METHOD, APPARATUS AND SYSTEM FOR LEVELING CONTROL, MOTOR GRADER, AND COMPUTER-STORABLE MEDIUM
Patent Information
- Authority / Receiving Office
- BR · BR
- Patent Type
- Patents
- Current Assignee / Owner
- JIANGSU XCMG CONSTRUCTION MACHINERY RESEARCH INSTITUTE LTD
- Filing Date
- 2021-04-26
- Publication Date
- 2026-08-04
Smart Images
Figure 00000029_0000 
Figure 00000030_0000 
Figure 00000031_0000
Abstract
Description
/ 22 “METHOD, APPARATUS AND SYSTEM FOR LEVELING CONTROL, MOTOR GRADER, AND COMPUTER-STORABLE MEDIUM” CROSS-REFERENCE TO RELATED ORDERS
[001] This application is based on, and claims the benefit of priority from, patent application CN 202010468500.3, filed on May 28, 2020, which is incorporated herein by reference in its entirety in the present application. TECHNICAL FIELD
[002] The present disclosure relates to the field of construction machinery, in particular to a method, apparatus and leveling control system, a motor grader and a computer-storable means. FUNDAMENTALS
[003] A motor grader is an earthmoving construction machine that uses a shovel blade as its main body and cooperates with various other replaceable operating devices to perform excavation, leveling, or shaping operations on the ground. Motor graders are primarily used for leveling large areas of soil such as highways, airports, farmland, water conservancy projects, and similar construction operation scenarios such as slope scraping, trenching, excavation, soil loosening, and clearing ice and snow from highways and similar areas. Motor graders are important construction equipment for national defense, basic traffic construction, and water conservancy, and play a significant role in national economic development.
[004] In order to ensure construction flatness while greatly reducing operator labor intensity and improving construction efficiency, adding an automatic blade lift control function to the motor grader is an effective solution.
[005] Currently, there are mainly two types of leveling control systems for motor graders: one is a laser-based leveling control system and the other is a three-dimensional leveling system based on GPS (Global Positioning System). GPS offers advantages of high Petition 870220105843, dated 11 / 16 / 2022, page 13 / 100 / 22 precision and measurement in any weather condition and can accurately detect the blade elevation during the grader grading process to perform a precise road surface grading operation. Consequently, a GPS is typically used in the grader grading control system to detect blade elevation.
[006] In the related technique, GPS is placed at both ends of the grader blade to acquire the blade elevation in real time, which is compared with a predefined elevation of the earth surface, to adjust an oil-filled lifting cylinder in real time according to a difference obtained through the comparison in order to perform blade elevation control. SUMMARY
[007] According to a first aspect of the present disclosure, a leveling control method is provided, comprising: respectively acquiring an elevation of a current position of a grader blade, an elevation of a target position, and a grader movement speed, wherein the target position is on the ground at a certain horizontal distance from the current position along a direction of movement of the grader; determining a movement time of the blade from the current position to the target position according to the horizontal distance and the movement speed; determining a lifting speed of a lifting oil cylinder according to an elevation difference between the elevation of the target position and the elevation of the current position and the movement time; and controlling the lifting oil cylinder to adjust the blade to move from the current position to the target position according to the lifting speed.
[008] In some modes, acquiring an elevation from a target position comprises: acquiring respectively an elevation from a System of Global Positioning System (GPS) and a vertical distance between the GPS and the target position, where the GPS is fixed in relation to a frame of the motor grader; and acquire the elevation of the target position according to the GPS elevation and the distance. Petition 870220105843, dated 11 / 16 / 2022, page 14 / 100 / 22 vertical between the GPS and the target position.
[009] In some embodiments, acquiring a vertical distance between the GPS and the target position comprises: acquiring a vertical distance between a distance sensor and the target position, wherein the distance sensor is fixedly positioned relative to the motor grader frame; acquiring a vertical distance between the GPS and the distance sensor; and acquiring the vertical distance between the GPS and the target position according to the vertical distance between the distance sensor and the target position and the vertical distance between the GPS and the distance sensor.
[0010] In some embodiments, the distance sensor is located directly above the target position and acquiring a vertical distance between a distance sensor and the target position comprises: acquiring a detection value obtained by the distance sensor through ground detection; and acquiring the vertical distance between the distance sensor and the target position according to the detection value.
[0011] In some embodiments, the distance sensor is an ultrasonic sensor or a lidar sensor, and acquiring the vertical distance between the distance sensor and the target position according to the detection value comprises: determining the detection value as the vertical distance between the distance sensor and the target position in the case where the distance sensor is the ultrasonic sensor; and determining a product of the detection value and a cosine value of a laser emission angle from the lidar sensor as the vertical distance between the distance sensor and the target position in the case where the distance sensor is the lidar sensor.
[0012] In some embodiments, acquiring an elevation from a current position of a grader blade comprises: acquiring an elevation from a Global Positioning System (GPS), wherein the GPS is fixedly positioned relative to a frame of the grader; and acquiring the elevation of the current position of the grader blade according to the GPS elevation.
[0013] In some embodiments, the GPS is located directly above the blade of the grader and acquires the elevation of the current position of the grader blade according to the elevation of the global positioning system. Petition 870220105843, dated 11 / 16 / 2022, page 15 / 100 / 22 (GPS) comprises: determining an elevation of a GPS projection point on the ground according to a distance between the GPS and the GPS projection point on the ground and the GPS elevation; and determining the elevation of the current blade position of the blade according to the elevation of the GPS projection point on the ground and an angle of the current blade position of the blade.
