Method, device and system for determining blade slope angle of a grader and storage medium

Abstract

This disclosure provides a method, apparatus, control system, and storage medium for determining the scraping angle of a grader blade, relating to the field of engineering machinery technology. The method includes: establishing a reference coordinate system based on the grader's running direction and the blade's movement direction; acquiring spatial attitude angle information corresponding to the blade's movement, collected by an attitude detection device; acquiring the rotational sequence of the blade around each coordinate axis of the reference coordinate system; and calculating the scraping angle corresponding to the blade using a preset scraping angle calculation rule based on the spatial attitude angle information and the rotational sequence. This method, apparatus, system, and storage medium, by detecting the blade's attitude angle in a spatial state and calculating the scraping angle based on the attitude angle and the rotational sequence, can achieve accurate determination of the grader blade's scraping angle, reducing reliance on operator experience and improving operational efficiency.

Description

Technical Field

[0001] This disclosure relates to the field of engineering machinery technology, and in particular to a method, apparatus, grader blade control system, and storage medium for determining the slope angle of a grader blade. Background Technology

[0002] When using a grader for slope work, it is necessary to control the slope angle of the blade to ensure the accuracy of the slope, avoid multiple corrections, improve construction efficiency, and reduce construction costs. Currently, in actual operation, the control of the blade's scraping angle mainly relies on the operator's experience and visual judgment. The slope angle obtained by this method often differs significantly from the actual slope angle, requiring multiple rework adjustments. Furthermore, there is currently no technology to directly measure the slope angle of the blade's operation using sensors, making direct detection of the slope angle impossible. Indirect angle monitoring can be achieved based on hydraulic cylinder position sensor technology: the blade's scraping angle and the stroke of the scraping angle extension cylinder are designed with a certain functional relationship. A position sensor is installed on the scraping angle extension cylinder to transmit the collected cylinder stroke values ​​to the controller, which then indirectly controls the blade's scraping angle by controlling the displacement signal. However, during slope scraping operations, the scraping angle is determined by the states of multiple control cylinders, resulting in a complex algorithm and significant errors due to the mechanical clearance between the blade and the cylinders, making it difficult to guarantee the accuracy of the scraping angle. Therefore, a new technology for determining the slope angle is needed. Summary of the Invention

[0003] In view of this, one technical problem to be solved by the present invention is to provide a method, device, control system and storage medium for determining the slope angle of a grader blade.

[0004] According to one aspect of this disclosure, a method for determining the slope angle of a grader blade is provided, comprising: establishing a reference coordinate system based on the running direction of the grader and the moving direction of the blade; acquiring spatial attitude angle information corresponding to the blade's movement collected by an attitude detection device; wherein the spatial attitude angle includes: the attitude angle of the blade's rotation around each coordinate axis of the reference coordinate system; acquiring the rotation sequence of the blade around each coordinate axis of the reference coordinate system; and calculating the slope angle corresponding to the blade using a preset slope angle calculation rule based on the spatial attitude angle information and the rotation sequence.

[0005] Optionally, establishing a reference coordinate system based on the running direction of the grader and the moving direction of the blade includes: setting the projection of the intersection point of the lateral centerline of the grader blade and the longitudinal centerline of the grader onto the horizontal plane as the origin, and setting the horizontal plane as the XOY plane to establish the reference coordinate system; wherein, the X-axis direction of the reference coordinate system is the running direction of the grader, the Y-axis direction is the lateral moving direction of the blade, and the Z-axis direction is the direction perpendicular to the horizontal plane and vertically upward.

[0006] Optionally, the attitude angles include: a first attitude angle α of the blade rotating around the X-axis, a second attitude angle β of the blade rotating around the Y-axis, and a third attitude angle γ of the blade rotating around the Z-axis.

[0007] Optionally, the step of calculating the slope angle corresponding to the shovel based on the spatial attitude angle information and the rotation action sequence using a preset slope angle calculation rule includes: selecting at least two attitude angles from the first attitude angle α, the second attitude angle β, and the third attitude angle γ according to the rotation action sequence, and calculating the slope angle.

[0008] Optionally, if the rotation sequence is determined to be a first sequence, a third sequence, a fifth sequence, or a sixth sequence, then the first attitude angle α and the second attitude angle β are selected to calculate the slope angle; wherein, the first sequence is that the shovel sequentially performs a first attitude angle α rotation around the X-axis, a second attitude angle β rotation around the Y-axis, and a third attitude angle γ rotation around the Z-axis; the third sequence is that the shovel sequentially performs a second attitude angle β rotation around the Y-axis, a first attitude angle α rotation around the X-axis, and a third attitude angle γ rotation around the Z-axis; the fifth sequence is that the shovel sequentially performs a third attitude angle γ rotation around the Z-axis, a first attitude angle α rotation around the X-axis, and a second attitude angle β rotation around the Y-axis; and the sixth sequence is that the shovel sequentially performs a third attitude angle γ rotation around the Z-axis, a second attitude angle β rotation around the Y-axis, and a first attitude angle α rotation around the X-axis.

