0099] Let x = 1, we can get:

[0100]

[0101] Therefore, the blade 2 slope angle> is the combined plane of the grader and The angle between We can get:

[0102]

[0103] like Figure 5 As shown, the control module 7 compares the actual slope angle α of the blade 2 obtained above with the preset target slope angle Φ, and drives the actuator 5 to adjust the posture of the blade 2, thereby adjusting the actual slope angle α, wherein the preset target slope angle is defined according to the actual construction requirements and transmitted to the controller 11 by the operator through the signal input interface 111.

[0104] In some embodiments, the first angle detection component 90 is disposed on the front frame 1, for example, on the top, bottom, front or rear of the front frame 1, and may be located in the center plane of the front frame 1 along the left-right direction. When the grader is on a horizontal plane, its measurement value is calibrated to zero.

[0105] In some embodiments, the second angle detection component 101 is provided on the blade 2 and is configured to detect the angle between the lower edge of the blade 2 and the horizontal reference plane on the front frame 1. The horizontal reference plane refers to a horizontal plane located on the front frame 1 when the motor grader is located on a horizontal ground. Since the blade 2 needs to perform operations, in order to prevent the second angle detection component 101 from being worn when the blade 2 is working, the second angle detection component 101 can be provided in the middle area of ​​the top of the blade 2 along the length direction of the blade 2.

[0106] In some embodiments, Figure 3 As shown, the grader further includes: a traction frame 3, a swing arm 4', two swing frames 4, a left linear drive component 51 and a right linear drive component 52. Among them:

[0107] The traction frame 3 is connected to the lower part of the front frame 1 through a ball joint. The traction frame 3 may be a triangular structure. The front end of the triangular structure is connected to the front end of the front frame 1 through a ball joint. The traction frame 3 may be swung outward from the left or right side relative to the front frame 1 as a whole to perform a slope scraping operation, or the left-right or front-back inclination angle may be changed.

[0108] The swing arm 4' may be a rod-shaped structure, and a plurality of adjustment holes 44 may be provided on the swing arm 4'. For example, five adjustment holes 44 may be provided. Correspondingly, a positioning hole is provided on the front frame 1. When the adjustment hole 44 at the middle position is fixed to the positioning hole, the blade 2 is located at the middle position in the left-right direction. When the adjustment holes 44 at the remaining positions are fixed to the positioning holes, the blade 2 swings in the vertical plane where the left-right direction is located. When it is necessary to adjust the swing angle of the blade 2 in the vertical plane where the left-right direction is located, an initial adjustment may be performed through the matching relationship between the adjustment hole 44 and the fixing hole, and then the posture of the blade 2 may be fine-tuned through the actuator 5.

[0109] Two swing frames 4, each of the two swing frames 4 has a first hinge part 41, a second hinge part 42 and a third hinge part 43, and one end of the first hinge part 41, the second hinge part 42 and the third hinge part 43 are connected to form a radial structure. The second hinge part 42 of each of the two swing frames 4 is hinged to the front frame 1. Specifically, the front frame 1 is provided with a mounting frame 11, and the second hinge part 42 of each of the two swing frames 4 is hinged to the mounting frame 11. The third hinge part 43 of each of the two swing frames 4 is hinged to the two ends of the swing rod 4'. For example, when the shovel 2 is in the middle position, the two swing frames 4 can be arranged left and right, the two first hinge parts 41 can be located at the top, the two second hinge parts 42 can be arranged opposite to each other in the left and right directions, and the third hinge part 43 can be located at the bottom.

[0110] The left linear drive component 51 and the right linear drive component 52 have respective first ends hinged to the respective first hinged portions 41 of the two swing frames 4, and respective second ends hinged to the left and right ends of the traction frame 3; for example, the left linear drive component 51 and the right linear drive component 52 are oil cylinders, the first hinged portions 41 are connected to the cylinder barrel of the oil cylinder, and the swing rod 4' is connected to the piston rod of the oil cylinder. Optionally, the left linear drive component 51 and the right linear drive component 52 may also be cylinders or electric push rods.

[0111] The third angle detection component 102 is disposed at a hinge position between the second hinge portion 42 of at least one swing frame 4 and the front frame 1 .

