Land leveler control method and device, electronic equipment and land leveler

Abstract

The invention provides a land leveler control method and device, electronic equipment and a land leveler, and is applied to the technical field of land levelers. The method comprises the steps that firstly, the initial scraper knife gradient and the target scraper knife gradient of a scraper knife are obtained, a scraper knife oil cylinder is controlled to automatically ascend and descend according to the initial scraper knife gradient and the target scraper knife gradient, and then the scraper knife oil cylinder is controlled to automatically ascend and descend according to the initial scraper knife gradient and the target scraper knife gradient; the actual scraper knife gradient of the scraper knife in the automatic lifting process of the scraper knife oil cylinder is obtained, and finally the operation state of the scraper knife oil cylinder is controlled according to the absolute value of the difference value between the actual scraper knife gradient and the target scraper knife gradient. According to the land leveler control method, the operation state of the scraper knife oil cylinder is controlled by continuously calculating the absolute value of the difference value between the actual scraper knife gradient and the target scraper knife gradient of the scraper knife in the automatic lifting process of the scraper knife oil cylinder, so that inclination and lifting of the scraper knife are controlled, the construction efficiency can be improved, and the construction cost can be reduced.

Description

Technical Field

[0001] The present application relates to the technical field of motor graders, and in particular to a motor grader control method, device, electronic equipment, and motor grader. Background Art

[0002] A motor grader is a high-speed, efficient, high-precision, and versatile earthmoving machine, primarily used for leveling, slope scraping, soil removal, soil loosening, and material spreading operations on large working surfaces such as highway subgrades and high-standard farmland. A motor grader primarily levels the ground with a blade mounted between the machine's front and rear wheels. Six control handles control the blade's lift, tilt, rotation, and extension, as well as front wheel swing and articulation. This requires the operator to be deft and precise, especially in controlling the subgrade's horizontal and vertical slopes and elevations. Therefore, the operator's skill level determines both construction efficiency and quality.

[0003] However, the technical skills of motor graders vary widely, which can lead to frequent rework of the roadbed surface layer, increasing construction costs and delaying the project. Therefore, it is necessary to provide a motor grader control method that can automatically control the blade to improve construction efficiency and reduce construction costs. Summary of the Invention

[0004] In view of this, the present application provides a motor grader control method, device, electronic equipment, and motor grader, which solves or improves the technical problem in the prior art that the technical level of the operators is often uneven, which easily leads to a high frequency of rework in the roadbed surface leveling operation, resulting in increased construction costs and delayed construction period.

[0005] As a first aspect of the present application, the present application provides a motor grader control method, comprising:

[0006] Obtaining an initial blade slope and a target blade slope of the blade;

[0007] According to the initial blade slope and target blade slope, the blade cylinder is controlled to automatically rise and fall;

[0008] Get the actual blade slope during the automatic lifting of the blade cylinder;

[0009] The operating state of the blade cylinder is controlled according to the absolute value of the difference between the actual blade slope and the target blade slope.

[0010] Optionally, obtaining the actual blade slope of the blade during the automatic lifting of the blade cylinder includes:

[0011] Obtaining the angle between the blade and the horizontal direction detected by the blade inclination sensor;

[0012] Obtain the angle between the vehicle body and the horizontal direction detected by the longitudinal slope inclination sensor;

[0013] Obtain the blade rotation angle detected by the rotation angle sensor;

[0014] The actual blade slope of the blade is calculated according to the angle between the blade and the horizontal direction, the angle between the vehicle body and the horizontal direction, and the blade rotation angle.

[0015] Optionally, controlling the operating state of the blade cylinder according to the absolute value of the difference between the actual blade slope and the target blade slope includes:

[0016] When the absolute value of the difference between the actual blade slope and the target blade slope is less than or equal to a first preset difference, the blade cylinder is controlled to stop running.

[0017] Optionally, controlling the operating state of the blade cylinder according to the absolute value of the difference between the actual blade slope and the target blade slope includes:

[0018] When the absolute value of the difference between the actual blade slope and the target blade slope is greater than a first preset difference, the operating state of the blade cylinder is controlled according to the change in the angle between the blade and the horizontal direction within a preset period and the change in the absolute value of the difference between the actual blade slope and the target blade slope.

