A motor grader front drive anti-skid control method, system and device

Abstract

The present invention discloses a front-wheel drive anti-skid control method, system and device for a motor grader, the method comprising obtaining an input signal, determining a driving mode of the motor grader according to the input signal; if the motor grader is in a two-wheel drive mode, controlling the front wheel speed in response to a manual speed regulation signal; if the motor grader is in a six-wheel drive mode, determining whether the motor grader is slipping; if not, maintaining the front wheels of the motor grader at target pressures corresponding to different gears; if the motor grader slips in the six-wheel drive mode, determining whether the motor grader is in a manual anti-skid mode; if the motor grader is in the manual anti-skid mode, adjusting the motor grader in response to a manual adjustment signal; if the motor grader is not in the manual anti-skid mode, maintaining the front and rear wheel speed ratios of the motor grader at target front and rear wheel speed ratios corresponding to different gears. The present invention improves the driving force and adhesion of the motor grader, thereby improving the working efficiency of the motor grader to adapt to more working conditions.

Description

Technical Field

[0001] The present invention relates to a front-wheel drive anti-skid control method, system and device for a motor grader, and belongs to the technical field of motor grader control. Background Art

[0002] Motor graders are mainly used for leveling large areas of ground such as roads, airports, and farmlands, as well as for trenching, slope scraping, bulldozing, loosening soil, and snow removal. They are essential engineering machinery for national defense projects, mining construction, urban road construction, water conservancy construction, and farmland improvement.

[0003] With the development of intelligent motor graders, customers are placing increasingly higher demands on them. Existing motor graders use rear-wheel drive systems, but in complex conditions with variable surface adhesion, such as climbing slopes and on icy surfaces, they can suffer from insufficient driving force and slippage. Therefore, how to maximize traction and prevent slippage in motor graders, thereby expanding their application range, is a pressing issue. Summary of the Invention

[0004] The purpose of the present invention is to overcome the deficiencies in the prior art and provide a front-wheel drive anti-skid control method, system and device for a motor grader, which can enable the motor grader to exert better traction, avoid skidding and expand the scope of use of the motor grader.

[0005] To achieve the above object, the present invention is implemented by adopting the following technical solutions:

[0006] In a first aspect, the present invention provides a front-wheel drive anti-skid control method for a motor grader, comprising:

[0007] obtaining an input signal, and determining a driving mode of the motor grader according to the input signal;

[0008] If the motor grader is in two-wheel drive mode, the front wheel speed is controlled in response to a manual speed control signal;

[0009] If the motor grader is in a six-wheel drive mode, determining whether the motor grader is slipping;

[0010] If the motor grader does not slip in the six-wheel drive mode, maintaining the front wheels of the motor grader at target pressures corresponding to different gears;

[0011] If the motor grader slips in the six-wheel drive mode, determining whether the motor grader is in the manual anti-skid mode;

[0012] If the motor grader is in a manual anti-skid mode, performing an adjustment in response to a manual adjustment signal;

[0013] If the motor grader is not in the manual anti-skid mode, the front and rear wheel speed ratios of the motor grader are maintained at target front and rear wheel speed ratios corresponding to different gear positions.

[0014] Furthermore, the input signal includes any one or more of a gear signal, a two-wheel drive switch, a six-wheel drive switch, a manual anti-skid switch, a pressure sensor, a motor speed signal, a brake signal, and a speed control knob.

[0015] Furthermore, in the two-wheel drive mode, when the motor grader turns, the obtained left front wheel pressure sensor signal and right front wheel pressure sensor signal are compared to obtain the turning direction and turning amplitude of the motor grader, thereby performing pressure compensation to achieve steering.

[0016] Furthermore, in the six-wheel drive mode, the condition for determining that the grader has slipped is that the ratio of the average speed of the left front wheel and the right front wheel to the speed of the rear wheels is greater than a set value and exceeds a set time.

[0017] Furthermore, in the six-wheel drive mode, the left front wheel and the right front wheel are controlled independently.

[0018] Furthermore, if the motor grader slips, the pressure values ​​of the left front wheel pressure sensor and the right front wheel pressure sensor are monitored simultaneously. If the pressure values ​​are lower than a minimum pressure value, the front and rear wheel speed ratio of the wheel on the side below the minimum pressure value is increased until the front wheel pressure returns to normal and the target front and rear wheel speed ratio is restored.