[0112] This embodiment can drive the traction frame 3 to swing left and right through the left linear drive component 51 and the right linear drive component 52, while driving the two swing frames 4 to swing around the hinge point between the second hinge part 42 and the front frame 1. Therefore, the third angle detection component 102 can accurately detect the swing angle θ4 of the center position of the blade 2 relative to the front frame 1, thereby accurately calculating the actual slope angle, which is conducive to making the actual slope angle consistent with the preset target slope angle.

[0113] In some embodiments, Figure 3 and Figure 4 As shown, the actual slope angle is the angle between the normal vector of the combined plane of the grader and the front-rear direction when the ground is horizontal. The forward direction vector of the grader and the lower edge direction vector of the blade 2 are located in the combined plane.

[0114] The method for calculating the actual slope angle will be explained in detail below.

[0115] Figure 4 The moving direction of the motor grader and the spatial position of the blade 2 are shown, wherein the z axis is the direction of gravity, the xy plane is the horizontal plane, and the zx plane is the vertical plane perpendicular to the horizontal plane. When the motor grader is on the horizontal plane, the zx plane is perpendicular to the front-rear direction of the motor grader. When the motor grader is on an uneven road, is the actual forward direction of the grader. for The projection on the horizontal plane xy, for Projection on the original vertical plane zx. Assume that plane ABFE coincides with plane zx, and plane AKJE coincides with It is easy to get that ∠JAK is the actual blade 2 slope angle, and ∠FAK is the blade 2 slope angle in a specific case when the grader is on a horizontal surface.

[0116] Therefore, the forward direction vector of the grader is

[0117]

[0118] The lower edge direction vector of blade 2

[0119]

[0120] In order to facilitate calculation, in:

[0121]

[0122] The normal vector of the plane formed by the forward direction of the grader and the edge direction of the blade 2 is

[0123] Let x = 1, we can get:

[0124]

[0125] Therefore, the actual slope angle of blade 2 is > the combined plane of the grader and The angle between We can get:

[0126]

[0127] The actual slope angle α of the actual blade 2 obtained above is compared with the preset target slope angle Φ, and the actuator 5 is driven to adjust the actual slope angle α, wherein the preset target slope angle Φ is defined according to the actual construction requirements and transmitted to the controller 11 by the operator through the signal input interface 111.

[0128] In some embodiments, Figures 1 to 3 As shown, the grader also includes a traction frame 3 and a revolving circle 9. The traction frame 3 is located below the front frame 1 and is connected to the front frame 1 through a ball joint. The revolving circle 9 is arranged below the traction frame 3. The blade 2 is connected below the revolving circle 9. The actuator 5 includes: a left linear drive component 51, a right linear drive component 52, an oblique linear drive component 53 and a rotary drive component 54.

[0129] Among them, the first end of the left linear drive component 51 is rotatably connected to the front frame 1, the second end of the left linear drive component 51 is rotatably connected to the left end of the traction frame 3, and is configured to drive the left end of the traction frame 3 to move up and down; the first end of the right linear drive component 52 is rotatably connected to the front frame 1, the second end of the right linear drive component 52 is rotatably connected to the right end of the traction frame 3, and is configured to drive the right end of the traction frame 3 to move up and down; the first end of the oblique linear drive component 53 is hinged to one end of the rocker arm 4, and the second end of the oblique linear drive component 53 is hinged to the opposite side end of the traction frame 3, and is configured to drive the traction frame 3 to tilt and swing relative to the front frame 1; the rotation drive component 54 is configured to drive the rotating circle 9 to rotate, for example, the rotation drive component 54 can be a motor-worm gear box.

[0130] In this embodiment, during the operation of the grader, the posture of the blade 2 can be adjusted by the left linear drive component 51 , the right linear drive component 52 , the oblique linear drive component 53 and the rotary drive component 54 to adjust the actual slope angle in real time.

[0131] In some embodiments, the controller 11 is configured to adjust the actuator 5 according to three priority groups when the actual slope angle is inconsistent with the preset target slope angle, and switch to the next priority group adjustment when the actuator 5 reaches the limit position through a set of priority actions and still fails to adjust to the preset target slope angle. The three priority groups include: the first priority, including at least one action of the left linear drive component 51 and the right linear drive component 52; the second priority, including the action of the oblique linear drive component 53; and the third priority, including the action of the rotation drive component 54 to drive the rotating circle 9 to rotate.