[0019] Optionally, when the absolute value of the difference between the actual blade slope and the target blade slope is greater than a first preset difference, controlling the operating state of the blade cylinder according to a change in an angle between the blade and the horizontal direction and a change in an absolute value of the difference between the actual blade slope and the target blade slope within a preset period includes:

[0020] When the absolute value of the difference between the actual blade slope and the target blade slope is greater than the first preset difference and less than the second preset difference, the change in the angle between the blade and the horizontal direction within the preset period is less than or equal to the preset change value, and the change in the absolute value of the difference between the actual blade slope and the target blade slope is less than the first difference change value, an alarm message is issued and the blade cylinder is kept under control to automatically lift and lower.

[0021] Optionally, when the absolute value of the difference is greater than a first preset difference, controlling the operating state of the blade cylinder according to a change in the angle between the blade and the horizontal direction and a change in the absolute value of the difference between the actual blade slope and the target blade slope within a preset period includes:

[0022] When the absolute value of the difference between the actual blade slope and the target blade slope is greater than or equal to a second preset difference, the change in the angle between the blade and the horizontal direction within a preset period is less than or equal to a preset change value, and the change in the absolute value of the difference between the actual blade slope and the target blade slope is less than the second difference change value, an alarm message is issued and the blade cylinder is controlled to stop running.

[0023] Optionally, the motor grader control method provided in the first aspect further includes:

[0024] The control display shows the actual blade slope, target blade slope and the angle between the blade and the horizontal direction during the operation status of the blade cylinder.

[0025] As a second aspect of the present application, the present application provides a motor grader control device, comprising:

[0026] A data acquisition module is used to obtain the initial blade slope, the target blade slope, and the actual blade slope during the automatic lifting of the blade cylinder;

[0027] The control module is used to control the automatic lifting and lowering of the blade cylinder according to the initial blade slope and the target blade slope; and to control the operating state of the blade cylinder according to the absolute value of the difference between the actual blade slope and the target blade slope.

[0028] As a third aspect of the present application, the present application provides a motor grader, comprising:

[0029] Shovel;

[0030] The blade cylinder is connected to the blade through a connecting rod mechanism to control the tilt and lifting of the blade;

[0031] And the motor grader control device according to the second aspect of claim 1.

[0032] As a fourth aspect of the present application, the present application provides an electronic device, including:

[0033] Memory;

[0034] a processor and a computer program stored on the memory and executable on the processor;

[0035] When the processor executes the computer program, the motor grader control method according to any one of the first aspects is implemented.

[0036] Based on the above, the motor grader control method provided in this application first obtains the initial and target blade slopes of the blade. Based on these initial and target blade slopes, the blade cylinder is automatically raised and lowered, replacing the operator's operating handle. This prevents the operator's skill level from affecting construction efficiency and quality. The actual blade slope of the blade during the automatic raising and lowering of the blade cylinder is then obtained, and the absolute value of the difference between the actual and target blade slopes is calculated. Finally, based on this absolute value, the operating state of the blade cylinder is controlled to control the tilt and raising and lowering of the blade, thereby achieving automatic control of the blade. This improves construction efficiency and reduces construction costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0038] Figure 1 The figure shows a flow chart of a motor grader control method provided in an embodiment of the present application.

[0039] Figure 2 Shown is a flow chart of another motor grader control method provided in an embodiment of the present application.

[0040] Figure 3 Shown is a flow chart of another motor grader control method provided in an embodiment of the present application.

[0041] Figure 4 Shown is a flow chart of another motor grader control method provided in an embodiment of the present application.

[0042] Figure 5 Shown is a flow chart of another motor grader control method provided in an embodiment of the present application.

[0043] Figure 6 Shown is a flow chart of another motor grader control method provided in an embodiment of the present application.

[0044] Figure 7 Shown is a flow chart of another motor grader control method provided in an embodiment of the present application.

[0045] Figure 8 Shown is a structural block diagram of a motor grader control device provided in an embodiment of the present application.

[0046] Figure 9 Shown is a structural block diagram of an electronic device provided in one embodiment of the present application. DETAILED DESCRIPTION

[0047] Unless otherwise defined, technical or scientific terms used in the embodiments of this specification should have the same ordinary meaning as those understood by persons of ordinary skill in the art to which this specification pertains. The terms "first," "second," and similar terms used in the embodiments of this specification do not denote any order, quantity, or importance, but are provided solely to avoid confusion between constituent elements.

