平地机控制方法、控制器及存储介质

Abstract

This invention belongs to the field of motor grader control technology, specifically relating to a motor grader control method, controller, and storage medium. The motor grader control method of this invention includes determining the motor grader's operating condition; if the operating condition is light-load, controlling the motor grader to enter an intelligent adjustment mode; adjusting the motor grader to a first required gear in intelligent adjustment mode; obtaining a first target speed of the motor grader at the first required gear; obtaining the motor grader's action signal; and identifying the motor grader's forward movement and controlling the motor grader to perform operations based on the action signal and the first target speed. By using the motor grader control method of this technical solution, the motor grader can be adjusted to a non-fixed gear when encountering light-load conditions, thereby changing the relevant performance parameters of the motor grader under light-load conditions, making the power efficiency and pump displacement efficiency of the motor grader more economical during operation.

Description

Technical Field

[0001] This invention belongs to the field of grader control technology, specifically relating to a grader control method, controller, and storage medium. Background Technology

[0002] Current graders only have fixed gears during operation. Once the grader is set to a fixed gear, the engine speed and pump displacement cannot be adjusted. This design covers various working conditions, including light and heavy loads. However, in some light-load operations, the power is too abundant, and the pump displacement is not utilized to its maximum. This lack of optimal economic design results in a certain degree of waste of power or displacement. Summary of the Invention

[0003] The purpose of this invention is to at least solve the problem of existing graders having fixed gears that cannot be adjusted, resulting in poor power economy under light load conditions. This purpose is achieved through the following technical solution:

[0004] A first aspect of the present invention provides a method for controlling a grader, comprising:

[0005] Determine the operating condition of the grader;

[0006] Based on the fact that the grader is operating under light load conditions, the grader is controlled to enter the intelligent adjustment mode.

[0007] Since the grader is in intelligent adjustment mode, adjust the grader to the first required setting;

[0008] Based on the first demand gear, obtain the first target speed of the grader when it is in the first demand gear;

[0009] Acquire the action signal of the grader;

[0010] Based on the grader's motion signals and the first target speed, the forward motion of the grader is identified and the grader is controlled to perform operations.

[0011] By using the grader control method in this technical solution, when encountering light load conditions during operation, the grader can enter an intelligent adjustment mode and adjust to the first required gear. This allows for non-fixed gear adjustment of the grader. Then, by using the first target speed and the grader's motion signal, the forward motion of the grader is identified and the grader is controlled to perform the operation. The control method of this invention can adjust the grader to a non-fixed gear when encountering light load conditions, thereby changing the relevant performance parameters of the grader under light load conditions. This makes the power effect and pump displacement effect of the grader more economical during operation, reduces power waste in light load conditions, and further improves operation efficiency and reliability.

[0012] In addition, the grader control method according to the present invention may also have the following additional technical features:

[0013] In some embodiments of the present invention, obtaining the action signal that the grader is in the first required gear includes:

[0014] Acquire the direction signal of the first required gear, the pressure signals of multiple blade cylinders of the grader within the first time period, and the pressure signals of multiple loosening cylinders of the grader within the first time period.

[0015] In some embodiments of the present invention, the step of identifying the forward movement of the grader and controlling the grader to perform operations based on the grader's motion signal and the first target speed includes:

[0016] Based on the pressure signals of multiple blade cylinders of the grader during the first time period, the pressure signals of multiple loosening cylinders of the grader during the first time period, and the first required gear meeting the first preset condition, it is determined that the grader is in a forward motion.

[0017] Based on the grader being in a forward motion and based on the first target speed, the engine speed is adjusted to the first economic speed, the pump displacement is adjusted to the first economic pump displacement, and the motor displacement is adjusted to the first economic motor displacement.

[0018] In some embodiments of the present invention, determining that the grader is in a forward motion based on the average blade cylinder pressure signal of the grader during a first time period, the average loosening cylinder pressure signal of the grader during the first time period, and the first required gear meeting a first preset condition includes:

[0019] Based on the fact that the average value of the pressure signals of multiple blade cylinders of the grader is greater than or equal to zero during the first time period, and the average value of the pressure signals of multiple loosening cylinders of the grader is greater than or equal to zero during the first time period, and the direction signal of the first required gear is a forward signal, it is determined that the grader is in a forward motion.