[0014] In some embodiments, the current position includes a first edge angle position and a second edge angle position of the blade, respectively.
[0015] According to a second aspect of the present disclosure, a leveling control apparatus is provided, comprising: an acquisition module configured to acquire respectively an elevation of a current position of a grader blade, an elevation of a target position and a speed of movement of the grader, wherein the target position is on the ground at a certain horizontal distance from the current position along a direction of movement of the grader; a first determination module configured to determine a movement time of the grader blade from the current position to the target position according to the horizontal distance and the speed of movement; a second determination module configured to determine a lifting speed of a lifting oil cylinder according to an elevation difference between the elevation of the target position and the elevation of the current position and the movement time;and a control module configured to control the lifting oil cylinder to adjust the shovel blade to move from the current position to the target position according to the lifting speed.
[0016] According to a third aspect of the present disclosure, a leveling control apparatus is provided, comprising: a memory; and a processor coupled with the memory, the processor configured to execute the leveling control method according to any of the above embodiments based on instructions stored in the memory.
[0017] According to a fourth aspect of the present disclosure, a leveling control system is provided comprising: a control apparatus for Petition 870220105843, dated 11 / 16 / 2022, page 16 / 100 / 22 leveling according to any of the above modalities.
[0018] In some embodiments, the grader control system further comprises: a speed sensor disposed on any wheel of the grader, configured to measure a grader's movement speed and send the movement speed to the grader control device; and a Global Positioning System (GPS) fixedly disposed relative to a grader frame, configured to measure a GPS elevation and send the GPS elevation to the grader control device; and a distance sensor fixedly disposed relative to a grader frame, configured to detect the ground to obtain a detection value and send the detection value to the grader control device.
[0019] In some versions, the GPS and distance sensor are fixed to the frame of the motor grader by a first support and a second support, respectively.
[0020] In some embodiments, the GPS is located directly above the blade of the grader and the distance sensor is spaced from the blade of the grader by a certain distance along the direction of movement of the grader.
[0021] In some forms, the first support is perpendicular to a horizontal plane and the second support is parallel to the horizontal plane.
[0022] In some embodiments, the GPS includes a first GPS and a second GPS, respectively located directly above the blade of the grader on both sides in a direction the width of a motor grader body; and the distance sensor includes a first distance sensor and a second distance sensor respectively spaced on both sides along the direction of movement of the motor grader at a certain distance and the first distance sensor and the first GPS are both located on one side between both sides and the second distance sensor and the second GPS are both located on the other side between both sides.
[0023] According to a fifth aspect of the present disclosure, a motor grader is provided comprising: the leveling control system according to Petition 870220105843, dated 11 / 16 / 2022, page 17 / 100 / 22 with any of the above modalities.
[0024] According to a sixth aspect of the present disclosure, a computer-storable medium is provided having stored on it computer program instructions which, when executed by a processor, implement the leveling control method according to any of the above embodiments. BRIEF DESCRIPTION OF THE DRAWINGS
[0025] The attached drawings, which are incorporated into, and form a part of, this descriptive report, illustrate embodiments of the present disclosure and, together with the description, serve to explain the principles of the present disclosure.
[0026] The present disclosure can be more clearly understood from the detailed description that follows, taken together with the accompanying drawings, in which:
[0027] FIG. 1 is a flowchart illustrating a leveling control method according to some embodiments of the present disclosure;
[0028] FIG. 2 is a schematic diagram illustrating a side view of a leveling control system according to some embodiments of the present disclosure;
[0029] FIG. 3a is a schematic diagram illustrating a leveling control system structure according to some embodiments of the present disclosure;
[0030] FIG. 3b is a schematic diagram illustrating a leveling control system structure according to some other embodiments of the present disclosure;
[0031] FIG. 4a is a flowchart illustrating the acquisition of an elevation of a target position according to some embodiments of the present disclosure;
[0032] FIG. 4b is a schematic diagram illustrating the acquisition of a vertical distance between a distance sensor and the target position according to some embodiments of the present disclosure;
[0033] FIG. 4c is a schematic diagram illustrating the acquisition of a Petition 870220105843, dated 11 / 16 / 2022, page 18 / 100 / 22 vertical distance between a distance sensor and the target position according to some other embodiments of the present disclosure;
[0034] FIG. 5 is a flowchart illustrating the acquisition of an elevation from a current position of a grader blade according to some embodiments of the present disclosure;
[0035] FIG. 6 is a block diagram illustrating a controller according to some embodiments of the present disclosure;
[0036] FIG. 7 is a block diagram illustrating a controller according to some other embodiments of the present disclosure;
[0037] FIG. 8 is a block diagram illustrating a leveling control system according to some embodiments of the present disclosure,
[0038] FIG. 9 is a block diagram illustrating a computer system for implementing some embodiments of the present disclosure. DETAILED DESCRIPTION
[0039] Several exemplary embodiments of the present disclosure will now be described in detail with reference to the accompanying drawings. It should be noted that: arrangements relating to parts and steps, numerical expressions and numerical values given in these embodiments do not limit the scope of the present disclosure unless otherwise stated.