[0132] This embodiment can adjust the actuator according to a preset priority order when the actual slope angle is inconsistent with the preset target slope angle. The higher the priority of the driving component in the actuator 5, the more significant the adjustment effect on the actual slope angle, thereby improving the adjustment efficiency and realizing real-time adjustment of the slope angle.

[0133] In some embodiments, the controller 11 is configured to determine that the preset target slope angle cannot be reached when the actual slope angle still does not reach the preset target slope angle after the actuator 5 is actuated according to the three groups of priorities.

[0134] This embodiment can determine whether the preset target slope angle is appropriate, thereby preventing repeated adjustments when the actual slope angle has not been adjusted to the preset target slope angle.

[0135] In some embodiments, the controller 11 is configured to determine the direction of movement of the actuator 5 in combination with the left and right scraping directions and the size relationship between the actual slope angle and the preset target slope angle when the actual slope angle is inconsistent with the preset target slope angle. For example, the left linear drive component 51, the right linear drive component 52 and the oblique linear drive component 53 perform an extension or retraction action, and the rotating drive component 54 causes the rotating circle 9 to rotate clockwise or counterclockwise.

[0136] In some embodiments, the controller 11 is configured to stop the adjusting action of the actuator 5 when the actual slope angle reaches a preset target slope angle.

[0137] In some embodiments, the left linear drive component 51 uses a left lifting cylinder, the right linear drive component 52 uses a right lifting cylinder, the oblique linear drive component 53 uses an oblique pull cylinder, and the rotary drive component 54 uses a motor worm gear box. Figure 6 As shown, when the actual slope angle is inconsistent with the preset target slope angle, the actuator 5 can be activated to adjust the actual slope angle in the following manner.

[0138] First, determine whether it is left-side or right-side slope scraping. If it is right-side slope scraping, then compare the actual slope angle with the preset target slope angle, where:

[0139] If the actual slope angle is less than the preset target slope angle, the left lifting cylinder is extended first; when the left lifting cylinder is adjusted to the limit position and still does not reach the preset target slope angle, the right lifting cylinder is shortened; when the right lifting cylinder is adjusted to the limit position and still does not reach the preset target slope angle, the diagonal pull cylinder is extended; when the diagonal pull cylinder is adjusted to the limit position and still does not reach the preset target slope angle, the motor worm gear box drives the motor to rotate counterclockwise by 9 circles. If the preset target slope angle is still not reached after all adjustments are completed, it means that the preset target slope angle cannot be achieved, and the adjustment process ends.

[0140] If the actual slope angle is greater than the preset target slope angle, the left lifting cylinder is shortened first; when the left lifting cylinder is adjusted to the limit position and still does not reach the preset target slope angle, the right lifting cylinder is extended; when the right lifting cylinder is adjusted to the limit position and still does not reach the preset target slope angle, the inclined pull cylinder is shortened; when the inclined pull cylinder is adjusted to the limit position and still does not reach the preset target slope angle, the motor worm gear box drive will rotate clockwise by 9 circles. If the preset target slope angle is still not reached after all adjustments are completed, it means that the preset target slope angle cannot be achieved, and the adjustment process ends.

[0141] If it is a left slope scraping operation, then compare the actual slope angle with the preset target slope angle, where:

[0142] If the actual slope angle is less than the preset target slope angle, the right lifting cylinder is shortened first; when the right lifting cylinder is adjusted to the limit position and still does not reach the preset target slope angle, the left lifting cylinder is extended; when the left lifting cylinder is adjusted to the limit position and still does not reach the preset target slope angle, the inclined pull cylinder is shortened; when the inclined pull cylinder is adjusted to the limit position and still does not reach the preset target slope angle, the motor worm gear box drive will rotate clockwise by 9 circles. If the preset target slope angle is still not reached after all adjustments are completed, it means that the preset target slope angle cannot be achieved, and the adjustment process ends.