[0019] Furthermore, when the average pressure of the left front wheel and the right front wheel of the motor grader is greater than the target pressure corresponding to different gear positions, the motor grader exits skidding.

[0020] Furthermore, in the six-wheel drive mode, if a brake signal is collected, the front wheels are maintained within a set lower target pressure range.

[0021] In a second aspect, the present invention provides a front-wheel drive anti-skid control system for a motor grader, comprising:

[0022] a signal input and driving mode determination unit, configured to obtain an input signal and determine a driving mode of the motor grader according to the input signal;

[0023] a first execution unit, configured to control the front wheel speed in response to a manual speed control signal when the motor grader is in a two-wheel drive mode;

[0024] a first judging unit, configured to judge whether the motor grader is slipping when the motor grader is in a six-wheel drive mode;

[0025] a second execution unit, configured to maintain the front wheels of the motor grader at target pressures corresponding to different gear positions when the motor grader is not slipping in the six-wheel drive mode;

[0026] a second determining unit, configured to determine whether the motor grader is in a manual anti-skid mode if the motor grader slips in the six-wheel drive mode;

[0027] a third execution unit, configured to perform adjustment in response to a manual adjustment signal when the motor grader is in a manual anti-skid mode;

[0028] The fourth execution unit is configured to maintain the front and rear wheel speed ratios of the motor grader at target front and rear wheel speed ratios corresponding to different gear positions when the motor grader is not in the manual anti-skid mode.

[0029] In a third aspect, the present invention provides a front-wheel drive anti-skid control device for a motor grader, comprising a processor and a storage medium;

[0030] The storage medium is used to store instructions;

[0031] The processor is configured to operate according to the instructions to execute the steps of any of the aforementioned methods.

[0032] Compared with the prior art, the present invention has the following beneficial effects:

[0033] The present invention provides a front-wheel drive anti-skid control method, system, and device for a motor grader, which converts the motor grader from an original rear-wheel drive system to a six-wheel drive system. On a ground with normal adhesion, the front wheels are controlled to maintain a certain target pressure, thereby improving the driving force of the motor grader and enabling it to exert better traction when climbing slopes and working with a load. On a slippery road surface, the front and rear wheels are maintained at a certain target speed ratio, so that the front wheels have a certain driving force but do not cause excessive slipping due to excessive driving force, resulting in tire wear and energy loss, thereby improving the working efficiency of the motor grader and expanding the scope of use of the motor grader. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Figure 1 is a flow chart of a front-wheel drive anti-skid control method for a motor grader according to one embodiment of the present invention;

[0035] Figure 2 is a skid strategy diagram of a front-wheel drive anti-skid control method for a motor grader according to an embodiment of the present invention;

[0036] Figure 3 1. is a composition diagram of a front-wheel drive anti-skid control system for a motor grader according to one embodiment of the present invention;

[0037] Figure 4 The figure is a control principle diagram of a front-wheel drive anti-skid control system for a motor grader according to one embodiment of the present invention. DETAILED DESCRIPTION

[0038] The present invention will be further described below in conjunction with the accompanying drawings. The following embodiments are only used to more clearly illustrate the technical solutions of the present invention and are not intended to limit the scope of protection of the present invention.

[0039] Example 1

[0040] This embodiment introduces a front-wheel drive anti-skid control method for a motor grader, including:

[0041] obtaining an input signal, and determining a driving mode of the motor grader according to the input signal;

[0042] If the motor grader is in two-wheel drive mode, the front wheel speed is controlled in response to a manual speed control signal;

[0043] If the motor grader is in a six-wheel drive mode, determining whether the motor grader is slipping;

[0044] If the motor grader does not slip in the six-wheel drive mode, maintaining the front wheels of the motor grader at target pressures corresponding to different gears;

[0045] If the motor grader slips in the six-wheel drive mode, determining whether the motor grader is in the manual anti-skid mode;

[0046] If the motor grader is in a manual anti-skid mode, performing an adjustment in response to a manual adjustment signal;

[0047] If the motor grader is not in the manual anti-skid mode, the front and rear wheel speed ratios of the motor grader are maintained at target front and rear wheel speed ratios corresponding to different gear positions.