[0048] Unless the context requires otherwise, throughout this specification, the term "plurality" means "at least two," and "including" is to be interpreted as open and inclusive, meaning "including, but not limited to." Throughout this specification, the terms "one embodiment," "some embodiments," "exemplary embodiments," "example," "specific example," or "some examples" are intended to indicate that a particular feature, structure, material, or characteristic associated with the embodiment or example is included in at least one embodiment or example of this specification. The schematic representations of these terms do not necessarily refer to the same embodiment or example.

[0049] The following will be combined with the drawings in the embodiments of this specification to clearly and completely describe the technical solutions in the embodiments of this specification. Obviously, the embodiments described are only part of the embodiments of this specification, not all of the embodiments. Based on the embodiments in this specification, all other embodiments obtained by ordinary technicians in this field without making any creative efforts are within the scope of protection of this specification.

[0050] Exemplary Methods

[0051] like Figure 1 As shown, in an exemplary embodiment of the present application, a motor grader control method is provided, which may include the following steps:

[0052] S10: Obtaining an initial blade slope and a target blade slope of the blade.

[0053] The motor grader is equipped with inclination sensors and rotation angle sensors, including a blade inclination sensor and rotation angle sensor installed on the blade, and a longitudinal slope inclination sensor installed on the vehicle body. When the motor grader is traveling on uneven ground, the vehicle body will have a certain inclination angle relative to the horizontal plane. Before the blade is working, the controller can obtain the initial blade slope of the blade based on the values ​​obtained by the blade inclination sensor, rotation angle sensor and longitudinal slope inclination sensor, and manually set the target blade slope through the display screen to obtain the target blade slope of the blade.

[0054] S20: Control the blade cylinder to automatically rise and fall according to the initial blade slope and the target blade slope.

[0055] After determining the initial blade slope and target blade slope, the grader operator presses the motor automatic operation button to cause the blade cylinder on the automatic side to automatically control the blade according to the set target blade slope value.

[0056] S30: Acquire the actual blade slope of the blade during the automatic lifting of the blade cylinder.

[0057] During the automatic lifting of the blade cylinder, the blade slope of the blade gradually approaches the target blade slope from the initial blade slope. The blade slope of the blade obtained in this process is the actual blade slope of the blade. Specifically, the actual blade slope of the blade can be obtained periodically, for example, the period can be 1 second.

[0058] S40: Controlling the operating state of the blade cylinder according to the absolute value of the difference between the actual blade slope and the target blade slope.

[0059] While obtaining the actual blade slope of the blade during the automatic lifting of the blade cylinder, the absolute value of the difference between the actual blade slope and the target blade slope is calculated, and the next action of the blade cylinder is controlled according to the absolute value of the difference.

[0060] In some embodiments of the present application, the initial and target blade slopes of the blade are obtained. Based on these initial and target blade slopes, the blade cylinder is automatically raised and lowered. The actual blade slope of the blade during the automatic raising and lowering process is obtained, and the operating state of the blade cylinder is controlled based on the absolute value of the difference between the actual and target blade slopes. The motor grader control method of the present application controls the operating state of the blade cylinder by continuously calculating the absolute value of the difference between the actual and target blade slopes during the automatic raising and lowering process. This method controls the tilting and raising and lowering of the blade, thereby improving construction efficiency and reducing construction costs.

[0061] In some embodiments of the present application, Figure 2 As shown, the specific steps of obtaining the actual blade slope of the blade during the automatic lifting of the blade cylinder in S30 may include:

[0062] S31: Obtaining the angle between the blade and the horizontal direction detected by the blade inclination sensor.

[0063] The blade inclination sensor, mounted on the blade, detects the angle between the blade and the horizontal. The sensor is secured to the blade via a mounting bracket and can optionally be installed in the upper-middle portion of the blade's back. The sensor is connected to the controller via a wiring harness. The controller obtains the value from the sensor to determine the angle between the blade and the horizontal. Before using the sensor, it must be pre-calibrated. Specifically, zero-point and multi-point calibration can be performed. If there's an error in the zero point, software must be used to compensate for the zero-point offset.