[0143] If the actual slope angle is greater than the preset target slope angle, the left lifting cylinder is extended first; when the left lifting cylinder is adjusted to the limit position and still does not reach the preset target slope angle, the right lifting cylinder is shortened; when the right lifting cylinder is adjusted to the limit position and still does not reach the preset target slope angle, the inclined pull cylinder is extended; when the inclined pull cylinder is adjusted to the limit position and still does not reach the preset target slope angle, the motor worm gear box drives the motor to rotate counterclockwise by 9 circles. If the preset target slope angle is still not reached after all adjustments are completed, it means that the preset target slope angle cannot be achieved, and the adjustment process ends.

[0144] When the grader performs a left-slope scraping operation and the actual slope angle is less than the preset target slope angle, the priority order of adjusting the actuator 5 includes: a first priority, including the right linear drive component 52 extending first and the left linear drive component 51 shortening later; a second priority, including shortening the oblique linear drive component 53; and a third priority, including the rotating drive component 54 driving the rotating circle 9 to rotate clockwise; and / or

[0145] When the grader performs a left-slope scraping operation and the actual slope angle is greater than the preset target slope angle, the priority order of adjusting the actuator 5 includes: a first priority, including the right linear drive component 52 being shortened first and the left linear drive component 51 being extended later; a second priority, including the oblique linear drive component 53 being extended; and a third priority, including the rotary drive component 54 driving the rotary circle 9 to rotate counterclockwise; and / or

[0146] When the grader performs a right slope scraping operation and the actual slope angle is greater than the preset target slope angle, the priority order of adjusting the actuator 5 includes: the first priority, including the left linear drive component 51 shortening first and the right linear drive component 52 extending later; the second priority, including the shortening of the oblique linear drive component 53; and the third priority, including the rotating drive component 54 driving the rotating circle 9 to rotate clockwise.

[0147] Secondly, the present disclosure also provides a grader slope control method, which in some embodiments includes:

[0148] Step 101, detecting a first inclination angle θ1 of the motor grader relative to the front-rear direction in a vertical plane where the front-rear direction is located and a second inclination angle θ2 of the motor grader relative to the left-right direction in a vertical plane where the left-right direction is located by a first angle detection component 90;

[0149] Step 102, detecting the posture information of the blade 2 relative to the front frame 1 by the blade detection component 10;

[0150] Step 103, the controller 11 obtains the actual slope angle of the blade 2 according to the first inclination angle θ1 and the posture information of the blade 2;

[0151] Step 104 : When the actual slope angle is inconsistent with the preset target slope angle, the controller 11 activates the actuator 5 to adjust the posture of the blade 2 to the preset target slope angle.

[0152] Among them, steps 101 to 104 can be executed in real time during the operation of the grader. This embodiment can calculate the actual slope angle when the road surface is uneven during the grader construction. In addition to considering the posture of the blade 2 relative to the grader, it also fully considers the influence of the road surface unevenness on the actual slope angle, accurately obtains the actual slope angle, and controls the slope angle in real time during the grader slope scraping operation, so that the actual slope angle is consistent with the preset target slope angle, thereby improving the accuracy of slope scraping construction, reducing errors, avoiding repeated finishing operations, thereby improving construction efficiency and automation, and is suitable for complex construction conditions.

[0153] In some embodiments, step 103 of obtaining the actual slope angle of the blade 2 by the controller 11 according to the first inclination angle θ1 and the posture information of the blade 2 includes:

[0154] Step 201, detecting the rotation angle θ3 of the blade 2 relative to the horizontal plane by the second angle detection component 101;

[0155] Step 202, detecting the swing angle θ4 of the blade 2 in the horizontal plane by the third angle detection component 102;

[0156] Step 203 , the controller 11 obtains the actual slope angle of the blade 2 according to the first inclination angle θ1 , the second inclination angle θ2 , the rotation angle θ3 and the swing angle θ4 .

[0157] This embodiment can comprehensively reflect the posture of the blade 2 relative to the front frame 1 through the second angle detection component 101 and the third angle detection component 102, so that the actual slope angle can be calculated by jointly calculating the first inclination angle θ1 and the second inclination angle θ2, thereby controlling the actual slope angle in real time and automatically adjusting the actual slope angle to be consistent with the preset target slope angle.