[0020] In some embodiments of the present invention, after adjusting the engine speed to a first economic speed, the pump displacement to a first economic pump displacement, and the motor displacement to a first economic motor displacement based on the grader being in a forward motion and a first target speed, the method further includes:

[0021] Adjust the grader to the second required setting;

[0022] Based on the second required gear, obtain the second target speed;

[0023] Acquire the direction signal of the second required gear, the pressure signals of multiple blade cylinders of the grader during the second time period, and the pressure signals of multiple loosening cylinders of the grader during the second time period.

[0024] Based on the pressure signals of multiple blade cylinders of the grader during the second time period, the pressure signals of multiple loosening cylinders of the grader during the second time period, and the second required gear meeting the second preset condition, it is determined that the grader is in a reverse motion.

[0025] Based on the grader being in reverse and the second target speed, the engine speed is adjusted to the second economic speed, the pump displacement is adjusted to the second economic pump displacement, and the motor displacement is adjusted to the second economic motor displacement.

[0026] In some embodiments of the present invention, determining that the grader is in a reverse motion based on the pressure signals of multiple blade cylinders of the grader during the second time period, the pressure signals of multiple loosening cylinders of the grader during the second time period, and the second required gear meeting the second preset condition includes:

[0027] Based on the fact that the average value of the pressure signals of multiple blade cylinders of the grader during the second time period is greater than or equal to zero, and the average value of the pressure signals of multiple loosening cylinders of the grader during the second time period is greater than or equal to zero, and the direction signal of the second required gear is a reverse signal, it is determined that the grader is in reverse motion.

[0028] In some embodiments of the present invention, after adjusting the engine speed to a second economic speed, the pump displacement to a second economic pump displacement, and the motor displacement to a second economic motor displacement based on the grader being in reverse motion and a second target speed, the method further includes:

[0029] Based on the completion of the grader's work, the working conditions of the grader are reassessed, and the grader is controlled accordingly.

[0030] In some embodiments of the present invention, the grader control method further includes:

[0031] Based on the fact that the grader is operating under heavy load conditions, control the grader to enter a fixed gear mode;

[0032] When the grader is in fixed gear mode, adjust the grader to the fixed gear and control the grader to perform the operation.

[0033] A second aspect of the present invention provides a controller, including a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that the processor, when executing the program, implements the grader control method as described above.

[0034] A third aspect of the present invention provides a storage medium having a computer program stored thereon, characterized in that the storage medium stores a computer program or instructions that cause a computer to perform the steps of the grader control method described above. Attached Figure Description

[0035] Various other advantages and benefits will become apparent to those skilled in the art upon reading the following detailed description of preferred embodiments. The accompanying drawings are for illustrative purposes only and are not intended to limit the invention. Furthermore, the same reference numerals denote the same parts throughout the drawings. In the drawings:

[0036] Figure 1 The schematic diagram illustrates the control flow of the grader control method according to an embodiment of the present invention under light load conditions for forward movement.

[0037] Figure 2 The schematic diagram illustrates the control flow of the grader control method according to an embodiment of the present invention, which identifies forward motion and performs operations under light load conditions.

[0038] Figure 3 The schematic diagram illustrates the control flow of the grader control method according to an embodiment of the present invention for the reverse action under light load conditions;

[0039] Figure 4 A schematic diagram illustrating the control flow of the grader control method according to an embodiment of the present invention under heavy load conditions is shown. Detailed Implementation

[0040] Exemplary embodiments of the present disclosure will now be described in more detail with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be implemented in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.

[0041] It should be understood that the terminology used herein is for the purpose of describing particular exemplary embodiments only and is not intended to be limiting. Unless the context clearly indicates otherwise, the singular forms “a,” “an,” and “described” as used herein may also include the plural forms. The terms “comprising,” “including,” “containing,” and “having” are inclusive and therefore indicate the presence of the stated features, steps, operations, elements, and / or components, but do not exclude the presence or addition of one or more other features, steps, operations, elements, components, and / or combinations thereof. The method steps, processes, and operations described herein are not construed as requiring them to be performed in a particular order described or illustrated unless the order of performance is explicitly indicated. It should also be understood that additional or alternative steps may be used.