[0064] S32: Obtaining the angle between the vehicle body and the horizontal direction detected by the longitudinal slope inclination sensor.

[0065] The longitudinal slope angle sensor installed on the vehicle body is used to detect the angle between the vehicle body and the horizontal direction. Similarly, by obtaining the value of the longitudinal slope angle sensor, the controller can obtain the angle between the vehicle body and the horizontal direction detected by the longitudinal slope angle sensor. Similarly, before the longitudinal slope angle sensor is applied, it needs to be calibrated in advance.

[0066] S33: Acquire the blade rotation angle detected by the rotation angle sensor.

[0067] The angle sensor installed on the blade detects the blade's rotation angle. Similarly, the controller obtains the value of the angle sensor to obtain the blade's rotation angle detected by the angle sensor. Similarly, before the angle sensor is used in a specific application, it must be calibrated.

[0068] S34: Calculate the actual blade slope of the blade based on the angle between the blade and the horizontal direction, the angle between the vehicle body and the horizontal direction, and the blade rotation angle.

[0069] The actual blade slope can be calculated based on the angle between the blade and the horizontal direction detected by the blade inclination sensor, the angle between the vehicle body and the horizontal direction detected by the longitudinal slope inclination sensor, and the blade rotation angle detected by the rotation angle sensor.

[0070] In this embodiment, when calculating the actual blade slope, not only the blade's posture information (the angle between the blade and the horizontal direction, the blade's rotation angle) is taken into account, but also the vehicle body posture information (the angle between the vehicle body and the horizontal direction). This reduces the impact of the surface where the grader is located on the actual blade slope, and can accurately obtain the actual blade slope of the blade during the automatic raising and lowering of the blade cylinder. Ultimately, the blade is controlled at the target blade slope, further improving the operating accuracy of the grader.

[0071] In some embodiments of the present application, Figure 3As shown, in S40, the operating state of the blade cylinder is controlled according to the absolute value of the difference between the actual blade slope and the target blade slope. The specific steps may include:

[0072] S41: When the absolute value of the difference between the actual blade slope and the target blade slope is less than or equal to a first preset difference, the blade cylinder is controlled to stop running.

[0073] A first preset difference is pre-set, which can be used as a value to temporarily terminate control of the blade cylinder. Optionally, the first preset difference is set to 0.2. After calculating the absolute value of the difference between the actual blade slope and the target blade slope, the relationship between the absolute value of the difference and the first preset difference is determined. When the absolute value of the difference is less than or equal to the first preset difference, it indicates that the blade's inclination has been adjusted to be very close to the target blade slope. The blade cylinder can be controlled to stop operation, and inertia can be used to ensure that the absolute value of the difference between the blade's inclination and the target blade slope is within the allowable error range. The grader is then started, and the travel speed and direction of the grader are adjusted to begin the leveling operation.

[0074] In some embodiments of the present application, Figure 4 As shown, in S40, the operating state of the blade cylinder is controlled according to the absolute value of the difference between the actual blade slope and the target blade slope. The specific steps may include:

[0075] S42: When the absolute value of the difference between the actual blade slope and the target blade slope is greater than a first preset difference, the operating state of the blade cylinder is controlled according to the change in the angle between the blade and the horizontal direction within a preset period and the change in the absolute value of the difference between the actual blade slope and the target blade slope.

[0076] Controlling the blade cylinder requires constant adjustments to the blade's tilt and lift height, which can affect the grader's stability. Specifically, when the blade is at a high tilt angle, the grader's center of gravity shifts forward, potentially increasing the risk of tipping over. Conversely, when the blade is at a low tilt angle, the center of gravity remains relatively stable, but this may affect the grader's performance. When operating on uneven surfaces or slopes, a blade position that is too high can easily cause the grader to lose balance. Therefore, while ensuring automated blade control and improving operational efficiency and quality, it's also necessary to monitor the grader's roll to prevent tipping.