[0158] In some embodiments, step 203, the controller 11 obtains the actual slope angle of the blade 2 according to the first tilt angle θ1, the second tilt angle θ2, the rotation angle θ3 and the swing angle θ4, including:

[0159] Step 203A: Calculate the forward direction vector of the grader according to the first inclination angle θ1 and the second inclination angle θ2

[0160] Step 203B, calculate the lower edge direction vector of the blade 2 according to the first inclination angle θ1, the second inclination angle θ2, the rotation angle θ3 and the swing angle θ4

[0161] Step 203C: Calculate the normal vector of the combined plane formed by the forward direction vector and the lower edge direction vector

[0162] Step 203D, calculate the angle between the normal vector T of the combined plane and the left and right directions as the actual slope angle >.

[0163] Among them, 203A to 203D are executed sequentially. This embodiment can accurately calculate the actual slope angle of the blade 2 when operating, taking into account the influence of road surface unevenness on the actual slope scraping angle, so as to control the slope angle in real time during the slope scraping operation of the grader, so that the actual slope angle is consistent with the preset target slope angle, thereby improving the accuracy of slope scraping construction, reducing errors, avoiding repeated finishing operations, thereby improving construction efficiency and automation, and is suitable for complex construction conditions.

[0164] In some embodiments, step 104 of causing the actuator 5 to actuate when the actual slope angle is inconsistent with the preset target slope angle includes:

[0165] When the actual slope angle is inconsistent with the preset target slope angle, the actuator 5 is adjusted according to the first priority, and the first priority includes at least one action of the left linear drive component 51 and the right linear drive component 52;

[0166] When the actuator 5 reaches the limit position through the first priority action and still has not been adjusted to the preset target slope angle, it is then adjusted according to the second priority, and the second priority includes the action of the oblique linear drive component 53;

[0167] When the actuator 5 reaches the limit position through the second priority action and still has not adjusted to the preset target slope angle, it is then adjusted according to the third priority, and the third priority includes the action of the rotating drive component 54 to drive the rotating circle 9 to rotate.

[0168] This embodiment can adjust the actuator according to a preset priority order when the actual slope angle is inconsistent with the preset target slope angle. The higher the priority of the driving component in the actuator 5, the more significant the adjustment effect on the actual slope angle, thereby improving the adjustment efficiency and realizing real-time adjustment of the slope angle.

[0169] In some embodiments, the grader slope control method further includes:

[0170] After the actuator 5 is adjusted according to the three groups of priorities, if the actual slope angle still does not reach the preset target slope angle, it is determined that the preset target slope angle cannot be reached.

[0171] This embodiment can determine whether the preset target slope angle is appropriate, thereby preventing repeated adjustments when the actual slope angle has not been adjusted to the preset target slope angle.

[0172] In some embodiments, step 104 of causing the actuator 5 to actuate when the actual slope angle is inconsistent with the preset target slope angle includes:

[0173] Determine the left and right direction of the grader when performing slope scraping operations;

[0174] Determine the magnitude relationship between the actual slope angle and the preset target slope angle;

[0175] When the actual slope angle is inconsistent with the preset target slope angle, the action direction of the actuator 5 is determined in combination with the left and right scraping directions and the magnitude relationship between the actual slope angle and the preset target slope angle.

[0176] This embodiment can determine the action direction of the actuator 5 in combination with the left and right scraping directions and the magnitude relationship between the actual slope angle and the preset target slope angle when the actual slope angle is inconsistent with the preset target slope angle, and adjust the driving components in the actuator 5 according to the preset priority order, and the priority order can adopt the above three groups of priority orders. This method can accurately and efficiently adjust the actual slope angle to be consistent with the preset target slope angle.

[0177] In some embodiments, step 104 of causing the actuator 5 to actuate when the actual slope angle is inconsistent with the preset target slope angle includes:

[0178] When the grader performs a left-slope scraping operation and the actual slope angle is less than the preset target slope angle, the priority order of adjusting the actuator 5 includes: a first priority, including the right linear drive component 52 extending first and the left linear drive component 51 shortening later; a second priority, including shortening the oblique linear drive component 53; and a third priority, including the rotating drive component 54 driving the rotating circle 9 to rotate clockwise; and / or

[0179] When the grader performs a left-slope scraping operation and the actual slope angle is greater than the preset target slope angle, the priority order of adjusting the actuator 5 includes: a first priority, including the right linear drive component 52 being shortened first and the left linear drive component 51 being extended later; a second priority, including the oblique linear drive component 53 being extended; and a third priority, including the rotary drive component 54 driving the rotary circle 9 to rotate counterclockwise; and / or