[0009] Optionally, the slope angle θ = 180 - arc(cos(α)cos(β)).

[0010] Optionally, if the rotation sequence is determined to be the second sequence, the first attitude angle α, the second attitude angle β, and the third attitude angle γ are selected to calculate the slope angle; wherein, the second sequence is that the shovel sequentially performs a first attitude angle α rotation around the X-axis, a third attitude angle γ rotation around the Z-axis, and a second attitude angle β rotation around the Y-axis.

[0011] Optionally, the slope angle θ = 180 - arc(-sin(α)sin(γ)sin(β) + cos(α)cos(β)).

[0012] Optionally, if the rotation sequence is determined to be the fourth sequence, the first attitude angle α, the second attitude angle β, and the third attitude angle γ are selected to calculate the slope angle; wherein, the fourth sequence is that the shovel sequentially performs a second attitude angle β rotation around the Y-axis, a first attitude angle α rotation around the X-axis, and a third attitude angle γ rotation around the Z-axis.

[0013] Optionally, the slope angle θ = 180 - arc(cos(α)cos(β) + sin(α)sin(β)sin(γ)).

[0014] Optionally, the attitude detection device includes: a tilt sensor, a magnetometer, or a fiber optic gyroscope.

[0015] According to another aspect of this disclosure, a device for determining the slope angle of a grader blade is provided, comprising: a coordinate system establishment module for establishing a reference coordinate system based on the running direction of the grader and the moving direction of the blade; a spatial attitude acquisition module for acquiring spatial attitude angle information corresponding to the blade's movement collected by an attitude detection device; wherein the spatial attitude angle includes: the attitude angle of the blade's rotation around each coordinate axis of the reference coordinate system; an action sequence acquisition module for acquiring the rotation action sequence of the blade around each coordinate axis of the reference coordinate system; and a slope angle calculation module for calculating the slope angle corresponding to the blade using a preset slope angle calculation rule based on the spatial attitude angle information and the rotation action sequence.

[0016] Optionally, establishing a reference coordinate system based on the running direction of the grader and the moving direction of the blade includes: a coordinate system establishment module, used to set the projection of the intersection point of the lateral centerline of the grader blade and the longitudinal centerline of the grader onto the horizontal plane as the origin, and to set the horizontal plane as the XOY plane, in order to establish the reference coordinate system; wherein, the X-axis direction of the reference coordinate system is the running direction of the grader, the Y-axis direction is the lateral moving direction of the blade, and the Z-axis direction is the direction perpendicular to the horizontal plane and vertically upward.

[0017] Optionally, the attitude angles include: a first attitude angle α of the blade rotating around the X-axis, a second attitude angle β of the blade rotating around the Y-axis, and a third attitude angle γ of the blade rotating around the Z-axis.

[0018] Optionally, the step of calculating the slope angle corresponding to the shovel based on the spatial attitude angle information and the rotation action sequence using a preset slope angle calculation rule includes: a slope angle calculation module, used to select at least two attitude angles from the first attitude angle α, the second attitude angle β and the third attitude angle γ according to the rotation action sequence, and calculate the slope angle.

[0019] Optionally, the slope angle calculation module is used to calculate the slope angle by selecting the first attitude angle α and the second attitude angle β if the rotation sequence is determined to be a first sequence, a third sequence, a fifth sequence, or a sixth sequence; wherein, the first sequence is that the shovel sequentially performs a first attitude angle α rotation around the X-axis, a second attitude angle β rotation around the Y-axis, and a third attitude angle γ rotation around the Z-axis; the third sequence is that the shovel sequentially performs a second attitude angle β rotation around the Y-axis, a first attitude angle α rotation around the X-axis, and a third attitude angle γ rotation around the Z-axis; the fifth sequence is that the shovel sequentially performs a third attitude angle γ rotation around the Z-axis, a first attitude angle α rotation around the X-axis, and a second attitude angle β rotation around the Y-axis; and the sixth sequence is that the shovel sequentially performs a third attitude angle γ rotation around the Z-axis, a second attitude angle β rotation around the Y-axis, and a first attitude angle α rotation around the X-axis.

[0020] Optionally, the slope angle θ = 180 - arc(cos(α)cos(β)).

[0021] Optionally, the slope angle calculation module is used to select the first attitude angle α, the second attitude angle β, and the third attitude angle γ to calculate the slope angle if the rotation action sequence is determined to be a second sequence; wherein, the second sequence is that the shovel sequentially performs a first attitude angle α rotation around the X-axis, a third attitude angle γ rotation around the Z-axis, and a second attitude angle β rotation around the Y-axis.