[0048] The application process of the front-wheel drive anti-skid control method for a motor grader provided in this embodiment specifically involves the following steps:

[0049] S1. Determining a driving mode of the motor grader according to an input signal;

[0050] According to one embodiment of the present invention, in step S1, the input signals include a gear position signal, a two-wheel drive switch, a six-wheel drive switch, a manual anti-skid switch, a pressure sensor, a motor speed signal, a brake signal, a speed control knob, etc. The pressure sensors include a left front wheel pressure sensor and a right front wheel pressure sensor, and the pressure detected by the pressure sensors is proportional to the pump displacement. Furthermore, the motors are installed at the left front wheel, right front wheel, and rear axle gearbox output points, and the left front wheel speed, right front wheel speed, and rear wheel speed can be obtained by converting the motor-collected signals.

[0051] S2. If the motor grader is in two-wheel drive mode, the front wheel speed is controlled by adjusting the speed knob in the cab;

[0052] According to one embodiment of the present invention, in step S2, in the two-wheel drive mode, the knob corresponds to increasing vehicle speeds from the leftmost end to the rightmost end. In the two-wheel drive mode, when the motor grader turns, the motor grader compares the obtained left front wheel pressure sensor signal with the right front wheel pressure sensor signal to determine the turning direction and turning range of the motor grader, thereby performing pressure compensation to achieve steering.

[0053] S3. If the motor grader is in the six-wheel drive mode, further determining whether the motor grader is slipping;

[0054] According to an embodiment of the present invention, in step S3, the condition for determining that the grader has slipped is that the ratio of the average speed of the left front wheel and the right front wheel to the speed of the rear wheels is greater than a certain value for more than a certain time.

[0055] S4. If the motor grader does not slip in the six-wheel drive mode, maintaining the front wheels of the motor grader at target pressures corresponding to different gear positions;

[0056] S5. If the motor grader slips in the six-wheel drive mode, further determining whether the motor grader is in a manual anti-skid mode;

[0057] S6. If the motor grader is in the manual anti-skid mode, manually adjust the front wheel driving force; if the motor grader is not in the manual anti-skid mode, maintain the front and rear wheel speed ratios of the motor grader at target front and rear wheel speed ratios corresponding to different gears.

[0058] According to one embodiment of the present invention, in steps S4, S5, and S6, in the six-wheel drive mode, the left front wheel and the right front wheel are controlled separately, wherein, when the motor grader slips, the front and rear wheel speed ratios are controlled so that the speed ratios of the left front wheel to the rear wheel and the right front wheel to the rear wheel are maintained at target speed ratios corresponding to different gear positions.

[0059] According to one embodiment of the present invention, if the grader slips, the pressure values ​​of the left front wheel pressure sensor and the right front wheel pressure sensor are monitored simultaneously. If the pressure values ​​are lower than a minimum pressure value, the front-to-rear wheel speed ratio of the wheel on the side below the minimum pressure value is increased until the front wheel pressure returns to normal and the target front-to-rear wheel speed ratio is restored.

[0060] According to one embodiment of the present invention, when the average pressure of the left front wheel and the right front wheel of the motor grader is greater than the target pressure corresponding to different gear positions, the motor grader exits the skidding mode.

[0061] According to one embodiment of the present invention, in the six-wheel drive mode, if a brake signal is collected, the front wheels are maintained at a lower target pressure.

[0062] The present invention also provides a front-wheel drive anti-skid control system for a motor grader, characterized in that the system adopts any of the above methods to implement the front-wheel drive anti-skid control of the motor grader.

[0063] According to one embodiment of the present invention, the system includes: a signal input unit for collecting input signals; a logic processing unit for determining the driving mode of the grader and whether slipping occurs; and an execution unit for controlling the front wheel speed according to the driving mode of the grader and whether slipping occurs.

[0064] According to an embodiment of the present invention, the execution unit controls the front wheel speed by controlling the displacement of a pump, and the displacement of the pump is determined by the current of a solenoid valve.

[0065] According to one embodiment of the present invention, the magnitude of the solenoid valve current is related to the speed control knob, the front wheel pressure, and the front and rear wheel speeds.

[0066] The following describes the contents designed in the above embodiments in conjunction with the accompanying drawings.