[0040] Meanwhile, it should be understood that the sizes of the respective portions shown in the drawings are not drawn in a true proportional relationship for convenience of description.
[0041] The following description of at least one exemplary embodiment is for illustrative purposes only and is in no way intended to limit the present disclosure, its applications, or uses.
[0042] Techniques, methods and apparatus known to a person skilled in the art may not be discussed in detail, but are intended to be part of the descriptive report when appropriate.
[0043] In all examples shown and discussed here, any particular value should be interpreted as illustrative only and not as restrictive. Petition 870220105843, dated 11 / 16 / 2022, p. 19 / 100 / 22 Thus, other examples of the illustrative modalities may have different values.
[0044] It should be noted that: identical reference numbers and letters refer to the same items in the following drawings and thus, once an item is defined in a drawing, it does not need to be discussed further in subsequent drawings.
[0045] In the related art, a motor grader's hydraulic system has hysteresis, that is, a certain time is required from the acquisition of the blade elevation to the effective adjustment of the blade to a predefined elevation. However, the motor grader always operates at a certain speed and the horizontal position of the blade changes when the blade is adjusted to the predefined elevation, resulting in poor leveling accuracy.
[0046] In view of this, the present disclosure provides a leveling control method that improves leveling accuracy.
[0047] FIG. 1 is a flowchart illustrating a leveling control method according to some embodiments of the present disclosure.
[0048] FIG. 2 is a schematic diagram illustrating a side view of a leveling control system according to some embodiments of the present disclosure.
[0049] FIG. 3a is a schematic diagram illustrating a leveling control system structure according to some embodiments of the present disclosure.
[0050] FIG. 3b is a schematic diagram illustrating a leveling control system structure according to some other embodiments of the present disclosure.
[0051] As shown in FIG. 1, the leveling control method comprises step S110: acquiring respectively an elevation from a current position of a grader blade, an elevation from a target position, and a grader speed; step S120: determining a blade movement time from the current position to the target position; a Petition 870220105843, dated 11 / 16 / 2022, page 20 / 100 / 22, step S130: determine a lifting speed of a lifting oil cylinder; and step S140: control the lifting oil cylinder to adjust the shovel blade to move from the current position to the target position according to the lifting speed. For example, motor grader includes, but is not limited to, construction motor grader and agricultural motor grader.
[0052] In the present disclosure, the blade lift speed is determined according to the elevation of the current blade position, the elevation of the target position, and the motor grader's movement speed, so that when the motor grader's blade moves horizontally from the current position to the target position, the blade lift varies from the elevation of the current position to the elevation of the target position, and the blade lift remains consistent with the actual elevation of the target position. This achieves precise control of the blade lift, improves leveling accuracy, and reduces an error between the adjusted blade lift and the actual ground position elevation caused by hydraulic system hysteresis.
[0053] In step S110, the elevation of the current position of the grader blade, the elevation of the target position, and the speed of movement of the grader are acquired, respectively. The target position is on the ground at a certain horizontal distance from the current position along a direction of movement of the grader. For example, in FIG. 2, the current position of the grader blade 210 is A and the target position is B. The horizontal distance between A and B is denoted L. A blade angle of the grader blade 210 at the current position A is β.
[0054] The process of acquiring the elevation of the target position will be described in detail below with reference to FIGS. 4a, 4b and 4c.
[0055] FIG. 4a is a flowchart illustrating the acquisition of an elevation of a target position according to some embodiments of the present disclosure.
[0056] FIG. 4b is a schematic diagram illustrating the acquisition of a vertical distance between a distance sensor and the target position according to some embodiments of the present disclosure.
[0057] FIG. 4c is a schematic diagram illustrating the acquisition of a Petition 870220105843, dated 11 / 16 / 2022, page 21 / 100 / 22 vertical distance between a distance sensor and the target position according to some other embodiments of the present disclosure.
[0058] As shown in FIG. 4a, this acquisition of the target position elevation comprises steps S111 and S112.
[0059] In step S111, a GPS elevation and a vertical distance between the GPS and the target position are acquired, respectively. For example, the GPS is a GPS receiver.
[0060] In some embodiments, the GPS elevation is a Zgps measurement of the GPS. For example, GPS 211 in FIG. 3a is fixedly positioned relative to a frame 212 of the motor grader. In some embodiments, in FIG. 3a, GPS 211 is fixedly positioned relative to the frame 212 of the motor grader via a first support 213
[0061] Step S111 of acquiring the vertical distance between the GPS and the target position, shown in FIG. 4a, is obtained, for example, as follows.
[0062] First, a vertical distance between the distance sensor and the target position is acquired. For example, in FIG. 2, the distance sensor 214 is located directly above the target position B. In FIG. 3a, the distance sensor 214 is fixed relative to the frame 212 of the motor grader. In some embodiments, in FIG. 3a, the distance sensor 214 is spaced from the blade 210 by a certain distance along the direction of movement of the motor grader. The distance can be defined empirically. The vertical distance between the distance sensor and the target position is the distance between the distance sensor and the target position.
[0063] For example, the distance sensor is an ultrasonic sensor or a lidar sensor.
[0064] In the case where the distance sensor is an ultrasonic sensor, the detection value is determined by the vertical distance between the distance sensor and the target position.