[0022] Optionally, the slope angle θ = 180 - arc(-sin(α)sin(γ)sin(β) + cos(α)cos(β)).

[0023] Optionally, the slope angle calculation module is used to select the first attitude angle α, the second attitude angle β, and the third attitude angle γ to calculate the slope angle if the rotation action sequence is determined to be the fourth sequence; wherein, the fourth sequence is that the shovel sequentially performs a second attitude angle β rotation around the Y-axis, a first attitude angle α rotation around the X-axis, and a third attitude angle γ rotation around the Z-axis.

[0024] Optionally, the slope angle θ = 180 - arc(cos(α)cos(β) + sin(α)sin(β)sin(γ)).

[0025] Optionally, the attitude detection device includes: a tilt sensor, a magnetometer, or a fiber optic gyroscope.

[0026] According to another aspect of this disclosure, a device for determining the slope angle of a grader blade is provided, comprising: a memory; and a processor coupled to the memory, the processor being configured to perform the method described above based on instructions stored in the memory.

[0027] According to another aspect of this disclosure, a grader blade control system is provided, comprising: a device for determining the slope angle of the grader blade as described above.

[0028] Optionally, the system also includes a display module and a storage module connected to the device for determining the slope angle of the grader blade.

[0029] According to another aspect of this disclosure, a computer-readable storage medium is provided that stores computer instructions which are executed by a processor using the method described above.

[0030] The present invention discloses a method, device, control system, and storage medium for determining the scraping angle of a grader blade. Addressing the problem of lacking sensors for measuring the scraping angle of the blade, this invention detects the blade's attitude angle in space and calculates the scraping angle based on the attitude angle and the sequence of rotational movements. This enables accurate determination of the scraping angle of the grader blade, reduces reliance on operator experience, and improves operational efficiency. Attached Figure Description

[0031] To more clearly illustrate the technical solutions in the embodiments of this disclosure or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this disclosure. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0032] Figure 1 This is a flowchart illustrating an embodiment of the method for determining the slope angle of a grader blade according to the present disclosure;

[0033] Figure 2 A schematic diagram of one embodiment of the grader blade control mechanism;

[0034] Figure 3 This is a schematic diagram of the reference coordinate system in one embodiment of the method for determining the slope angle of a grader blade according to the present disclosure;

[0035] Figure 4A This is a schematic diagram of the slope angle. Figure 4B This is a schematic diagram of the slope angle in a coordinate system. Figure 4C This is a schematic diagram of sensor installation. Figure 4D This is a schematic diagram for calculating the slope angle;

[0036] Figure 5 This is a schematic diagram of a module of an embodiment of the grader blade slope angle determination device according to the present disclosure;

[0037] Figure 6This is a schematic diagram of a module of a grader blade control system according to an embodiment of the present disclosure;

[0038] Figure 7 This is a schematic diagram of another embodiment of the grader blade slope angle determination device according to the present disclosure. Detailed Implementation

[0039] The present disclosure will now be described more fully with reference to the accompanying drawings, which illustrate exemplary embodiments of the present disclosure. The technical solutions of the embodiments of the present disclosure will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present disclosure, and not all embodiments. Based on the embodiments of the present disclosure, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present disclosure. The technical solutions of the present disclosure will be described in various aspects below with reference to the various figures and embodiments.

[0040] The terms "first" and "second" used in the following text are only used to describe the differences between the two and have no other special meaning.

[0041] A grader is a type of machinery used for leveling large areas of land, road construction, slope scraping, ditch digging, edge canal repair, drainage ditch construction, snow removal, soil loosening, bulldozing, land reclamation, and other work. When using a grader for slope operations, it is necessary to control the slope angle of the blade to ensure the accuracy of the slope, avoid multiple slope corrections, improve construction efficiency, and reduce construction costs.

[0042] Currently, in actual operation, controlling the slope angle of the grader blade mainly relies on the operator's experience and visual judgment. The slope angle often differs significantly from the actual angle, requiring multiple rework adjustments, resulting in long operation times and high costs. This situation arises because when the grader blade is used for slope control, it needs to be moved outside the vehicle body. At this point, the slope angle depends on the blade's spatial position, and currently, there are no direct sensors for measurement, making direct detection of the slope angle impossible.

[0043] Indirect angle monitoring can be achieved based on hydraulic cylinder position sensor technology. The shovel's cutting angle and the stroke of the cutting angle extension cylinder are designed as a certain function relationship. A position sensor is installed on the cutting angle extension cylinder to transmit the collected cylinder stroke values ​​to the controller. The cutting angle of the shovel is then indirectly controlled by controlling the displacement signal. However, since the slope angle during slope scraping is determined by the state of multiple control cylinders, the algorithm is complex, and there is a mechanical gap between the shovel and the cylinder, resulting in a large error and making it difficult to guarantee the slope angle.