[0067] Figure 1 Figure 1 shows a flow chart of a front-wheel drive anti-skid control method for a motor grader according to an embodiment of the present invention. Specifically, the motor grader's drive mode is first determined based on input signals, including a gear position signal, a two-wheel drive switch, a six-wheel drive switch, a manual anti-skid switch, a pressure sensor, a motor speed signal, a brake signal, a speed control knob, and the like. The drive modes include two-wheel drive and six-wheel drive. If the gear is in neutral and the two-wheel drive switch is on, the motor enters two-wheel drive mode, with the front two wheels being drive wheels and the rear four wheels being freewheels. If the gear is in forward gear and the six-wheel drive switch is on, the motor enters six-wheel drive mode, with all six wheels being drive wheels. If an abnormality is detected in the pressure sensor or motor speed signal, an alarm is generated on the display to alert the user to prevent sensor or motor failure from affecting the front-wheel drive function. The pressure sensors include a left front wheel pressure sensor and a right front wheel pressure sensor. The pressure sensor's pressure measurement point is located at the output of the front wheel pump. The measured pressure is the pressure value in the forward direction of the front wheels, equivalent to the driving force of the front wheels. In addition, motors are installed at the left front wheel, right front wheel, and rear axle gearbox output points. The left front wheel speed, right front wheel speed, and rear wheel speed can be obtained by converting the motor collected signals.

[0068] After entering two-wheel drive mode, the front wheel speed can be adjusted using the speed control knob in the cab. This control, in turn, controls the pump displacement, further controlling the front wheel speed. In two-wheel drive mode, when turning, the grader compares the signals from the left and right front wheel pressure sensors to determine the turning direction and amplitude, thereby performing pressure compensation and achieving steering. Specifically, when the pressure difference between the left and right front wheels reaches a certain value, indicating a clear turning intention, the speed of the inner wheel is reduced and the speed of the outer wheel is increased. Simultaneously, the pressure difference between the left and right front wheels is monitored in real time until it returns to the normal range, completing the turn.

[0069] If the grader is in six-wheel drive mode, further testing is required to determine whether the grader is slipping. Field testing indicates that the grader is slipping when the ratio of the average speed of the left and right front wheels to the speed of the rear wheels exceeds a certain value for a specified period of time.

[0070] If the grader does not slip in the six-wheel drive mode, the front wheels of the grader are kept at the target pressures corresponding to different gears, such as Figure 4 As shown, a PID algorithm is used here to increase the front wheel speed by increasing the pump displacement until the front wheel reaches the target pressure. The pump displacement is controlled by the solenoid valve current, and the PID control module compares the difference between the target pressure and the actual pressure to determine the solenoid valve current control value. Furthermore, the target pressure for different gears can be calibrated according to user needs to achieve the required driving force for each gear. If a higher driving force is required, the target pressure can be increased, and vice versa.

[0071] If the motor grader slips in the six-wheel drive mode, it is further determined whether the motor grader is in the manual anti-skid mode. If so, the front wheel drive force is manually adjusted. If not, the front and rear wheel speed ratios of the motor grader are maintained at the target front and rear wheel speed ratios corresponding to the different gears.

[0072] Specifically, front-wheel driving force is related to the speed difference between the front and rear wheels. On roads with normal adhesion, the faster the front wheel speed, the greater the driving force, and the higher the pressure measured at the pressure measuring point. However, on roads with poor adhesion, such as on ice, the front-wheel driving force is not only related to front-wheel speed but also to the maximum ground friction. Beyond a certain speed, the front-wheel driving force no longer increases with increasing front-wheel speed. Therefore, on slippery roads, the front-wheel driving force should not be considered solely; the ground friction should be considered to find the appropriate front-to-rear wheel speed ratio for the most efficient operation of the motor grader.

[0073] like Figure 2The following is a six-wheel drive slip logic diagram for a grader. Before entering the slip mode, the target value and actual value of the PID control module are the target pressure and actual pressure. After entering the slip state, if the grader is not in manual anti-slip mode, the same method is used as shown below. Figure 4 The PID algorithm shown controls front wheel speed. The target value is the target front-to-rear wheel speed ratio corresponding to different gears, and the actual value is the current front-to-rear wheel speed ratio. This ratio can also be calibrated by the user. By calibrating the front-to-rear wheel speed ratio, the front wheels can have a certain driving force on roads with poor adhesion without excessive slip due to excessive driving force. If the grader is in manual anti-skid mode (i.e., the user has activated the manual anti-skid switch), the user can control the front wheel driving force using the speed knob to achieve the desired effect, further enhancing the user experience.