[0065] For example, in FIG. 4b, distance sensor 214 is an ultrasonic sensor. The ground position detected by the ultrasonic sensor is the target position B. The vertical distance Hi between the ultrasonic sensor and the target position B is the value of Petition 870220105843, dated 11 / 16 / 2022, page 22 / 100 / 22 detection. In some embodiments, the distance sensor 214 is fixedly arranged at one end of a second support 215.
[0066] In the case where the distance sensor is a lidar sensor, a product of the detection value and a cosine value of a laser emission angle from the lidar sensor is determined as the vertical distance between the distance sensor and the target position.
[0067] For example, in FIG. 4c, the distance sensor 214 is a lidar sensor. The ground position detected by the lidar sensor is a detection position D with a certain horizontal distance from the target position B on the ground. The detection value is a distance S between the lidar sensor and the detection position D. In some embodiments, the laser emission angle of the lidar sensor is θ. The laser emission angle is also referred to as a detection angle. In some embodiments, the distance sensor 214 is fixedly arranged at one end of the second support 215.
[0068] Under the condition that the laser emission angle is within a certain range, a triangle formed by a connecting line between the lidar sensor and the detection position D, a connecting line between the lidar sensor and the target position B, and a connecting line between the target position B and the detection position D can be approximately considered a right triangle. According to the right triangle cosine law, the vertical distance Hi between the distance sensor and the target position is Sxcos Θ. The lidar sensor is more accurate when used in a secondary leveling scenario.
[0069] So, after the vertical distance between the distance sensor and the target position is acquired, the vertical distance between the GPS and the distance sensor is acquired.
[0070] In some embodiments, in FIG. 3a, the distance sensor 214 is fixed in relation to the frame 212 of the motor grader. The GPS 211 is located directly above the blade of the shovel 210.
[0071] For example, in FIG. 2 or 3a, the first support 213 is perpendicular to the horizontal plane and the second support 215 is parallel to the horizontal plane. In some embodiments, in FIG. 2 or 3a, the GPS 211 is positioned at one end. Petition 870220105843, dated 11 / 16 / 2022, page 23 / 100 / 22 of the first support 213 away from the blade of the shovel 210 and the distance sensor 214 is disposed at one end of the second support 215 away from the blade of the shovel 210. The first support 213 has a length Li. In this case, the vertical distance between the GPS and the distance sensor is Li. As will be appreciated by those skilled in the art, the horizontal plane in the present disclosure is a reference plane for measuring elevation.
[0072] For example, in FIG. 3a, the motor grader frame 212 includes a third support 2121. The third support 2121 is located directly above the shovel blade 210, parallel to an upper edge of the shovel blade 210. For example, the upper edge of the shovel blade 210 is an edge connected to a rotation axis 216. The GPS 211 and the distance sensor 214 are fixedly arranged relative to the third support 2121 via the first support 213 and the second support 215, respectively. In some embodiments, the fixed connection method between the first support 213, the second support 215, and the third support 2121 is a fixed pin connection or a fixed weld connection.
[0073] For example, the third support 2121 is a connection plate. The length of the connection plate can be set as needed. Finally, the vertical distance between the GPS and the target position is acquired according to the vertical distance between the distance sensor and the target position and the vertical distance between the GPS and the distance sensor.
[0074] For example, in FIG. 2, the vertical distance H2 between GPS 211 and target position B is a sum of H1 and Li.
[0075] In step S112, the elevation of the target position is acquired according to the GPS elevation and the vertical distance between the GPS and the target position. For example, in FIG. 2, the elevation Zb of the target position B is Zgps-(Hi+Li).
[0076] Returning to FIG. 1, the description of step S110 is continued.
[0077] The process of acquiring the elevation of the current position of the grader blade in step S110, shown in FIG. 1, will be detailed below with reference to FIG. 5.
[0078] FIG. 5 is a flowchart illustrating the acquisition of an elevation of a Petition 870220105843, dated 11 / 16 / 2022, page 24 / 100 / 22 current position of a grader blade according to some embodiments of the present disclosure.
[0079] As shown in FIG. 5, this acquisition of the elevation of the current position of the grader blade comprises steps S113-S114.
[0080] In step S113, the GPS elevation is acquired. For example, the Zgps elevation of GPS 211 in FIG. 2 is acquired.
[0081] In step S114, the elevation of the current position of the grader blade is acquired according to the GPS elevation.
[0082] For example, in FIG. 2 or 3a, GPS 211 is located directly above the blade of the grader blade 210. The elevation of the current position of the grader blade is obtained according to the GPS elevation as follows.
[0083] First, the elevation of a GPS projection point on the ground is determined according to the distance between the GPS and the GPS projection point on the ground and the GPS elevation.
[0084] For example, in FIG. 2, the GPS elevation 211 is Zgps. The blade chord length of blade 210 is L2. The blade chord length of blade 210 is a length of a vertical line segment between an upper edge and a lower edge of blade 210. The lower edge of the blade is an edge near the ground opposite the upper edge of the blade.
[0085] When the vertical line segment between the upper edge and the lower edge of the blade 210 is perpendicular to the ground, a position of any edge angle of the lower edge of the blade is a projection point of GPS 211 onto the ground. For example, in FIG. 2, a distance between GPS 211 and a projection point C of GPS 211 onto the ground is a sum of Li and L2 where Li is the length of the first support. The elevation Zc of the projection point C of GPS 211 onto the ground is Zgps-(Li+L2).