[0044] Figure 1 This is a flowchart illustrating an embodiment of the method for determining the slope angle of a grader blade according to the present disclosure, as shown below. Figure 1 As shown:

[0045] Step 101: Establish a reference coordinate system based on the running direction of the grader and the moving direction of the blade.

[0046] In one embodiment, the grader can be an engineering grader, an agricultural grader, etc.; the running direction of the grader is the driving direction of the grader, etc., and the moving direction of the blade is the lateral moving direction of the blade, etc., and the lateral moving direction of the blade is perpendicular to the driving direction of the grader; the reference coordinate system is a three-dimensional coordinate system.

[0047] Step 102: Obtain the spatial attitude angle information corresponding to the operation of the shovel, collected by the attitude detection device. The spatial attitude angle includes the attitude angle of the shovel rotating around each coordinate axis of the reference coordinate system.

[0048] Step 103: Obtain the rotation sequence of the shovel around each coordinate axis of the reference coordinate system.

[0049] Step 104: Calculate the slope angle corresponding to the shovel blade using the preset slope angle calculation rules based on the spatial attitude angle information and the rotation action sequence.

[0050] The method for determining the slope angle of the grader blade in the above embodiments can achieve accurate determination of the slope angle of the grader blade by detecting the attitude angle of the blade in space and calculating the slope angle based on the attitude angle and the rotation sequence.

[0051] like Figure 2 As shown, the control mechanism of the grader blade includes a traction frame 1, a rotary ring 2, an angle positioner 3, a blade body 4, and a shovel angle telescopic cylinder 5. The rotary ring 2 is fixed to the lower end of the traction frame 1 by bolts. Support ears are welded to the left and right sides of the rotary ring 2, and a shaft head is welded to the lower end of the rotary ring 2. One end of the shovel angle telescopic cylinder 5 is installed and fixed at the support ear of the rotary ring 2, and the other end is assembled with the upper mounting hole of the angle positioner 3 by a pin. A spherical bearing and a sealing ring are installed in the mounting hole on the angle positioner 3. A slide is provided in the middle of the angle positioner 3, and it is fixed to the rotary ring 2 by a locking rod, a locking nut, and a washer.

[0052] The lower mounting hole of the angle positioner 3 is fitted onto the shaft head of the rotary ring 2 and fixed by a slotted nut. The upper and lower guide rails of the blade body 4 are placed in the guide grooves of the angle positioner 3, and the blade body 4 slides along the axis of the lower shaft head. A detection device can be configured on the excavation angle telescopic cylinder 5 to transmit the collected cylinder stroke values ​​to the controller.

[0053] In one embodiment, the origin is set as the projection of the intersection of the lateral centerline of the grader blade and the longitudinal centerline of the grader onto a horizontal plane, and the horizontal plane is set as the XOY plane to establish a reference coordinate system. The X-axis of the reference coordinate system represents the running direction of the grader, the Y-axis represents the lateral movement direction of the blade, and the Z-axis represents the direction perpendicular to the horizontal plane and vertically upward. The attitude angles collected by the attitude detection device, corresponding to the blade's movement, include a first attitude angle α of the blade rotating around the X-axis, a second attitude angle β of the blade rotating around the Y-axis, and a third attitude angle γ of the blade rotating around the Z-axis.

[0054] like Figure 3 As shown, a reference coordinate system is established with the horizontal plane as the reference plane and the projection of the intersection of the lateral centerline of the grader's blade and the longitudinal centerline of the grader onto the horizontal plane as the origin. The X-axis of the reference coordinate system represents the vehicle's travel direction, the Y-axis represents the lateral movement direction of the blade, and the Z-axis represents the vertically upward direction perpendicular to the horizontal plane. The attitude detection device includes tilt sensors, magnetometers, or fiber optic gyroscopes. The attitude detection device detects the spatial attitude angles of the blade, including the first attitude angle α (rotation around the X-axis), the second attitude angle β (rotation around the Y-axis), and the third attitude angle γ (rotation around the Z-axis). α, β, and γ can be acquired using single-axis / dual-axis tilt sensors or attitude sensors such as IMUs, magnetometers, and fiber optic gyroscopes.

[0055] In one embodiment, the preset slope angle calculation rule can employ multiple calculation rules. For example, at least two attitude angles can be selected from the first attitude angle α, the second attitude angle β, and the third attitude angle γ according to the rotation sequence to calculate the slope angle.