[0042] Although terms such as first, second, third, etc., may be used in this document to describe multiple elements, components, regions, layers, and / or segments, these elements, components, regions, layers, and / or segments should not be limited by these terms. These terms may be used only to distinguish one element, component, region, layer, or segment from another. Unless the context clearly indicates otherwise, terms such as "first," "second," and other numerical terms used herein do not imply order or sequence. Therefore, the first element, component, region, layer, or segment discussed below may be referred to as the second element, component, region, layer, or segment without departing from the teachings of the exemplary embodiments.

[0043] For ease of description, spatial relative terms may be used in the text to describe the relationship of one element or feature relative to another element or feature, as shown in the figure. These relative terms include, for example, "inside," "outside," "middle," "outer," "below," "below," "above," "over," etc. Such spatial relative terms are intended to include different orientations of the device in use or operation, other than those depicted in the figure. For example, if the device in the figure is flipped, an element described as "below other elements or features" or "below other elements or features" would subsequently be oriented as "above other elements or features" or "above other elements or features." Therefore, the example term "below" can include both upper and lower orientations. The device may be otherwise oriented (rotated 90 degrees or in other directions), and the spatial relative descriptors used in the text will be interpreted accordingly.

[0044] Current graders only have fixed gears during operation. Once the grader is set to a fixed gear, the engine speed and pump displacement cannot be adjusted. This design covers various working conditions, including light and heavy loads. However, in some light-load operations, the power is too abundant, and the pump displacement is not utilized to its maximum. This lack of optimal economic design results in a certain degree of waste of power or displacement.

[0045] Figure 1 A schematic diagram illustrating the control flow of a grader control method according to an embodiment of the present invention under light load conditions is shown. Figure 1 As shown, this invention proposes a grader control method, controller, and storage medium. The grader control method of this invention includes:

[0046] S110: Determine the operating condition of the grader;

[0047] S120: Based on the grader's light-load operating condition, control the grader to enter the intelligent adjustment mode;

[0048] S130: With the grader in intelligent adjustment mode, adjust the grader to the first required setting;

[0049] S140: Obtain the first target speed of the grader based on the first required gear;

[0050] S150: Obtain the action signal that the grader is in the first required gear;

[0051] S160: Based on the grader's action signal and the first target speed, identify the grader's forward movement and control the grader to perform operations.

[0052] By using the grader control method in this technical solution, when encountering light load conditions during operation, the grader can enter an intelligent adjustment mode and adjust to the first required gear. This allows for non-fixed gear adjustment of the grader. Then, by using the first target speed and the grader's motion signal, the forward motion of the grader is identified and the grader is controlled to perform the operation. The control method of this invention can adjust the grader to a non-fixed gear when encountering light load conditions, thereby changing the relevant performance parameters of the grader under light load conditions. This makes the power effect and pump displacement effect of the grader more economical during operation, reduces power waste in light load conditions, and further improves operation efficiency and reliability.

[0053] Specifically, in some embodiments of the present invention, obtaining the first target speed at the first demand level includes:

[0054] Based on the first demand level, obtain the operating speed of the first demand level;

[0055] Obtain the first target speed based on the operating speed of the first required gear.

[0056] In this embodiment, the intelligent adjustment mode includes forward and reverse gears, each with multiple adjustment levels (the first required level can be any one of these adjustment levels). Each adjustment level corresponds to a different operating speed. The selection of these multiple adjustment levels requires the operator to initially determine the required level based on light load conditions, thereby obtaining the corresponding operating speed. Since there is a certain correlation between the operating speed and the first target speed, the first target speed can then be obtained.

[0057] In some embodiments of the present invention, obtaining the action signal of the grader includes:

[0058] Acquire the direction signal of the first required gear, the pressure signals of multiple blade cylinders of the grader within the first time period, and the pressure signals of multiple loosening cylinders of the grader within the first time period.