[0077] During the process of controlling the blade slope from an initial blade slope to a target blade slope, the absolute value of the difference between the actual blade slope and the target blade slope, the change in the blade angle with the horizontal, and the change in the absolute value of the difference between the actual blade slope and the target blade slope are monitored in real time to determine the roll condition of the motor grader and simultaneously control the operating state of the blade cylinder. When the absolute value of the difference between the actual blade slope and the target blade slope is greater than a first preset difference, indicating that the blade angle has not yet been adjusted to a close approximation of the target blade slope, the blade cylinder will normally continue to be automatically raised and lowered. However, if the change in the blade angle with the horizontal and the change in the absolute value of the difference between the actual blade slope and the target blade slope indicates that the motor grader is in a serious roll condition, the operating state of the blade cylinder will be promptly altered to ensure safe operation of the motor grader.

[0078] In some embodiments of the present application, Figure 5 As shown, in S42, when the absolute value of the difference between the actual blade slope and the target blade slope is greater than the first preset difference, the operating state of the blade cylinder is controlled according to the change value of the angle between the blade and the horizontal direction and the change value of the absolute value of the difference between the actual blade slope and the target blade slope within the preset period. The specific steps may include:

[0079] S421: When the absolute value of the difference between the actual blade slope and the target blade slope is greater than the first preset difference and less than the second preset difference, the change in the angle between the blade and the horizontal direction within the preset period is less than or equal to the preset change value, and the change in the absolute value of the difference between the actual blade slope and the target blade slope is less than the first difference change value, an alarm message is issued and the blade cylinder is kept under control for automatic lifting and lowering.

[0080] To better monitor the roll of a motor grader and prevent it from tipping over, this application subdivides the situation where the absolute value of the difference between the actual blade slope and the target blade slope is greater than a first preset difference into two cases: one where the absolute value of the difference is greater than the first preset difference and less than a second preset difference, and the other where the absolute value of the difference is greater than or equal to the second preset difference. In each of these cases, the motor grader's roll is determined based on the change in the blade angle with the horizontal and the change in the absolute value of the difference between the actual blade slope and the target blade slope.

[0081] Specifically, a second preset difference and a preset period are pre-set. Optionally, the second preset difference is 0.5, and the preset period is 1 second. While continuously acquiring the actual blade slope of the blade during the automatic lifting of the blade cylinder, the absolute value of the difference between the actual blade slope and the target blade slope is calculated, and the relationship between the absolute value of the difference and the first preset difference and the second preset difference is determined. When the absolute value of the difference is greater than the first preset difference and less than the second preset difference, the change in the angle between the blade and the horizontal direction and the change in the absolute value of the difference between the actual blade slope and the target blade slope within the preset period are continued to be determined. When the change in the angle between the blade and the horizontal direction within the preset period is less than or equal to the preset change value, and the change in the absolute value of the difference between the actual blade slope and the target blade slope is less than the first difference change value, it is determined that the severity of the roll of the grader is relatively severe and the possibility of the grader tipping is relatively low. Continuing monitoring is sufficient, and only an alarm message needs to be issued to the operator to remind him, while maintaining control of the automatic lifting of the blade cylinder.

[0082] Optionally, when the motor grader issues an alarm message and the blade cylinder continues to rise and fall automatically, the operator can control the blade cylinder to stop moving and switch to manual control.

[0083] In this embodiment, when the controller determines that the severity of the grader's roll is severe based on the absolute value of the difference between the actual blade slope and the target blade slope, the change in the angle between the blade and the horizontal direction within a preset period, and the change in the absolute value of the difference between the actual blade slope and the target blade slope, after hearing the alarm message, the operator can choose to maintain the automatic lifting and lowering control of the blade cylinder by default, or switch to manual control. This allows the operator to monitor the grader's roll and prevent the grader from tipping over while ensuring automatic control of the blade and improving work efficiency and quality.

[0084] In some embodiments of the present application, Figure 6 As shown, in S42, when the absolute value of the difference between the actual blade slope and the target blade slope is greater than the first preset difference, the operating state of the blade cylinder is controlled according to the change value of the angle between the blade and the horizontal direction and the change value of the absolute value of the difference between the actual blade slope and the target blade slope within the preset period. The specific steps may also include:

[0085] S422: When the absolute value of the difference between the actual blade slope and the target blade slope is greater than or equal to the second preset difference, the change in the angle between the blade and the horizontal direction within the preset period is less than or equal to the preset change value, and the change in the absolute value of the difference between the actual blade slope and the target blade slope is less than the second difference change value, an alarm message is issued and the blade cylinder is controlled to stop running.