[0180] When the grader performs right-slope scraping and the actual slope angle is less than the preset target slope angle, the priority order of adjusting the actuator 5 includes: the first priority, including the left linear drive component 51 extending first and the right linear drive component 52 shortening later; the second priority, including the oblique linear drive component 53 extending; and the third priority, including the rotary drive component 54 driving the rotary circle 9 to rotate counterclockwise; and / or

[0181] When the grader performs a right slope scraping operation and the actual slope angle is greater than the preset target slope angle, the priority order of adjusting the actuator 5 includes: the first priority, including the left linear drive component 51 shortening first and the right linear drive component 52 extending later; the second priority, including the shortening of the oblique linear drive component 53; and the third priority, including the rotating drive component 54 driving the rotating circle 9 to rotate clockwise.

[0182] In some embodiments, the grader slope control method further includes:

[0183] When the actual slope angle is adjusted to reach the preset target slope angle, the actuator 5 stops the adjustment action.

[0184] This embodiment can stop adjusting the posture of the blade 2 when the actual slope angle is adjusted to reach a preset target slope angle, and continue to detect, and adjust again when it is determined that the actual slope angle is adjusted to be inconsistent with the preset target slope angle.

[0185] In addition, the present disclosure provides a grader slope scraping control device, including: a memory, which can be a disk, flash memory or any other non-volatile storage medium; and a processor coupled to the memory, the processor being configured to execute the grader slope scraping control method of the above-mentioned embodiment based on instructions stored in the memory, and the processor can be implemented as one or more integrated circuits, such as a microprocessor or a microcontroller.

[0186] The processor can be coupled to the memory via a BUS bus. The land grader slope control device can also be connected to an external storage device via a storage interface to call external data, and can also be connected to a network or another computer system via a network interface.

[0187] Finally, the present disclosure provides a computer-readable storage medium having computer program instructions stored thereon, which, when executed by a processor, implement the grader slope control method of the above-mentioned embodiment.

[0188] It will be appreciated by those skilled in the art that embodiments of the present invention may be provided as methods, devices, or computer program products. Therefore, the present invention may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Moreover, the present invention may take the form of a computer program product implemented on one or more computer-usable non-transient storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0189] The above is a detailed introduction to a motor grader provided by the present disclosure. Specific embodiments are used in this article to illustrate the principles and implementation methods of the present disclosure. The description of the above embodiments is only used to help understand the method and core ideas of the present disclosure. It should be pointed out that for ordinary technicians in this technical field, without departing from the principles of the present disclosure, several improvements and modifications can be made to the present disclosure, and these improvements and modifications also fall within the scope of protection of the claims of the present disclosure.

Claims

1. A motor grader, comprising: Front frame (1); A traction frame (3) connected to the lower side of the front frame (1) via a ball joint; A rotating circle (9) is arranged below the traction frame (3); A scraper (2) is mounted on the front frame (1), and the posture of the scraper (2) relative to the front frame (1) is adjustable, and the scraper (2) is connected below the rotating circle (9); The actuator (5) is configured to adjust the posture of the blade (2), and comprises: a left linear drive component (51), a first end of the left linear drive component (51) being rotatably connected to the front frame (1), a second end of the left linear drive component (51) being rotatably connected to the left end of the traction frame (3), and being configured to drive the left end of the traction frame (3) to move up and down; a right linear drive component (52), a first end of the right linear drive component (52) being rotatably connected to the front frame (1), a second end of the right linear drive component (52) being rotatably connected to the right end of the traction frame (3), and being configured to drive the right end of the traction frame (3) to move up and down; an oblique linear drive component (53), being configured to drive the traction frame (3) to tilt and swing relative to the front frame (1); and a rotation drive component (54), being configured to drive the rotary circle (9) to rotate; A first angle detection component (90) is configured to detect a first inclination angle (θ1) of the front-rear direction of the grader relative to a horizontal plane and a second inclination angle (θ2) of the left-right direction of the grader relative to the horizontal plane; A blade detection component (10) configured to detect posture information of the blade (2) relative to the front frame (1); and The controller (11) is configured to derive the actual slope angle of the blade (2) according to the first inclination angle (θ1), the second inclination angle (θ2) and the posture information, and to adjust the actuator (5) according to three priority groups when the actual slope angle is inconsistent with the preset target slope angle, and to switch to the next priority group to adjust the posture of the blade (2) to the target slope angle when the limit position is reached through a group of priority actions and the preset target slope angle is still not adjusted, and to determine that the preset target slope angle cannot be reached when the actual slope angle still does not reach the preset target slope angle after the actuator (5) is actuated according to the three priority groups; wherein the three priority groups include: a first priority group, including at least one action of the left linear drive component (51) and the right linear drive component (52); a second priority group, including the action of the oblique linear drive component (53); and a third priority group, including the action of the rotary drive component (54) to drive the rotating circle (9) to rotate.