[0059] Specifically, in this embodiment, after obtaining the operating speed of the first required gear, the grader will obtain in real time multiple blade cylinder pressure signals and multiple loosening cylinder pressure signals of the grader during the first time period, as well as the direction signal of the first required gear (i.e., forward gear or reverse gear), in order to identify the grader's actions so as to subsequently control and adjust the engine speed, pump displacement and motor displacement of the corresponding actions.

[0060] Specifically, in this embodiment, the direction signal of the first required gear includes a forward signal and a backward signal. The direction signal of the first required gear in the forward movement is a forward signal, which can be detected by the corresponding direction sensor or position sensor.

[0061] Specifically, in this embodiment, the pressure signals of the shovel cylinder and the loosening cylinder can be detected by corresponding pressure sensors.

[0062] In some embodiments of the present invention, such as Figure 2 As shown, based on the grader's motion signal and the first target speed, identifying the grader's forward movement and controlling the grader to perform operations includes:

[0063] S210: Based on the pressure signals of multiple blade cylinders of the grader during the first time period, the pressure signals of multiple loosening cylinders of the grader during the first time period, and the first required gear meeting the first preset condition, it is determined that the grader is in a forward motion.

[0064] S220: Based on the grader being in a forward motion and the first target speed, adjust the engine speed to the first economic speed, adjust the pump displacement to the first economic pump displacement, and adjust the motor displacement to the first economic motor displacement.

[0065] Specifically, in this embodiment, after acquiring the direction signal of the first required gear, the pressure signals of multiple blade cylinders of the grader within the first time period, and the pressure signals of multiple loosening cylinders of the grader within the first time period, if the above three signal characteristics meet the first preset condition, it is determined that the grader is in a forward motion. When it is determined that the grader is in a forward motion, since the previously acquired first target speed corresponds to the engine speed, pump displacement, and motor displacement, the values ​​of engine speed, pump displacement, and motor displacement can be obtained and adjusted to ultimately achieve the operating speed and target speed corresponding to the first required gear of the operator. This makes the first target speed adjustable, making the power and pump displacement effects of the grader more economical during this action, reducing power waste, and further improving work efficiency and reliability.

[0066] In some embodiments of the present invention, such as Figure 3As shown, based on the average blade cylinder pressure signal of the grader during the first time period, the average loosening cylinder pressure signal of the grader during the first time period, and the first required gear meeting the first preset condition, it is determined that the grader is in a forward motion, including:

[0067] Based on the fact that the average value of the pressure signals of multiple blade cylinders of the grader is greater than or equal to zero during the first time period, and the average value of the pressure signals of multiple loosening cylinders of the grader is greater than or equal to zero during the first time period, and the direction signal of the first required gear is a forward signal, it is determined that the grader is in a forward motion.

[0068] Specifically, in this embodiment, the average value of multiple blade cylinder pressure signals within the first time period is calculated, and the average value of multiple loosening cylinder pressure signals within the first time period is calculated. When the average value of the blade cylinder pressure signal and the average value of the loosening cylinder pressure signal are both greater than zero or equal to zero, and the direction signal of the first required gear is a forward signal, it can be determined that the above three parameter characteristics meet the first preset condition, that is, the grader is in a forward motion at this time.

[0069] In some embodiments of the present invention, after adjusting the engine speed to a first economic speed, the pump displacement to a first economic pump displacement, and the motor displacement to a first economic motor displacement based on the grader being in a forward motion and a first target speed, the method further includes:

[0070] S310: Adjust the grader to the second required gear;

[0071] S320: Obtain the second target speed based on the second required gear;

[0072] S330: Acquire the direction signal of the second required gear, the pressure signals of multiple blade cylinders of the grader during the second time period, and the pressure signals of multiple loosening cylinders of the grader during the second time period.

[0073] S340: Based on the pressure signals of multiple blade cylinders of the grader during the second time period, the pressure signals of multiple loosening cylinders of the grader during the second time period, and the second required gear meeting the second preset condition, it is determined that the grader is in reverse motion.

[0074] S350: Based on the grader being in reverse and the second target speed, adjust the engine speed to the second economic speed, adjust the pump displacement to the second economic pump displacement, and adjust the motor displacement to the second economic motor displacement.