[0074] When turning, it is difficult to achieve steering if the left and right wheels maintain the same front-to-rear wheel speed ratio. Therefore, when the pressure value of the left front wheel pressure sensor or the right front wheel pressure sensor is detected to be lower than the minimum pressure value, the target front-to-rear wheel speed ratio on the side with lower pressure is increased, thereby increasing the speed of the outer wheel to enable the outer wheel to achieve a large radius turn, until the pressure of the two front wheels returns to normal and the target speed ratio corresponding to the different gears is restored.

[0075] Because the ground friction is insufficient during skidding, it is difficult for the pressure of the two front wheels to reach the target pressure value for a road with normal adhesion. Therefore, when the average pressure of the left and right front wheels is greater than the target pressure corresponding to different gears, the grader is considered to be on a road with normal adhesion and exits the skidding mode.

[0076] In addition, if the brake signal is collected, Figure 4 The PID algorithm shown maintains a lower target pressure at the front wheels, which can protect the front wheel motor from being dragged back and can also enable the front wheels of the grader to quickly reduce their speed to the lower target pressure when braking, thereby achieving deceleration.

[0077] The front-wheel drive anti-skid control method for a motor grader provided by the present invention enables the motor grader to be converted from an original rear-wheel drive system to a six-wheel drive system. On a surface with normal adhesion, the front wheels are controlled to maintain a certain target pressure, thereby improving the driving force of the motor grader and enabling it to exert better traction when climbing slopes and working with a load. On a slippery surface, the front and rear wheels are maintained at a certain target speed ratio, so that the front wheels have a certain driving force but do not cause excessive slipping due to excessive driving force, resulting in tire wear and energy loss, thereby improving the working efficiency of the motor grader and expanding the scope of use of the motor grader.

[0078] like Figure 3As shown, the present invention also proposes a front-wheel drive anti-skid control system for a motor grader, comprising: a signal input unit for collecting input signals; a logic processing unit for determining the motor grader's drive mode and whether skidding occurs; and an execution unit for controlling the front wheel speed based on the motor grader's drive mode and whether skidding occurs. The execution unit controls the front wheel speed by controlling the pump displacement, which is determined by the solenoid valve current. In the two-wheel drive mode, the solenoid valve current is related to the speed control knob, with the current corresponding to a gradual increase from small to large speed control knobs. In the six-wheel drive mode, the solenoid valve current is related to the front wheel pressure and the front and rear wheel speeds. That is, the greater the difference between the front wheel pressure and the target pressure, and the difference between the front and rear wheel speed ratio and the target front and rear wheel speed ratio, the greater the control value output by the PID control module and the greater the solenoid valve current.

[0079] The front-wheel drive anti-skid control system for a motor grader according to an embodiment of the present invention converts the motor grader from an original rear-wheel drive system to a six-wheel drive system. On surfaces with normal adhesion, the driving force of the motor grader is improved, enabling it to exert better traction when climbing slopes and working with a load. Furthermore, on slippery surfaces, the front wheels are powered without excessive slipping due to excessive driving force, which would cause tire wear and energy loss. This improves the working efficiency of the motor grader and expands the scope of its use.

[0080] Example 2

[0081] This embodiment provides a front-wheel drive anti-skid control system for a motor grader, comprising:

[0082] a signal input and driving mode determination unit, configured to obtain an input signal and determine a driving mode of the motor grader according to the input signal;

[0083] a first execution unit, configured to control the front wheel speed in response to a manual speed control signal when the motor grader is in a two-wheel drive mode;

[0084] a first judging unit, configured to judge whether the motor grader is slipping when the motor grader is in a six-wheel drive mode;

[0085] a second execution unit, configured to maintain the front wheels of the motor grader at target pressures corresponding to different gear positions when the motor grader is not slipping in the six-wheel drive mode;

[0086] a second determining unit, configured to determine whether the motor grader is in a manual anti-skid mode if the motor grader slips in the six-wheel drive mode;

[0087] a third execution unit, configured to perform adjustment in response to a manual adjustment signal when the motor grader is in a manual anti-skid mode;

[0088] The fourth execution unit is configured to maintain the front and rear wheel speed ratios of the motor grader at target front and rear wheel speed ratios corresponding to different gear positions when the motor grader is not in the manual anti-skid mode.