[0056] The first sequence is that the blade sequentially rotates around the X-axis by a first attitude angle α, around the Y-axis by a second attitude angle β, and around the Z-axis by a third attitude angle γ. The second sequence is that the blade sequentially rotates around the X-axis by a first attitude angle α, around the Z-axis by a third attitude angle γ, and around the Y-axis by a second attitude angle β. The third sequence is that the blade sequentially rotates around the Y-axis by a second attitude angle β, around the X-axis by a first attitude angle α, and around the Z-axis by a third attitude angle γ.

[0057] The fourth sequence is that the shovel rotates around the Y-axis by a second attitude angle β, around the X-axis by a first attitude angle α, and around the Z-axis by a third attitude angle γ in sequence; the fifth sequence is that the shovel rotates around the Z-axis by a third attitude angle γ, around the X-axis by a first attitude angle α, and around the Y-axis by a second attitude angle β in sequence; the sixth sequence is that the shovel rotates around the Z-axis by a third attitude angle γ, around the Y-axis by a second attitude angle β, and around the X-axis by a first attitude angle α in sequence.

[0058] If the rotation sequence is determined to be the first, third, fifth, or sixth sequence, then the first attitude angle α and the second attitude angle β are selected to calculate the slope angle.

[0059] If the rotation sequence is determined to be the second sequence, then the first attitude angle α, the second attitude angle β, and the third attitude angle γ are selected to calculate the slope angle.

[0060] If the rotation sequence is determined to be the fourth sequence, then the first attitude angle α, the second attitude angle β, and the third attitude angle γ are selected to calculate the slope angle.

[0061] In one embodiment, such as Figure 4A and 4B As shown, the slope angle θ of the shovel refers to the angle between the slope formed after the shovel has finished its slope operation and the horizontal plane. For ease of understanding, assume the lower edge of the shovel is AB. Translate point A to the origin O of the coordinate system (translating AB will not affect the slope angle). The projection of point B onto the XOY plane is B1, and the projection of B1 onto the XOZ plane is B2. Then, the slope angle θ = ∠BB2B1. Figure 4C As shown, the attitude sensor 42 is arranged on the upper part of the shovel blade. In the initial state, it is arranged parallel to the lower edge AB of the shovel blade and the horizontal plane. The attitude sensor 42 is rigidly connected to the shovel blade body and moves with the movement of the shovel blade.

[0062] like Figure 4D As shown, the scraping angle θ of the shovel can be defined as the complementary angle between the normal vector n1 of the plane where the attitude sensor is located and the normal vector n2 of the vertical positioning. For the first sequence α-β-γ ((the shovel first rotates by an angle α around the X-axis, then by an angle β around the Y-axis, and finally by an angle γ around the Z-axis):

[0063] The initial vector (xyz) of n1 is defined as (0 0 1), and the vector after the action α-β-γ is:

[0064]

[0065] Where the vector n2 is defined as (0 0 1), then the slope angle is:

[0066] θ=180-arc(cos(α)cos(β)).

[0067] For the second sequence α-γ-β (the blade first rotates by an angle α around the X-axis, then by an angle γ around the Y-axis, and finally by an angle β around the Z-axis):

[0068] The initial vector (xyz) of n1 is defined as (0 0 1), and the vector after the action α-γ-β is...

[0069]

[0070] Where the vector n2 is defined as (0 0 1), then the slope angle is:

[0071] θ=180-arc(-sin(α)sin(γ)sin(β)+cos(α)cos(β)).

[0072] For the third sequence β-α-γ (the blade first rotates by an angle β around the X-axis, then by an angle α around the Y-axis, and finally by an angle γ around the Z-axis):

[0073] The initial vector (xyz) of n1 is defined as (0 0 1), and the vector after the action β-α-γ is...

[0074]

[0075] Where the vector n2 is defined as (0 0 1), then the slope angle is:

[0076] θ=180-arc(cos(α)cos(β)).

[0077] For the fourth sequence β-γ-α (the blade first rotates by an angle β around the X-axis, then by an angle γ around the Y-axis, and finally by an angle α around the Z-axis):

[0078] The initial vector (xyz) of n1 is defined as (0 0 1), and the vector after the action β-γ-α is...

[0079]

[0080] Where the vector n2 is defined as (0 0 1), then the slope angle is:

[0081] θ=180-arc(cos(α)cos(β)+sin(α)sin(β)sin(γ)).

[0082] For the fifth sequence γ-α-β (the blade first rotates by an angle γ around the X-axis, then by an angle α around the Y-axis, and finally by an angle β around the Z-axis):

[0083] The initial vector (xyz) of n1 is defined as (0 0 1), and the vector after the action γ-α-β is...

[0084]

[0085] Where the vector n2 is defined as (0 0 1), then the slope angle is:

[0086] θ=180-arc(cos(α)cos(β)).