[0075] Specifically, in this embodiment, after acquiring the direction signal of the second required gear, the pressure signals of multiple blade cylinders of the grader during the second time period, and the pressure signals of multiple loosening cylinders of the grader during the second time period, if the above three signal characteristics meet the second preset condition, it is determined that the grader is in reverse motion. When it is determined that the grader is in reverse motion, since the previously acquired second target speed corresponds to the engine speed, pump displacement, and motor displacement, the values ​​of engine speed, pump displacement, and motor displacement can be obtained and adjusted to ultimately achieve the operating speed and target speed corresponding to the second required gear of the operator. This makes the second target speed adjustable, making the power and pump displacement effects of the grader more economical during this operation, reducing power waste, and further improving work efficiency and reliability.

[0076] Specifically, when the average pressure signal of multiple shovel cylinders is greater than zero, it indicates that the grader's blade is scraping soil. If the desired gear direction is forward, it means the grader is moving forward while its blade is scraping soil. When the average pressure signal of multiple shovel cylinders is equal to zero, it indicates that the grader's blade is not scraping soil. If the desired gear direction is forward, it means the grader is only moving forward. The principle of reverse movement is the same as forward movement and will not be elaborated here.

[0077] Specifically, when the average pressure signal of multiple slack-lifting cylinders is greater than zero, it indicates that the grader's blade is slack-lifting. If the desired gear direction is forward, it means the grader is moving forward while its slack-lifting hook is slack-lifting. When the average pressure signal of multiple slack-lifting cylinders is zero, it indicates that the grader's slack-lifting hook is not scraping. If the desired gear direction is forward, it means the grader is only moving forward. The principle of reverse movement is the same as forward movement and will not be elaborated here.

[0078] Specifically, in this embodiment, the second demand level can be the same as or different from the first demand level.

[0079] In some embodiments of the present invention, determining that the grader is in a reverse motion based on the pressure signals of multiple blade cylinders of the grader during the second time period, the pressure signals of multiple loosening cylinders of the grader during the second time period, and the second required gear meeting a second preset condition includes:

[0080] Based on the fact that the average value of the pressure signals of multiple blade cylinders of the grader during the second time period is greater than or equal to zero, and the average value of the pressure signals of multiple loosening cylinders of the grader during the second time period is greater than or equal to zero, and the direction signal of the second required gear is a reverse signal, it is determined that the grader is in reverse motion.

[0081] Specifically, in this embodiment, the average values ​​of multiple blade cylinder pressure signals and multiple loosening cylinder pressure signals within the second time period are processed. When the average values ​​of the blade cylinder pressure signals and the loosening cylinder pressure signals are greater than zero or equal to zero, and the direction signal of the second required gear is a reverse signal, it can be determined that the above three parameter characteristics meet the second preset condition, that is, the grader is in reverse action at this time.

[0082] Specifically, in this embodiment, the grader's actions include forward and backward movements in sequence, and these two movements are mostly performed sequentially. If the last backward movement is completed, the grader can perform another cycle of movement (i.e., forward and backward movements), or the grader can stop its cycle of movement after the backward movement is completed, thus completing the work.

[0083] In some embodiments of the present invention, after adjusting the engine speed to a second economic speed, the pump displacement to a second economic pump displacement, and the motor displacement to a second economic motor displacement based on the grader being in reverse motion and a second target speed, the method further includes:

[0084] Based on the completion of the grader's work, the working conditions of the grader are reassessed, and the grader is controlled accordingly.

[0085] Specifically, when the grader completes a cycle, if further operation is required, the grader needs to be reassessed as either a light-load or heavy-load condition. If the grader is in a light-load condition, it is re-controlled into intelligent adjustment mode, and then the two grader actions described above are performed again (details omitted here). When the grader is in a heavy-load condition, it is controlled into a fixed-gear mode. Based on the fixed-gear mode, the grader is adjusted to the specified gear and then controlled to perform the operation.

[0086] In some embodiments of the present invention, such as Figure 4 As shown, the grader control method also includes:

[0087] S10: Based on the fact that the grader is in heavy-load working condition, control the grader to enter the fixed gear mode;

[0088] S20: When the grader is in fixed gear mode, adjust the grader to the fixed gear and control the grader to perform the operation.