[0086] Next, the elevation of the current position of the blade is determined according to the elevation of the GPS projection point on the ground and an angle of the current position of the blade.
[0087] For example, in FIG. 2, the angle of the current position of blade A of the blade Petition 870220105843, dated 11 / 16 / 2022, p. 25 / 100 / 22 of blade 210 is β. In some embodiments, in FIG. 3a or 3b, the blade of blade 210 is coupled to the rotation axis 216 and the blade of blade 210 can be rotated clockwise or counterclockwise around the rotation axis 216 to form the blade angle shown in FIG. 2.
[0088] For example, in FIG. 2, an angle α of rotation of the blade of the blade from the projection point C to the current position A is 180-(90-β)χ2, that is, α = 2β.
[0089] In some embodiments, a blade turning radius of 210 is the blade chord length L2. The blade chord length is a length of a vertical line segment between the upper edge and the lower edge of the blade. L2 can be obtained by measurement.
[0090] For example, the elevation Za of the current position A of blade 210 is Zc+ (L2- L2xcos a), that is, Za=Zgps-(L1+ L2) + (L2- L2xcos(2^)).
[0091] For example, there are multiple GPSs. In some embodiments, there is a plurality of GPSs. For example, in FIG. 3b, the GPS includes a first GPS 211a and a second GPS 211b. The first GPS 211a and the second GPS 211b are respectively located on either side of the blade of the shovel 210 in a width direction of a motor grader body. For example, in FIG. 3b, the first GPS 211a and the second GPS 211b are fixedly arranged in relation to the third support 2121 via the first support 213a and the first support 213b, respectively.
[0092] For example, there are multiple distance sensors. In some embodiments, a plurality of distance sensors is understood. For example, in FIG. 3b, the distance sensors include a first distance sensor 214a and a second distance sensor 214b. The first and second distance sensors 214a and 214b are spaced on either side by a certain horizontal distance, respectively, along the direction of movement of the motor grader. The first distance sensor 214a and the first GPS 211a are both located on one side between both sides. The second distance sensor 214b and the second GPS 211b are both located on the other side between both sides. For example, in FIG. 3b, the first and second sensors of Petition 870220105843, dated 11 / 16 / 2022, page 26 / 100 / 22 distance 214a and 214b are fixedly arranged in relation to the third support 2121 via the second support 215a and the second support 215b, respectively.
[0093] Specific positions of the two GPS and the two distance sensors on both sides of the body in the width direction can be defined as needed.
[0094] For example, in this case, the current position includes a first edge angle position and a second edge angle position of the blade. For example, in FIG. 3b, the first edge angle position is 2101a and the second edge angle position is 2101b.
[0095] Returning to FIG. 1, the description of step S110 is continued.
[0096] The S110 step of acquiring the motor grader's movement speed is performed as follows, for example.
[0097] In some embodiments, the movement speed v of the motor grader is acquired by a speed sensor provided on any wheel of the motor grader.
[0098] After the elevation of the current position of the grader blade, the elevation of the target position, and the grader's movement speed are respectively acquired, step S120 is executed continuously.
[0099] In step S120, the blade movement time from the current position to the target position is determined according to the horizontal distance and the movement speed.
[00100] For example, in FIG. 2, the second support 215 has a length L3. The blade angle at the current position A of the blade 210 is β. As can be seen from the calculation above, the angle α of rotation of the blade from the projection point C to the current position A is 2β. Then, the horizontal distance L is L3 + L2 * sin 2β. In the case where the blade rotates clockwise, β takes a negative value. In the case where the blade rotates counterclockwise, β takes a positive value.
[00101] For example, the movement time t of the blade of the shovel 210 from the position Petition 870220105843, dated 11 / 16 / 2022, page 27 / 100 / 22 current A to target position B in FIG. 2 is L / v, as can be learned from physical kinematics.
[00102] In step S130, the lifting speed of the lifting oil cylinder is determined according to a difference in elevation between the elevation of the target position and the elevation of the current position and the movement time.
[00103] For example, in FIG. 2, the elevation Zb of the target position B is Zgps-(Hi + Li) and the elevation Za of the current position A is Zgps-( Li+ L2) + (L2- L2xcos(2^)). Zb-Za is the elevation difference. The elevation difference is positive, negative, or 0.
[00104] As can be learned from physical kinematics, the lifting oil cylinders 217a and 217b in FIG. 3a both have a lifting speed of (Zb- Za)-(L / v). The lifting speed is positive, negative, or 0 corresponding to the difference in elevation.
[00105] In FIG. 3b, the lifting speed of the first lifting oil cylinder 217a and the lifting speed of the second lifting oil cylinder 217b can be determined separately using a similar calculation process.
[00106] In step S140, the lifting oil cylinder is controlled to adjust the shovel blade to move from the current position to the target position according to the lifting speed.
[00107] For example, under the condition that the lifting speed is positive, the target position is higher than the current position and the lifting oil cylinder is controlled to adjust the blade to rise from the current position according to the lifting speed in order to reach the target position. Under the condition that the lifting speed is negative, the target position is lower than the current position and the lifting oil cylinder is controlled to adjust the blade to descend from the current position according to the lifting speed in order to reach the target position.