2. The motor grader according to claim 1, wherein: The scraper blade detection component (10) comprises: A second angle detection component (101) is configured to detect a rotation angle (θ3) of the blade (2) relative to the front frame (1); and A third angle detection component (102) is configured to detect a swing angle (θ4) of the blade (2) relative to the front frame (1); The controller (11) is configured to obtain an actual slope angle of the blade (2) based on the first inclination angle (θ1), the second inclination angle (θ2), the rotation angle (θ3) and the swing angle (θ4).

3. The motor grader according to claim 2, wherein: The first angle detection component (90) is arranged on the front frame (1); and / or The second angle detection component (101) is arranged on the scraper (2) and is configured to detect the angle between the lower edge of the scraper (2) and the horizontal reference plane on the front frame (1).

4. The motor grader according to claim 2, further comprising: A traction frame (3) connected to the lower side of the front frame (1) via a ball joint; Swing rod (4'); Two swing frames (4), each of the two swing frames (4) having a first hinge portion (41), a second hinge portion (42) and a third hinge portion (43), the second hinge portion (42) of each of the two swing frames (4) being hinged to the front frame (1), and the third hinge portion (43) of each of the two swing frames (4) being hinged to two ends of the swing rod (4'); and A left linear drive component (51) and a right linear drive component (52), each having a first end hinged to the first hinged portion (41) of each of the two swing frames (4), and a second end hinged to the left and right ends of the traction frame (3); Wherein, the third angle detection component (102) is arranged at a hinge position between the second hinge part (42) of at least one of the swing frames (4) and the front frame (1).

5. The motor grader according to claim 1, wherein: The actual slope angle is the angle between the normal vector of the combined plane of the grader and the front-rear direction when the ground is horizontal, and the forward direction vector of the grader and the lower edge direction vector of the blade (2) are located in the combined plane.

6. The motor grader according to claim 1, wherein: The controller (11) is configured to determine the action direction of the actuator (5) in combination with the left and right scraping directions and the magnitude relationship between the actual slope angle and the preset target slope angle when the actual slope angle is inconsistent with the preset target slope angle.

7. A slope control method for a motor grader according to any one of claims 1 to 6, comprising: Detecting a first inclination angle (θ1) of the motor grader relative to the front-rear direction in a vertical plane where the front-rear direction is located and a second inclination angle (θ2) of the motor grader relative to the left-right direction in a vertical plane where the left-right direction is located by a first angle detection component (90); Detecting posture information of the blade (2) relative to the front frame (1) by means of a blade detection component (10); The actual slope angle of the scraper (2) is obtained by a controller (11) according to the first inclination angle (θ1) and the posture information of the scraper (2); The controller (11) causes the actuator (5) to operate when the actual slope angle is inconsistent with the preset target slope angle, so as to adjust the posture of the blade (2) to the preset target slope angle.

8. The slope control method according to claim 7, wherein: The actual slope angle of the scraper (2) is obtained by the controller (11) according to the first inclination angle (θ1) and the posture information of the scraper (2), including: Detecting a rotation angle (θ3) of the blade (2) relative to a horizontal plane by means of a second angle detection component (101); Detecting the swing angle (θ4) of the blade (2) in the horizontal plane by means of a third angle detection component (102); The controller (11) obtains the actual slope angle of the blade (2) according to the first inclination angle (θ1), the second inclination angle (θ2), the rotation angle (θ3) and the swing angle (θ4).