[0086] Specifically, when the absolute value of the difference between the actual blade slope and the target blade slope is greater than or equal to the second preset difference, continue to judge the change value of the angle between the blade and the horizontal direction and the change value of the absolute value of the difference between the actual blade slope and the target blade slope within the preset period. When the change value of the angle between the blade and the horizontal direction within the preset period is less than or equal to the preset change value, and the change value of the absolute value of the difference between the actual blade slope and the target blade slope is less than the second difference change value, at this time, it is determined that the severity of the roll of the grader is serious. If the blade cylinder continues to be controlled to automatically rise and fall, the possibility of the grader overturning is relatively high. In addition to issuing an alarm message to remind the operator, the blade cylinder is controlled to stop running. At this time, only manual control is supported.

[0087] Optionally, when the alarm message stops, the operator can also choose automatic operation, so that the blade cylinder on the automatic side will automatically control the blade according to the set target blade slope value.

[0088] In this embodiment, when the controller determines that the severity of the grader's roll is serious based on the absolute value of the difference between the actual blade slope and the target blade slope, the change in the angle between the blade and the horizontal direction within a preset period, and the change in the absolute value of the difference between the actual blade slope and the target blade slope, the controller forcibly controls the blade cylinder to stop operating and only supports manual control, thereby prioritizing the operational safety of the grader and avoiding the danger of the vehicle overturning due to manual intervention in a serious roll situation, which may cause damage to the vehicle and personnel.

[0089] In some embodiments of the present application, Figure 7 As shown, the above-mentioned grader control method further includes: S50: controlling the display screen to display the actual blade slope, the target blade slope and the angle between the blade and the horizontal direction during the operation of the blade cylinder.

[0090] The grader is also equipped with a display screen, which is used to display the blade data of the automatic control process of the grader's blade cylinder. For example, the control display screen displays the actual blade slope, target blade slope and the angle between the blade and the horizontal direction during the operation of the blade cylinder. The display screen can be a vehicle-mounted display tablet. The vehicle-mounted display tablet supports 4G network. A client management system program is installed in the tablet, which can upload vehicle positioning data and vehicle working data to the cloud. The tablet also has a mobile display interface for real-time display of the on-site mobile terminal.

[0091] Exemplary devices

[0092] Next, as the second aspect of this application, Figure 8 As shown, the application also provides a grader control device. It includes: a data acquisition module 801, a control module 802, wherein

[0093] The data acquisition module 801 is used to obtain the initial blade slope, the target blade slope, and the actual blade slope of the blade during the automatic lifting of the blade cylinder.

[0094] The control module 802 is used to control the automatic lifting and lowering of the blade cylinder according to the initial blade slope and the target blade slope; and to control the operating state of the blade cylinder according to the absolute value of the difference between the actual blade slope and the target blade slope.

[0095] The motor grader control device provided in the present application obtains the initial blade slope, the target blade slope input on the display screen, and the actual blade slope of the blade during the automatic lifting of the blade cylinder through the data acquisition module 801. Then, the control module 802 controls the automatic lifting of the blade cylinder according to the initial blade slope and the target blade slope; and controls the operating state of the blade cylinder according to the absolute value of the difference between the actual blade slope and the target blade slope, thereby controlling the inclination and lifting of the blade, which can improve construction efficiency and reduce construction costs.

[0096] The motor grader control device provided in this embodiment shares the same concept as the motor grader control method provided in the aforementioned embodiments of this application. It can implement the motor grader control method provided in any of the aforementioned embodiments of this application and possesses the corresponding functional units and beneficial effects of the motor grader control method. For technical details not fully described in this embodiment, please refer to the specific processing details of the motor grader control method provided in the aforementioned embodiments of this application and will not be further elaborated here.

[0097] Exemplary electronic devices

[0098] Next, as the third aspect of the present application, the present application further provides an electronic device. Figure 9 To describe the electronic device according to the embodiment of the present application.

[0099] Figure 9 The figure shows a structural block diagram of an electronic device according to an embodiment of the present application.

[0100] like Figure 9 As shown, the electronic device 90 includes one or more processors 901 and a memory 902 .