[0087] For the sixth sequence γ-β-α (the blade first rotates by an angle γ around the X-axis, then by an angle β around the Y-axis, and finally by an angle α around the Z-axis):

[0088] The initial vector (xyz) of n1 is defined as (0 0 1), and the vector after the action γ-β-α is...

[0089]

[0090] If the vector n2 is defined as (0 0 1), then the slope angle is:

[0091] θ=180-arc(cos(α)cos(β)).

[0092] In one embodiment, such as Figure 5 As shown, this disclosure provides a device 50 for determining the slope angle of a grader blade, including: a coordinate system establishment module 51, a spatial attitude acquisition module 52, an action sequence acquisition module 53, and a slope angle calculation module 54. The coordinate system establishment module 51 establishes a reference coordinate system based on the grader's running direction and the blade's movement direction. The spatial attitude acquisition module 52 acquires spatial attitude angle information corresponding to the blade's movement, collected by an attitude detection device. The spatial attitude angles include the attitude angles of the blade's rotation around each coordinate axis of the reference coordinate system.

[0093] The action sequence acquisition module 53 acquires the rotation sequence of the shovel around each coordinate axis of the reference coordinate system. The slope angle calculation module 54 calculates the slope angle corresponding to the shovel based on the spatial attitude angle information and the rotation sequence, using preset slope angle calculation rules.

[0094] In one embodiment, the coordinate system establishment module 51 sets the projection of the intersection of the horizontal centerline of the grader blade and the longitudinal centerline of the grader onto the horizontal plane as the origin, and sets the horizontal plane as the XOY plane to establish a reference coordinate system; the X-axis of the reference coordinate system is the running direction of the grader, the Y-axis is the lateral movement direction of the blade, and the Z-axis is the direction perpendicular to the horizontal plane and vertically upward.

[0095] The attitude angles include the first attitude angle α of the blade rotating around the X-axis, the second attitude angle β of the blade rotating around the Y-axis, and the third attitude angle γ of the blade rotating around the Z-axis. The slope angle calculation module 54 selects at least two attitude angles from the first attitude angle α, the second attitude angle β, and the third attitude angle γ according to the rotation action sequence, and calculates the slope angle.

[0096] In one embodiment, if the slope angle calculation module 54 determines that the rotation action sequence is the first sequence, the third sequence, the fifth sequence, or the sixth sequence, the slope angle calculation module 54 selects the first attitude angle α and the second attitude angle β to calculate the slope angle. For example, the slope angle can be θ = 180 - arc(cos(α)cos(β)).

[0097] If the slope angle calculation module 54 determines that the rotation action sequence is the second sequence, then the slope angle calculation module 54 selects the first attitude angle α, the second attitude angle β and the third attitude angle γ to calculate the slope angle. For example, the slope angle θ = 180 - arc(-sin(α)sin(γ)sin(β) + cos(α)cos(β)).

[0098] If the slope angle calculation module 54 determines that the rotation action sequence is the fourth sequence, then the slope angle calculation module 54 selects the first attitude angle α, the second attitude angle β and the third attitude angle γ to calculate the slope angle. For example, the slope angle θ = 180 - arc(cos(α)cos(β) + sin(α)sin(β)sin(γ)).

[0099] In one embodiment, Figure 6 This is a schematic diagram of another embodiment of the grader blade slope angle determination device according to this disclosure. Figure 6 As shown, the device may include a memory 61, a processor 62, a communication interface 63, and a bus 64. The memory 61 is used to store instructions, and the processor 62 is coupled to the memory 61. The processor 62 is configured to execute the above-described method for determining the slope angle of the grader blade based on the instructions stored in the memory 61.

[0100] The memory 61 can be a high-speed RAM, non-volatile memory, or a memory array. The memory 61 may also be divided into blocks, and these blocks can be combined into virtual volumes according to certain rules. The processor 62 can be a central processing unit (CPU), an application-specific integrated circuit (ASIC), or one or more integrated circuits configured to implement the method for determining the slope angle of a grader blade according to this disclosure.

[0101] In one embodiment, this disclosure provides a grader blade control system, including a grader blade slope angle determination device 71 as in any of the above embodiments, and also including a posture detection device 72, a display module 73 and a storage module 74. The grader blade slope angle determination device 71 can be implemented as a controller, etc.

[0102] The grader blade scraping angle determination device 71, attitude detection device 72, display module 73, and storage module 74 are connected via a communication cable or communication bus. The grader blade scraping angle determination device 71 uses the attitude detection device 72 to detect the attitude angle of the blade in space, and calls the calculation model of attitude angle and scraping angle (with preset scraping angle calculation rules) in the storage module 74 to calculate the scraping angle, thereby realizing the accurate determination of the grader blade scraping angle.