9. The slope scraping control method according to claim 8, wherein: The controller (11) is used to adjust the first tilt angle (θ1), the second tilt angle (θ 2), the actual slope angle of the blade (2) obtained by the rotation angle (θ3) and the swing angle (θ4) includes: Calculating a forward direction vector of the grader according to the first inclination angle (θ1) and the second inclination angle (θ2); Calculating a lower edge direction vector of the blade (2) according to the first inclination angle (θ1), the second inclination angle (θ2), the rotation angle (θ3) and the swing angle (θ4); Calculate the normal vector of the combined plane formed by the forward direction vector and the lower edge direction vector; The angle between the normal vector of the combined plane and the left and right directions is calculated as the actual slope angle.

10. The slope scraping control method according to claim 8, wherein: When the actual slope angle is inconsistent with the preset target slope angle, causing the actuator (5) to operate includes: When the actual slope angle is inconsistent with the preset target slope angle, the actuator (5) is adjusted according to a first priority, wherein the first priority includes at least one action of a left linear drive component (51) and a right linear drive component (52); When the actuator (5) reaches the limit position through the first priority action and still has not been adjusted to the preset target slope angle, it is then adjusted according to the second priority, and the second priority includes the action of the oblique linear drive component; When the actuator (5) reaches the limit position through the second priority action and still has not been adjusted to the preset target slope angle, it is then adjusted according to the third priority, and the third priority includes the action of the rotating drive component (54) to drive the rotating circle (9) to rotate.

11. The slope scraping control method according to claim 10, further comprising: After the actuator (5) is adjusted according to the three groups of priorities, if the actual slope angle still does not reach the preset target slope angle, it is determined that the preset target slope angle cannot be reached.

12. The slope scraping control method according to claim 7, wherein: When the actual slope angle is inconsistent with the preset target slope angle, causing the actuator (5) to operate includes: Determining the left and right directions of the grader performing the slope scraping operation; Determining the magnitude relationship between the actual slope angle and the preset target slope angle; When the actual slope angle is inconsistent with the preset target slope angle, the action direction of the actuator (5) is determined in combination with the left and right scraping directions and the magnitude relationship between the actual slope angle and the preset target slope angle.

13. The slope scraping control method according to claim 12, wherein: When the actual slope angle is inconsistent with the preset target slope angle, causing the actuator (5) to operate includes: When the grader performs a left-slope scraping operation and the actual slope angle is less than the preset target slope angle, the priority order of adjusting the actuator (5) includes: a first priority, including the right linear drive component (52) extending first and the left linear drive component (51) shortening later; a second priority, including the oblique linear drive component (53) shortening; and a third priority, including the rotary drive component (54) driving the rotary circle (9) to rotate clockwise; and / or When the grader performs a left-slope scraping operation and the actual slope angle is greater than the preset target slope angle, the priority order of adjusting the actuator (5) includes: a first priority, including the right linear drive component (52) being shortened first and the left linear drive component (51) being extended later; a second priority, including the oblique linear drive component (53) being extended; and a third priority, including the rotary drive component (54) driving the rotary circle (9) to rotate counterclockwise; and / or When the grader performs a right-slope scraping operation and the actual slope angle is less than the preset target slope angle, the priority order of adjusting the actuator (5) includes: a first priority, including the left linear drive component (51) extending first and the right linear drive component (52) shortening later; a second priority, including the oblique linear drive component (53) extending; and a third priority, including the rotary drive component (54) driving the rotary circle (9) to rotate counterclockwise; and / or When the grader performs a right-slope scraping operation and the actual slope angle is greater than the preset target slope angle, the priority order of adjusting the actuator (5) includes: a first priority, including the left linear drive component (51) being shortened first and the right linear drive component (52) being extended later; a second priority, including the oblique linear drive component (53) being shortened; and a third priority, including the rotary drive component (54) driving the rotary circle (9) to rotate clockwise.

14. The slope scraping control method according to claim 7, further comprising: When the actual slope angle is adjusted to reach the preset target slope angle, the actuator (5) stops the adjustment action.

15. A slope control device for a grader, comprising: Memory; as well as A processor coupled to the memory, wherein the processor is configured to execute the slope scraping control method according to any one of claims 7 to 14 based on instructions stored in the memory.

16. A computer-readable storage medium having computer program instructions stored thereon, wherein the instructions, when executed by a processor, implement the slope scraping control method according to any one of claims 7 to 14.

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