[00108] Fig. 6 is a block diagram illustrating a controller according to some embodiments of the present disclosure.
[00109] As shown in FIG. 6, the 610 controller comprises a first Petition 870220105843, dated 11 / 16 / 2022, page 28 / 100 / 22 acquisition module 611, a second acquisition module 612, a third acquisition module 613, a first determination module 614, a second determination module 615 and a control module 616.
[00110] For example, controller 610 is a leveling control device. The leveling control device comprises an acquisition module, a first determination module, a second determination module, and a control module. The acquisition module of the leveling control device comprises the first acquisition module 611, the second acquisition module 612, and the third acquisition module 613 of controller 610. The structure and function of the first determination module, the second determination module, and the control module of the leveling control device are similar to those of the first determination module 614, the second determination module 615, and the control module 616 of controller 610, respectively.
[00111] The first acquisition module 611 is configured to acquire an elevation of a current position of a grader blade, for example, to perform a part of step S110 shown in FIG. 1.
[00112] The second acquisition module 612 is configured to acquire an elevation of a target position, for example, to perform a part of step S110 shown in FIG. 1. The target position is on the ground at a certain horizontal distance from the current position along a direction of movement of the motor grader.
[00113] The third acquisition module 613 is configured to acquire a motor grader movement speed, for example, to perform a part of step S110 shown in FIG. 1.
[00114] The first determination module 614 is configured to determine a blade movement time from the current position to the target position according to the horizontal distance and movement speed, for example, to perform step S120 shown in FIG. 1.
[00115] The second determination module 613 is configured to determine a lifting speed of an oil-filled lifting cylinder according to a difference in elevation between the elevation of the target position and the Petition 870220105843, dated 11 / 16 / 2022, page 29 / 100 / 22 elevation of the current position and the movement time, for example, to execute step S130 shown in FIG. 1.
[00116] Control module 614 is configured to control the lifting oil cylinder to adjust the shovel blade to move from the current position to the target position according to the lifting speed, for example, to perform step S140 shown in FIG. 1.
[00117] FIG. 7 is a block diagram illustrating a controller according to some other embodiments of the present disclosure.
[00118] As shown in FIG. 7, the controller 710 comprises a memory 711; and a processor 712 coupled with the memory 711. The memory 711 is configured to store instructions for executing respective modes of the leveling control method. The processor 712 is configured to execute the leveling control method in any of the modes of the present disclosure based on the instructions stored in the memory 711. For example, the controller 710 is a leveling control device.
[00119] FIG. 8 is a block diagram illustrating a leveling control system according to some embodiments of the present disclosure.
[00120] As shown in FIG. 8, the leveling control system 81 comprises a controller 810. For example, the controller 810 is similar in structure to the controller 610 or the controller 710 in the present disclosure. In some embodiments, the controller is a leveling control device.
[00121] In some embodiments, the leveling control system 81 additionally comprises a speed sensor 811, a GPS 812 and a distance sensor 813.
[00122] The speed sensor 811 is provided on any wheel of the motor grader. The speed sensor is configured to measure the motor grader's movement speed. For example, the speed sensor 811 is coupled with the controller 810 via a communication cable or a communication protocol.
[00123] Each of the GPS 812 and the distance sensor 813 is arranged Petition 870220105843, dated 11 / 16 / 2022, p. 30 / 100 / 22, specifically regarding the motor grader frame. For example, GPS 812 and distance sensor 813 are coupled with controller 810 via a communication cable or communication protocol. GPS 812 is configured to measure an elevation from the GPS and send the GPS elevation to controller 810. The distance sensor is configured to detect the ground to obtain a detection value and send the detection value to controller 810.
[00124] In some embodiments, the leveling control system 81 additionally comprises a first lifting oil cylinder 814a and a second lifting oil cylinder 814b. The first and second lifting oil cylinders 814a and 814b are configured to adjust the elevation of the first and second blade edge angles of the shovel, respectively. For example, the first and second lifting oil cylinders 814a and 814b are the left and right lifting oil cylinders of the motor grader, respectively.
[00125] In some embodiments, the leveling control system 81 additionally comprises a multi-way hydraulic valve 815. The controller 810 controls the first and second lifting oil cylinders 814a and 814b via the multi-way hydraulic valve 815 to adjust the shovel blade to move from the current position to the target position according to the calculated lifting speed.
[00126] For example, the present disclosure further proposes a motor grader. The motor grader comprises the leveling control system according to any of the embodiments of the present disclosure. For example, the leveling control system is similar in structure to the leveling control system 81 of the present disclosure.
[00127] FIG. 9 is a block diagram illustrating a computer system for implementing some embodiments of the present disclosure.
[00128] As shown in FIG. 9, the computer system 90 can take the form of a general-purpose computing device. The computer system 90 comprises a memory 910, a processor 920, and a bus. Petition 870220105843, dated 11 / 16 / 2022, page 31 / 100 / 22 900 which connects various system components.
[00129] Memory 910 may include, for example, system memory, non-volatile storage media, and the like. System memory stores, for example, an operating system, an application program, a boot loader, and other programs. System memory may include volatile storage media such as Random Access Memory (RAM) and / or cache memory. Non-volatile storage media, for example, stores instructions for executing respective modes of at least one of the leveling control methods. Non-volatile storage media includes, but is not limited to, magnetic disk storage, optical storage, flash memory, and the like.