[0103] The display module 73 is a display screen responsible for displaying the detected data information (actual spatial attitude angles α, β, γ) to the operator. The display screen is connected to the grader blade slope angle determination device 71 via a communication cable, and is used to present the measured data and calculated slope angle data to the operator in a graphical and chart-like form.

[0104] The storage module 74 is responsible for storing the logical relationship between the spatial attitude angle and the grader's slope angle in the storage area of ​​the grader blade slope angle determination device 71, and is connected to the grader blade slope angle determination device 71 via a communication cable or communication protocol.

[0105] In one embodiment, this disclosure provides a computer-readable storage medium storing computer instructions that, when executed by a processor, implement the method for determining the slope angle of a grader blade as described in any of the preceding embodiments.

[0106] The method, apparatus, control system, and storage medium for determining the slope angle of a grader blade provided in the above embodiments address the problem of lacking sensors for measuring the slope angle of the blade. By detecting the attitude angle of the blade in space and calculating the slope angle based on the attitude angle and the sequence of rotational movements, the slope angle of the grader blade can be accurately determined, reducing reliance on operator experience and improving work efficiency.

[0107] The methods and systems of this disclosure may be implemented in many ways. For example, they may be implemented by software, hardware, firmware, or any combination of software, hardware, and firmware. The above-described order of steps for the methods is for illustrative purposes only, and the steps of the methods of this disclosure are not limited to the order specifically described above unless otherwise specifically stated. Furthermore, in some embodiments, this disclosure may also be implemented as a program recorded on a recording medium, the program including machine-readable instructions for implementing the methods according to this disclosure. Thus, this disclosure also covers recording media storing programs for performing the methods according to this disclosure.

[0108] The description in this disclosure is provided for illustrative and descriptive purposes only and is not intended to be exhaustive or to limit the disclosure to its forms. Many modifications and variations will be apparent to those skilled in the art. The embodiments were chosen and described in order to better illustrate the principles and practical application of this disclosure and to enable those skilled in the art to understand this disclosure and to design various embodiments with various modifications suitable for a particular purpose.

Claims

1. A method for determining the slope angle of a grader blade, comprising: A reference coordinate system is established based on the running direction of the grader and the moving direction of the blade, including: The origin is set as the projection of the intersection of the horizontal centerline of the grader blade and the longitudinal centerline of the grader onto the horizontal plane, and the horizontal plane is set as the XOY plane to establish the reference coordinate system. The X-axis of the reference coordinate system is the running direction of the grader, the Y-axis is the lateral movement direction of the blade, and the Z-axis is the direction perpendicular to the horizontal plane and vertically upward. Acquire spatial attitude angle information corresponding to the operation of the shovel blade collected by the attitude detection device; wherein, the spatial attitude angle includes: the attitude angle of the shovel blade rotating around each coordinate axis of the reference coordinate system, and the attitude angle includes: the first attitude angle α of the shovel blade rotating around the X axis, the second attitude angle β of the shovel blade rotating around the Y axis and the third attitude angle γ of the shovel blade rotating around the Z axis; Obtain the rotation sequence of the shovel about each coordinate axis of the reference coordinate system; Based on the spatial attitude angle information and the rotation sequence, the slope angle corresponding to the blade is calculated using a preset slope angle calculation rule, including: Based on the rotation sequence, at least two attitude angles are selected from the first attitude angle α, the second attitude angle β, and the third attitude angle γ to calculate the slope angle; Wherein, if the rotation sequence is determined to be a first sequence, a third sequence, a fifth sequence, or a sixth sequence, then the first attitude angle α and the second attitude angle β are selected to calculate the slope angle; wherein, the first sequence is that the shovel blade sequentially performs a first attitude angle α rotation around the X-axis, a second attitude angle β rotation around the Y-axis, and a third attitude angle γ rotation around the Z-axis; the third sequence is that the shovel blade sequentially performs a second attitude angle β rotation around the Y-axis, a first attitude angle α rotation around the X-axis, and a third attitude angle γ rotation around the Z-axis; the fifth sequence is that the shovel blade sequentially performs a third attitude angle γ rotation around the Z-axis, a first attitude angle α rotation around the X-axis, and a second attitude angle β rotation around the Y-axis; the sixth sequence is that the shovel blade sequentially performs a third attitude angle γ rotation around the Z-axis, a second attitude angle β rotation around the Y-axis, and a first attitude angle α rotation around the X-axis; the slope angle θ = 180 - arc(cos(α)cos(β)); If the rotation sequence is determined to be the second sequence, then the first attitude angle α, the second attitude angle β, and the third attitude angle γ are selected to calculate the slope angle; the second sequence is that the shovel sequentially performs a first attitude angle α rotation around the X-axis, a third attitude angle γ rotation around the Z-axis, and a second attitude angle β rotation around the Y-axis, and the slope angle θ = 180 - arc(-sin(α)sin(γ)sin(β) + cos(α)cos(β)); If the rotation sequence is determined to be the fourth sequence, then the first attitude angle α, the second attitude angle β, and the third attitude angle γ are selected to calculate the slope angle; the fourth sequence is that the shovel performs rotation around the Y-axis by the second attitude angle β, rotation around the X-axis by the first attitude angle α, and rotation around the Z-axis by the third attitude angle γ in sequence, and the slope angle θ = 180 - arc(cos(α)cos(β) + sin(α)sin(β)sin(γ)).