[0089] Specifically, in this embodiment, the light load condition and the heavy load condition are determined by the operator, and the criteria for determining them are relatively simple. The condition that allows the grader to operate at full load is the heavy load condition, and the condition that does not require the grader to operate at full load is the light load condition.

[0090] The grader control method of this invention can implement different control methods for light-load and heavy-load conditions. When encountering a light-load condition, the grader can enter an intelligent adjustment mode, thereby changing the grader's action requirement parameters according to the required gear, and thus changing the engine speed, pump displacement, and motor displacement of the grader under light-load conditions. When the grading operation is under heavy-load conditions, the grader is controlled to enter a fixed gear mode. Based on the grader being in the fixed gear mode, the grader is adjusted to the fixed gear and controlled to perform the operation. The different selection of light-load and heavy-load conditions allows the grader to adjust the load accordingly. By accurately identifying the action and load, the engine speed, pump displacement, and motor displacement are intelligently adjusted to achieve optimal economy.

[0091] In addition, the required gear for each action in the light-load condition in this invention can be different or the same. The specific gear needs to be determined by the operator based on the specific working conditions.

[0092] A second aspect of the present invention provides a controller, including a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that the processor executes the program to implement the grader control method described above.

[0093] A third aspect of the present invention provides a storage medium having a computer program stored thereon, characterized in that the storage medium stores a computer program or instructions that cause a computer to perform the steps of the grader control method described above.

[0094] Those skilled in the art will further appreciate that the various illustrative logic blocks, modules, circuits, and algorithm steps described in conjunction with the embodiments disclosed herein can be implemented as electronic hardware, computer software, or a combination of both. To clearly illustrate this interchangeability between hardware and software, the various illustrative components, blocks, modules, circuits, and steps are described above in a generalized manner in terms of their functionality. Whether such functionality is implemented as hardware or software depends on the specific application and the design constraints imposed on the overall system. Those skilled in the art may implement the described functionality in different ways for each specific application, but such implementation decisions should not be construed as departing from the scope of the invention.

[0095] The various illustrative logic modules and circuits described in conjunction with the embodiments disclosed herein may be implemented or performed using a general-purpose processor, a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA) or other programmable logic device, discrete gate or transistor logic, discrete hardware components, or any combination thereof designed to perform the functions described herein. The general-purpose processor may be a microprocessor, but in alternatives, it may be any conventional processor, controller, microcontroller, or state machine. The processor may also be implemented as a combination of computing devices, such as a combination of a DSP and a microprocessor, multiple microprocessors, one or more microprocessors cooperating with a DSP core, or any other such configuration.

[0096] In one or more exemplary embodiments, the described functionality may be implemented in hardware, software, firmware, or any combination thereof. If implemented in software as a computer program product, the functionality may be stored or transmitted as one or more instructions or code on or through a computer-readable medium. A computer-readable medium includes both computer storage media and communication media, encompassing any medium that facilitates the transfer of a computer program from one location to another. A storage medium may be any available medium accessible to a computer. By way of example and not limitation, such a computer-readable medium may include RAM, ROM, EEPROM, CD-ROM or other optical disc storage, disk storage or other magnetic storage devices, or any other medium that can be used to carry or store desired program code in the form of instructions or data structures and is accessible to a computer. Any connection is also legitimately referred to as a computer-readable medium. For example, if the software is transmitted from a website, server, or other remote source using coaxial cable, fiber optic cable, twisted pair, digital subscriber line (DSL), or wireless technologies such as infrared, radio, and microwave, then the coaxial cable, fiber optic cable, twisted pair, DSL, or wireless technologies such as infrared, radio, and microwave are included in the definition of a medium. As used in this article, disks and discs include compact discs (CDs), laser discs, optical discs, digital multi-purpose discs (DVDs), floppy disks, and Blu-ray discs. Disks typically reproduce data magnetically, while discs reproduce data optically using lasers. Combinations of these should also be included within the scope of storage media.