[00130] The 920 processor can be implemented as discrete hardware components, such as a general-purpose processor, a Digital Signal Processor (DSP), an Application-Specific Integrated Circuit (ASIC), a Field Programmable Gate Group (FPGA) or other programmable logic device, discrete gates or transistors, or the like. Consequently, each of the modules such as the judgment module and the determination module can be implemented by a Central Processing Unit (CPU) that executes instructions in memory to perform the corresponding steps, or it can be implemented by a dedicated circuit to perform the corresponding steps.
[00131] The 900 bus can use any of a variety of bus structures. For example, bus structures include, but are not limited to, Industry Standard Architecture (ISA) bus, Micro Channel (MCA) bus, and Peripheral Component Interconnect (PCI) bus.
[00132] The computer system 90 may also include input / output interface 930, network interface 940, storage interface 950 and the like. Interfaces 930, 940, 950, as well as memory 910 and processor 920, may be coupled by bus 900. The input / output interface 930 may establish a connection interface for input / output devices such as Petition 870220105843, dated 11 / 16 / 2022, page 32 / 100 / 22, such as a display, a mouse, a keyboard, and similar devices. Network interface 940 establishes a connection interface for a variety of network-connected devices. Storage interface 950 establishes a connection interface for external storage devices such as a floppy disk, a USB drive, and an SD card.
[00133] Several aspects of the present disclosure are described herein with reference to flowcharts and / or block diagrams of the methods, devices, and computer program products according to the embodiments of the present disclosure. It should be understood that each block of the flowcharts and / or block diagrams and combinations of blocks can be implemented by computer-readable program instructions.
[00134] These computer-readable program instructions can be given to a processor of a general-purpose computer, a special-purpose computer, or other programmable apparatus to produce a machine in such a way that the instructions, when executed by the processor, create means to implement the functions specified in one or more blocks of the flowchart and / or block diagram.
[00135] These computer-readable program instructions may also be stored in computer-readable memory that can direct a computer to operate in a particular way in order to produce a manufactured item, including instructions to implement the functions specified in one or more blocks of the flowchart and / or block diagram.
[00136] The present disclosure may take the form of an embodiment entirely in hardware, an embodiment entirely in software, or an embodiment combining aspects of software and hardware.
[00137] By means of the leveling apparatus and control system method, the motor grader and the computer-storable means in the above modalities, the leveling accuracy is improved.
[00138] Thus, the method, apparatus and leveling control system, the motor grader, the computer-storable medium according to Petition 870220105843, dated 11 / 16 / 2022, page 33 / 100 / 22, the present disclosure has been described in detail. Some well-known details in the art have not been described in order to avoid obscuring the concepts of the present disclosure. Those skilled in the art will know fully how to implement the technical solutions disclosed herein, according to the description above. Petition 870220105843, dated 11 / 16 / 2022, page 34 / 100
Claims
1 / 6 CLAIMS 1. Leveling control method, characterized in that it comprises: acquiring respectively an elevation of a current position of a blade (210) of a motor grader, an elevation of a target position and a speed of movement of the motor grader, wherein the target position is on the ground at a certain horizontal distance from the current position along a direction of movement of the motor grader; determining a movement time of the blade (210) from the current position to the target position according to the horizontal distance and the speed of movement; determining a lifting speed of an oil-filled lifting cylinder (217a / 217b) according to an elevation difference between the elevation of the target position and the elevation of the current position and the movement time;and controlling the lifting oil cylinder (217a / 217b) to adjust the blade (210) to move from the current position to the target position according to the lifting speed; wherein acquiring an elevation of a target position comprises: acquiring respectively an elevation from a Global Positioning System (GPS) (211) and a vertical distance between the GPS (211) and the target position, wherein the GPS (211) is fixedly positioned in relation to a third support (2121) of a frame (212) of the motor grader through a first support (213); and acquiring the elevation of the target position according to the elevation of the GPS (211) and the vertical distance between the GPS (211) and the target position;wherein acquiring a vertical distance between the GPS (211) and the target position comprises: acquiring a vertical distance between a distance sensor (214) and the target position, wherein the distance sensor (214) is fixedly positioned in relation to a third support (2121) of the frame (212) of the motor grader by means of a second support (215); Petition 870260055149, dated 08 / 06 / 2026, page 10 / 26 2 / 6 acquiring a vertical distance between the GPS (211) and the distance sensor (214); and acquiring the vertical distance between the GPS (211) and the target position according to the vertical distance between the distance sensor (214) and the target position and the vertical distance between the GPS (211) and the distance sensor (214).
2. Leveling control method according to claim 1, characterized in that the distance sensor (214) is located directly above the target position and acquiring a vertical distance between a distance sensor (214) and the target position comprises: acquiring a detection value obtained by the distance sensor (214) through ground detection; and acquiring the vertical distance between the distance sensor (214) and the target position according to the detection value.
3. Leveling control method according to claim 2, characterized in that the distance sensor (214) is an ultrasonic sensor (214) or a lidar sensor (214) and acquiring the vertical distance between the distance sensor (214) and the target position according to the detection value comprises: determining the detection value as the vertical distance between the distance sensor (214) and the target position in the case where the distance sensor (214) is the ultrasonic sensor (214); and determining a product of the detection value and a cosine value of a laser emission angle of the lidar sensor (214) as the vertical distance between the distance sensor (214) and the target position in the case where the distance sensor (214) is the lidar sensor (214).