2. The method as described in claim 1, wherein, The attitude detection device includes: a tilt sensor, a magnetometer, or a fiber optic gyroscope.

3. A device for determining the slope angle of a grader blade, comprising: The coordinate system establishment module is used to establish a reference coordinate system based on the running direction of the grader and the moving direction of the blade. Specifically, the origin is set as the projection of the intersection point of the grader blade's transverse centerline and the grader's longitudinal centerline onto a horizontal plane, and the horizontal plane is set as the XOY plane to establish the reference coordinate system. The X-axis of the reference coordinate system represents the grader's running direction, the Y-axis represents the transverse moving direction of the blade, and the Z-axis is a direction perpendicular to the horizontal plane and vertically upward. The spatial attitude acquisition module is used to acquire spatial attitude angle information corresponding to the operation of the shovel blade collected by the attitude detection device; wherein, the spatial attitude angle includes: the attitude angle of the shovel blade rotating around each coordinate axis of the reference coordinate system, and the attitude angle includes: the first attitude angle α of the shovel blade rotating around the X-axis, the second attitude angle β of the shovel blade rotating around the Y-axis, and the third attitude angle γ of the shovel blade rotating around the Z-axis; The action sequence acquisition module is used to acquire the rotation action sequence of the shovel around each coordinate axis of the reference coordinate system; The slope angle calculation module is used to calculate the slope angle corresponding to the shovel blade according to the spatial attitude angle information and the rotation action sequence using a preset slope angle calculation rule. The slope angle is calculated by selecting at least two attitude angles from the first attitude angle α, the second attitude angle β and the third attitude angle γ according to the rotation action sequence. Wherein, if the rotation sequence is determined to be a first sequence, a third sequence, a fifth sequence, or a sixth sequence, then the first attitude angle α and the second attitude angle β are selected to calculate the slope angle; wherein, the first sequence is that the shovel blade sequentially performs a first attitude angle α rotation around the X-axis, a second attitude angle β rotation around the Y-axis, and a third attitude angle γ rotation around the Z-axis; the third sequence is that the shovel blade sequentially performs a second attitude angle β rotation around the Y-axis, a first attitude angle α rotation around the X-axis, and a third attitude angle γ rotation around the Z-axis; the fifth sequence is that the shovel blade sequentially performs a third attitude angle γ rotation around the Z-axis, a first attitude angle α rotation around the X-axis, and a second attitude angle β rotation around the Y-axis; the sixth sequence is that the shovel blade sequentially performs a third attitude angle γ rotation around the Z-axis, a second attitude angle β rotation around the Y-axis, and a first attitude angle α rotation around the X-axis; the slope angle θ = 180 - arc(cos(α)cos(β)); If the slope angle calculation module determines that the rotation action sequence is the second sequence, then the first attitude angle α, the second attitude angle β, and the third attitude angle γ are selected to calculate the slope angle. The second sequence is that the shovel blade sequentially performs a rotation around the X-axis at the first attitude angle α, a rotation around the Z-axis at the third attitude angle γ, and a rotation around the Y-axis at the second attitude angle β. The slope angle θ = 180 - arc(-sin(α)sin(γ)sin(β) + cos(α)cos(β)). If the slope angle calculation module determines that the rotation action sequence is the fourth sequence, then the first attitude angle α, the second attitude angle β, and the third attitude angle γ are selected to calculate the slope angle; the fourth sequence is that the shovel performs the second attitude angle β rotation around the Y axis, the first attitude angle α rotation around the X axis, and the third attitude angle γ rotation around the Z axis in sequence, and the slope angle θ = 180 - arc(cos(α)cos(β) + sin(α)sin(β)sin(γ)).

4. A device for determining the slope angle of a grader blade, comprising: Memory; And a processor coupled to the memory, the processor being configured to perform the method as described in any one of claims 1 to 2 based on instructions stored in the memory.

5. A grader blade control system, comprising: The device for determining the slope angle of a grader blade as described in claim 3 or 4.

6. The system of claim 5, further comprising: A display module and a storage module are connected to the device for determining the slope angle of the grader blade.

7. A computer-readable storage medium storing computer instructions that are executed by a processor according to any one of claims 1 to 2.

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