[0101] The processor 901 may be a central processing unit (CPU) or other forms of processing units having data processing capabilities and / or instruction execution capabilities, and may control other components in the electronic device 90 to perform desired functions.

[0102] The memory 902 may include one or more computer program products, which may include various forms of computer-readable storage media, such as volatile memory and / or non-volatile memory. Volatile memory may include, for example, random access memory (RAM) and / or cache memory. Non-volatile memory may include, for example, read-only memory (ROM), a hard disk, or flash memory. One or more computer program instructions may be stored on the computer-readable storage medium, and the processor 901 may execute the program instructions to implement the motor grader control method of the various embodiments of the present application described above and / or other desired functions.

[0103] In one example, the electronic device 90 may further include an input device 903 and an output device 904 , and these components are interconnected via a bus system and / or other forms of connection mechanisms (not shown).

[0104] When the electronic device is a stand-alone device, the input device 903 may be a communication network connector, configured to receive collected input signals from the first device and the second device.

[0105] In addition, the input device 903 may also include, for example, a keyboard, a mouse, and the like.

[0106] The output device 904 can output various information to the outside, including determined distance information, direction information, etc. The output device 904 can include, for example, a display, a speaker, a printer, a communication network and its connected remote output device, etc.

[0107] Of course, to simplify, Figure 9 Only some of the components related to the present application in the electronic device 90 are shown, and components such as a bus, an input / output interface, etc. are omitted. In addition, the electronic device 90 may further include any other appropriate components according to specific application scenarios.

[0108] Exemplary Motor Grader

[0109] As a fourth aspect of the present application, the present application provides a motor grader, comprising:

[0110] Shovel;

[0111] The blade cylinder is connected to the blade through a connecting rod mechanism to control the tilt and lifting of the blade;

[0112] And the motor grader control device described in the second aspect.

[0113] The grader in this application may be a motor grader, a road grader, a bulldozer, a mining grader, a general grader, etc., and this application does not impose too many restrictions on this.

[0114] Exemplary computer-readable storage media

[0115] As a fifth aspect of the present application, the present application provides a computer-readable storage medium, wherein the storage medium stores a computer program, and the computer program is used to execute the steps in the grader control method of each of the above embodiments.

[0116] Computer readable storage media can adopt any combination of one or more readable media. The readable medium can be a readable signal medium or a readable storage medium. The readable storage medium can, for example, include but is not limited to a system, device or component of electricity, magnetism, light, electromagnetic, infrared, or semiconductor, or any combination thereof. More specific examples (non-exhaustive list) of readable storage media include: an electrical connection with one or more wires, a portable disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination thereof.

[0117] In addition to the above methods and devices, embodiments of the present application may also be computer program products, which include computer program information. When the computer program information is executed by a processor, the processor executes the steps in the grader control method of various embodiments of the present application.

[0118] The computer program product may be written in any combination of one or more programming languages ​​to implement the program code for performing the operations of the embodiments of the present application, including object-oriented programming languages ​​such as Java, C++, and conventional procedural programming languages ​​such as "C" or similar programming languages. The program code may be executed entirely on the user's computing device, partially on the user's computing device, as a standalone software package, partially on the user's computing device and partially on a remote computing device, or entirely on a remote computing device or server.

[0119] The basic principles of the present application have been described above in conjunction with specific embodiments. However, it should be noted that the advantages, strengths, and effects mentioned in this application are merely illustrative and not restrictive, and it should not be assumed that these advantages, strengths, and effects are required of each embodiment of this application. In addition, the specific details disclosed above are merely illustrative and facilitating understanding, and are not restrictive. The above details do not limit this application to necessarily being implemented using the above specific details.

[0120] The block diagrams of the devices, devices, equipment, and systems involved in this application are merely illustrative examples and are not intended to require or imply that they must be connected, arranged, or configured in the manner shown in the block diagrams. As will be appreciated by those skilled in the art, these devices, devices, equipment, and systems can be connected, arranged, or configured in any manner. Words such as "include," "comprise," "have," and the like are open-ended words, meaning "including but not limited to," and can be used interchangeably therewith. The words "or" and "and" used herein refer to the words "and / or" and can be used interchangeably therewith, unless the context clearly indicates otherwise. The word "such as" used herein refers to the phrase "such as but not limited to," and can be used interchangeably therewith.