4. Leveling control method according to claim 1, characterized in that acquiring an elevation from a current position of a grader blade (210) comprises: acquiring an elevation from GPS (211); and Petition 870260055149, dated 08 / 06 / 2026, page 11 / 26 3 / 6 acquiring the elevation from the current position of the grader blade (210) according to the elevation from GPS (211).
5. Leveling control method according to claim 4, characterized in that the GPS (211) is located directly above the blade of the grader (210) and acquiring the elevation of the current position of the blade of the grader (210) according to the elevation of the GPS (211) comprises: determining an elevation of a projection point of the GPS (211) on the ground according to a distance between the GPS (211) and the projection point of the GPS (211) on the ground and the elevation of the GPS (211); and determining the elevation of the current position of the blade of the grader (210) according to the elevation of the projection point of the GPS (211) on the ground and an angle of the current position of the blade of the grader (210).
6. Leveling control method according to claim 1, characterized in that the current position comprises a first edge angle position and a second edge angle position of the blade (210), respectively.
7. Leveling control device, characterized in that it comprises an acquisition module configured to acquire respectively an elevation of a current position of a blade (210) of a motor grader, an elevation of a target position and a movement speed of the motor grader, wherein the target position is on the ground at a certain horizontal distance from the current position along a direction of movement of the motor grader; a first determination module configured to determine a movement time of the blade (210) from the current position to the target position according to the horizontal distance and the movement speed;a second determination module configured to determine a lifting speed of a lifting oil cylinder (217a / 217b) of Petition 870260055149, dated 08 / 06 / 2026, page 12 / 26 4 / 6 according to a difference in elevation between the elevation of the target position and the elevation of the current position and the time of movement; and a control module configured to control the lifting oil cylinder (217a / 217b) to adjust the blade of the shovel (210) to move from the current position to the target position according to the lifting speed; wherein acquiring an elevation of a target position comprises: acquiring respectively an elevation of a Global Positioning System (GPS) (211) and a vertical distance between the GPS (211) and the target position, wherein the GPS (211) is fixedly positioned in relation to a third support (2121) of a frame (212) of the motor grader by means of a first support (213);and acquire the elevation of the target position according to the elevation of the GPS (211) and the vertical distance between the GPS (211) and the target position; wherein the acquisition module is configured to acquire a vertical distance between a distance sensor (214) and the target position, wherein the distance sensor (214) is fixed in relation to the third support (2121) of the frame (212) of the motor grader by means of a second support (215); acquire a vertical distance between the GPS (211) and the distance sensor (214); and acquire the vertical distance between the GPS (211) and the target position according to the vertical distance between the distance sensor (214) and the target position and the vertical distance between the GPS (211) and the distance sensor (214).
8. Leveling control apparatus, characterized in that it comprises: a memory; and a processor coupled to the memory, the processor configured to execute the leveling control method as defined in claim 1 based on instructions stored in the memory.
9. Leveling control system, characterized in that it comprises: the leveling control apparatus as defined in claim 8. Petition 870260055149, dated 08 / 06 / 2026, page 13 / 26 5 / 6 10. Leveling control system according to claim 9, characterized in that it further comprises: a speed sensor (214) disposed on any wheel of the motor grader, configured to measure a movement speed of the motor grader and send the movement speed to the leveling control device; and a Global Positioning System (GPS) (211) fixedly disposed relative to a frame (212) of the motor grader, configured to measure an elevation of the GPS (211) and send the elevation of the GPS (211) to the leveling control device; and a distance sensor (214) fixedly disposed relative to a frame (212) of the motor grader, configured to detect the ground to obtain a detection value and send the detection value to the leveling control device.
11. Leveling control system according to claim 10, characterized in that the GPS (211) and the distance sensor (214) are fixedly arranged in relation to the frame (212) of the motor grader by a first support (213) and a second support (215), respectively.
12. Leveling control system according to claim 11, characterized in that the GPS (211) is located directly above the blade of the grader (210) and the distance sensor (214) is spaced from the blade of the grader (210) by a certain distance along the direction of movement of the motor grader.
13. Leveling control system according to claim 11, characterized in that the first support (213) is perpendicular to a horizontal plane and the second support (215) is parallel to the horizontal plane.
14. Leveling control system according to claim 12, characterized in that: the GPS (211) comprises a first GPS (211a) and a second GPS (211b), respectively located directly above the blade of the shovel (210) on both sides in a width direction of a motor grader body; and the distance sensor (214) comprises a first distance sensor. Petition 870260055149, dated 08 / 06 / 2026, page. 14 / 26 6 / 6 (214a) and a second distance sensor (214b), respectively spaced on both sides along the direction of movement of the motor grader at a certain distance and the first distance sensor (214a) and the first GPS (211a) are both located on one side between both sides and the second distance sensor (214b) and the second GPS (211b) are both located on the other side between both sides.
15. Motor grader, characterized in that it comprises the leveling control system as defined in claim 9.
16. A computer-storable medium, characterized in that it has stored on it computer program instructions which, when executed by a processor, implement the leveling control method as defined in claim 1. Petition 870260055149, dated 08 / 06 / 2026, p. 15 / 26