[0097] The above are merely preferred embodiments of the present invention, but the scope of protection of the present invention is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in the present invention should be included within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. A method for controlling a grader, characterized in that, include: Determine the operating condition of the grader; Based on the fact that the grader is operating under light load conditions, the grader is controlled to enter the intelligent adjustment mode. With the grader in intelligent adjustment mode, adjust the grader to the first required setting; Based on the first required gear, obtain the first target speed of the grader; Obtain the action signal that the grader is in the first required gear; Based on the grader's motion signals and the first target speed, identify the grader's forward movement and control the grader to perform operations; The action signal for obtaining the grader to be in the first required gear includes: Acquire the direction signal of the first required gear, the pressure signals of multiple blade cylinders of the grader within the first time period, and the pressure signals of multiple loosening cylinders of the grader within the first time period. The step of identifying the forward movement of the grader and controlling the grader to perform operations based on the grader's motion signal and the first target speed includes: Based on the pressure signals of multiple blade cylinders of the grader during the first time period, the pressure signals of multiple loosening cylinders of the grader during the first time period, and the first required gear meeting the first preset condition, it is determined that the grader is in a forward motion. Based on the grader being in a forward motion and based on the first target speed, the engine speed is adjusted to the first economic speed, the pump displacement is adjusted to the first economic pump displacement, and the motor displacement is adjusted to the first economic motor displacement.

2. The grader control method according to claim 1, characterized in that, The step of determining that the grader is in a forward motion based on the average blade cylinder pressure signal of the grader during the first time period, the average soil loosening cylinder pressure signal of the grader during the first time period, and the first required gear meeting the first preset condition includes: Based on the fact that the average value of the pressure signals of multiple blade cylinders of the grader is greater than or equal to zero during the first time period, and the average value of the pressure signals of multiple loosening cylinders of the grader is greater than or equal to zero during the first time period, and the direction signal of the first required gear is a forward signal, it is determined that the grader is in a forward motion.

3. The grader control method according to claim 1, characterized in that, The process of adjusting the engine speed to a first economic speed, the pump displacement to a first economic pump displacement, and the motor displacement to a first economic motor displacement based on the grader being in a forward motion and based on a first target speed further includes: Adjust the grader to the second required setting; Based on the second demand level, obtain the second target speed at the second demand level; Acquire the direction signal of the second required gear, the pressure signals of multiple blade cylinders of the grader during the second time period, and the pressure signals of multiple loosening cylinders of the grader during the second time period. Based on the pressure signals of multiple blade cylinders of the grader during the second time period, the pressure signals of multiple loosening cylinders of the grader during the second time period, and the second required gear meeting the second preset condition, it is determined that the grader is in a reverse motion. Based on the grader being in reverse and the second target speed, the engine speed is adjusted to the second economic speed, the pump displacement is adjusted to the second economic pump displacement, and the motor displacement is adjusted to the second economic motor displacement.

4. The grader control method according to claim 3, characterized in that, The step of determining that the grader is in reverse motion based on the pressure signals of multiple blade cylinders of the grader during the second time period, the pressure signals of multiple loosening cylinders of the grader during the second time period, and the second required gear meeting the second preset condition includes: Based on the fact that the average value of the pressure signals of multiple blade cylinders of the grader during the second time period is greater than or equal to zero, and the average value of the pressure signals of multiple loosening cylinders of the grader during the second time period is greater than or equal to zero, and the direction signal of the second required gear is a reverse signal, it is determined that the grader is in reverse motion.

5. The grader control method according to claim 3, characterized in that, The process of adjusting the engine speed to the second economic speed, the pump displacement to the second economic pump displacement, and the motor displacement to the second economic motor displacement based on the grader being in reverse and the second target speed further includes: Based on the completion of the grader's work, the working conditions of the grader are reassessed, and the grader is controlled accordingly.

6. The grader control method according to claim 1, characterized in that, The grader control method also includes: Based on the fact that the grader is operating under heavy load conditions, control the grader to enter a fixed gear mode; When the grader is in fixed gear mode, adjust the grader to the fixed gear and control the grader to perform the operation.

7. A controller, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the program, it implements the grader control method as described in any one of claims 1 to 6.

8. A storage medium having a computer program stored thereon, characterized in that, The storage medium stores a computer program or instructions that cause a computer to perform the steps of the grader control method as described in any one of claims 1 to 6.

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