[0121] It should also be noted that in the apparatus, device, and method of the present application, each component or each step can be decomposed and / or recombined, and such decomposition and / or recombination should be regarded as equivalent solutions of the present application.

Claims

1. A motor grader control method, characterized in that: include: Obtaining an initial blade slope and a target blade slope of the blade; According to the initial blade slope and target blade slope, the blade cylinder is controlled to automatically rise and fall; Get the actual blade slope during the automatic lifting of the blade cylinder; The operating state of the blade cylinder is controlled according to the absolute value of the difference between the actual blade slope and the target blade slope.

2. The motor grader control method according to claim 1, wherein: The method of obtaining the actual blade slope of the blade during the automatic lifting of the blade cylinder includes: Obtaining the angle between the blade and the horizontal direction detected by the blade inclination sensor; Obtain the angle between the vehicle body and the horizontal direction detected by the longitudinal slope inclination sensor; Obtain the blade rotation angle detected by the rotation angle sensor; The actual blade slope of the blade is calculated according to the angle between the blade and the horizontal direction, the angle between the vehicle body and the horizontal direction, and the blade rotation angle.

3. The motor grader control method according to claim 1, wherein: The controlling the operating state of the blade cylinder according to the absolute value of the difference between the actual blade slope and the target blade slope includes: When the absolute value of the difference between the actual blade slope and the target blade slope is less than or equal to a first preset difference, the blade cylinder is controlled to stop running.

4. The motor grader control method according to claim 2, wherein: The controlling the operating state of the blade cylinder according to the absolute value of the difference between the actual blade slope and the target blade slope includes: When the absolute value of the difference between the actual blade slope and the target blade slope is greater than a first preset difference, the operating state of the blade cylinder is controlled according to the change in the angle between the blade and the horizontal direction within a preset period and the change in the absolute value of the difference between the actual blade slope and the target blade slope.

5. The motor grader control method according to claim 4, characterized in that: When the absolute value of the difference between the actual blade slope and the target blade slope is greater than a first preset difference, controlling the operating state of the blade cylinder according to a change in the angle between the blade and the horizontal direction and a change in the absolute value of the difference between the actual blade slope and the target blade slope within a preset period includes: When the absolute value of the difference between the actual blade slope and the target blade slope is greater than the first preset difference and less than the second preset difference, the change in the angle between the blade and the horizontal direction within the preset period is less than or equal to the preset change value, and the change in the absolute value of the difference between the actual blade slope and the target blade slope is less than the first difference change value, an alarm message is issued and the blade cylinder is kept under control to automatically lift and lower.

6. The motor grader control method according to claim 4, characterized in that: When the absolute value of the difference is greater than a first preset difference, controlling the operating state of the blade cylinder according to a change in the angle between the blade and the horizontal direction and a change in the absolute value of the difference between the actual blade slope and the target blade slope within a preset period includes: When the absolute value of the difference between the actual blade slope and the target blade slope is greater than or equal to a second preset difference, the change in the angle between the blade and the horizontal direction within a preset period is less than or equal to a preset change value, and the change in the absolute value of the difference between the actual blade slope and the target blade slope is less than the second difference change value, an alarm message is issued and the blade cylinder is controlled to stop running.

7. The motor grader control method according to claim 1, wherein: The method further comprises: The control display shows the actual blade slope, target blade slope and the angle between the blade and the horizontal direction during the operation status of the blade cylinder.

8. A motor grader control device, characterized in that: include: A data acquisition module is used to obtain the initial blade slope, the target blade slope, and the actual blade slope during the automatic lifting of the blade cylinder; The control module is used to control the automatic lifting and lowering of the blade cylinder according to the initial blade slope and the target blade slope; and to control the operating state of the blade cylinder according to the absolute value of the difference between the actual blade slope and the target blade slope.

9. A motor grader, characterized in that: include: Shovel; The blade cylinder is connected to the blade through a connecting rod mechanism to control the tilt and lifting of the blade; And the motor grader control device according to claim 8.

10. An electronic device, characterized in that: include: Memory; a processor and a computer program stored on the memory and executable on the processor; When the processor executes the computer program, the motor grader control method according to any one of claims 1 to 7 is implemented.

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