[0089] Example 3

[0090] This embodiment provides a front-wheel drive anti-skid control device for a motor grader, including a processor and a storage medium;

[0091] The storage medium is used to store instructions;

[0092] The processor is configured to operate according to the instructions to execute the steps of the method according to any one of Embodiment 1.

[0093] Example 4

[0094] This embodiment provides a computer-readable storage medium having a computer program stored thereon. When the program is executed by a processor, the steps of the method described in any one of the embodiments 1 are implemented.

[0095] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the technical principles of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A front-wheel drive anti-skid control method for a motor grader, characterized in that: include: obtaining an input signal, and determining a driving mode of the motor grader according to the input signal; If the motor grader is in two-wheel drive mode, the front wheel speed is controlled in response to a manual speed control signal; If the motor grader is in a six-wheel drive mode, determining whether the motor grader is slipping; If the motor grader does not slip in the six-wheel drive mode, maintaining the front wheels of the motor grader at target pressures corresponding to different gears; If the motor grader slips in the six-wheel drive mode, determining whether the motor grader is in the manual anti-skid mode; If the motor grader is in a manual anti-skid mode, performing an adjustment in response to a manual adjustment signal; If the motor grader is not in the manual anti-skid mode, maintaining the front and rear wheel speed ratios of the motor grader at target front and rear wheel speed ratios corresponding to different gear positions; In the two-wheel drive mode, when the motor grader turns, the obtained left front wheel pressure sensor signal and right front wheel pressure sensor signal are compared to obtain the turning direction and turning range of the motor grader, thereby performing pressure compensation to achieve steering; In the six-wheel drive mode, the condition for determining that the grader has slipped is that the ratio of the average speed of the left front wheel and the right front wheel to the speed of the rear wheels is greater than a set value and exceeds a set time; In the six-wheel drive mode, the left front wheel and the right front wheel are controlled independently; if the grader slips, the pressure values ​​of the left front wheel pressure sensor and the right front wheel pressure sensor are monitored simultaneously. If the pressure values ​​are lower than a minimum pressure value, the front and rear wheel speed ratio of the wheel on the side below the minimum pressure value is increased until the front wheel pressure returns to normal and the target front and rear wheel speed ratio is restored; In the six-wheel drive mode, if a brake signal is collected, the front wheels are maintained within a set lower target pressure range.

2. The front wheel anti-skid control method for a motor grader according to claim 1, characterized in that: The input signal includes any one or more of a gear position signal, a two-wheel drive switch, a six-wheel drive switch, a manual anti-skid switch, a pressure sensor, a motor speed signal, a brake signal, and a speed control knob.

3. The front wheel anti-skid control method for a motor grader according to claim 1, characterized in that: When the average pressure of the left front wheel and the right front wheel of the grader is greater than the target pressure corresponding to different gears, the grader exits skidding.

4. A motor grader front wheel anti-skid control system, using the motor grader front wheel anti-skid control method according to claim 1, characterized in that: include: a signal input and driving mode determination unit, configured to obtain an input signal and determine a driving mode of the motor grader according to the input signal; a first execution unit, configured to control the front wheel speed in response to a manual speed control signal when the motor grader is in a two-wheel drive mode; a first judging unit, configured to judge whether the motor grader is slipping when the motor grader is in a six-wheel drive mode; a second execution unit, configured to maintain the front wheels of the motor grader at target pressures corresponding to different gear positions when the motor grader is not slipping in the six-wheel drive mode; a second determining unit, configured to determine whether the motor grader is in a manual anti-skid mode if the motor grader slips in the six-wheel drive mode; a third execution unit, configured to perform adjustment in response to a manual adjustment signal when the motor grader is in a manual anti-skid mode; The fourth execution unit is configured to maintain the front and rear wheel speed ratios of the motor grader at target front and rear wheel speed ratios corresponding to different gear positions when the motor grader is not in the manual anti-skid mode.

5. A front-wheel drive anti-skid control device for a motor grader, characterized by: including processors and storage media; The storage medium is used to store instructions; The processor is configured to operate according to the instructions to execute the steps of the method according to any one of claims 1 to 3.

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