A grader control method and device, electronic equipment and grader

Abstract

The application provides a grader control method and device, electronic equipment and a grader, and applies to the technical field of graders. The method comprises the following steps: firstly, obtaining an initial blade slope and a target blade slope of a blade, controlling the blade oil cylinder to automatically ascend and descend according to the initial blade slope and the target blade slope; then, obtaining an actual blade slope of the blade in the automatic ascending and descending process of the blade oil cylinder; and finally, controlling the running state of the blade oil cylinder according to the absolute value of the difference between the actual blade slope and the target blade slope. The grader control method can continuously calculate the absolute value of the difference between the actual blade slope and the target blade slope in the automatic ascending and descending process of the blade oil cylinder, control the running state of the blade oil cylinder, control the inclination and lifting of the blade, improve the construction efficiency and reduce the construction cost.

Description

Technical Field

[0001] This application relates to the field of grader technology, specifically to a grader control method, device, electronic equipment, and grader. Background Technology

[0002] A grader is a high-speed, high-efficiency, high-precision, and multi-purpose earthmoving machine, mainly used for leveling, sloping, soil removal, loosening, and spreading on large-area work surfaces such as highway subgrades and high-standard farmland. Graders primarily use blades to level the ground, with the blades mounted between the front and rear wheels. The grader is equipped with six control handles, controlling six actions: blade lifting, tilting, rotation, extension, front wheel swing, and articulation deflection. The operator must be flexible and accurate in these actions, especially in controlling the cross and longitudinal slopes and elevation of the subgrade. Therefore, the operator's skill level determines the construction efficiency and quality.

[0003] However, the skill levels of machine operators often vary, leading to frequent rework in the fine leveling of the roadbed surface, which increases construction costs and causes project delays. Therefore, there is a need to provide a control method for graders to achieve automatic control of the blade, thereby improving construction efficiency and reducing construction costs. Summary of the Invention

[0004] In view of this, this application provides a grader control method, device, electronic equipment, and grader, which solves or improves the technical problems in the prior art where the skill level of machine operators is often uneven, which easily leads to a high rework frequency in the fine leveling of the roadbed surface, resulting in increased construction costs and delays in the construction period.

[0005] As a first aspect of this application, this application provides a method for controlling a grader, comprising:

[0006] Obtain the initial blade slope and target blade slope;

[0007] The blade cylinder is automatically raised and lowered based on the initial blade slope and the target blade slope.

[0008] Obtain the actual blade slope during the automatic lifting and lowering process of the blade cylinder;

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

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

[0011] Obtain the angle between the blade and the horizontal direction detected by the blade tilt sensor;

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

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

[0014] The actual blade slope is calculated 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.

[0015] Optionally, controlling the operating state of the blade cylinder based on 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 the first preset difference, the blade cylinder is controlled to stop operating.

[0017] Optionally, controlling the operating state of the blade cylinder based on 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 based on 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 includes:

[0020] When the absolute value of the difference between the actual blade slope and the target blade slope is greater than a first preset difference and less than a second preset difference, the change value of 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 value of 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 automatic lifting and lowering of the blade cylinder is maintained.

[0021] Optionally, when the absolute value of the difference is greater than a first preset difference, controlling the operating state of the blade cylinder based on 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 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 grader control method provided in the first aspect above further includes:

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

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

[0026] The data acquisition module is used to acquire the initial blade slope, the target blade slope, and the actual blade slope during the automatic lifting and lowering process of the blade cylinder.

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

[0028] As a third aspect of this application, this application provides a grader, comprising:

[0029] spatula;

[0030] The blade cylinder is connected to the blade via a linkage mechanism to control the blade's tilting and lifting.

[0031] And the grader control device as described in the second aspect of claim.

[0032] As a fourth aspect of this application, this application provides an electronic device, comprising:

[0033] Memory;

[0034] A processor and a computer program stored in the memory and capable of running on the processor;

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

[0036] Based on the above, the grader control method provided in this application first obtains the initial and target blade slopes. Based on these slopes, the automatic raising and lowering of the blade cylinder is initiated, replacing the operator's control handle and avoiding the impact of the operator's skill level on construction efficiency and quality. Then, the actual blade slope during the automatic raising and lowering process is obtained, and the absolute value of the difference between the actual and target slopes is calculated. Finally, based on this absolute value, the operating state of the blade cylinder is controlled to control the blade's tilt and raising / lowering, achieving automatic blade control. This improves construction efficiency and reduces construction costs. Attached Figure Description

[0037] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0038] Figure 1 The diagram shown is a flowchart of a grader control method provided in an embodiment of this application.

[0039] Figure 2 The diagram shown is a flowchart of another grader control method provided in an embodiment of this application.

[0040] Figure 3 The diagram shown is a flowchart of another grader control method provided in an embodiment of this application.

[0041] Figure 4 The diagram shown is a flowchart of another grader control method provided in an embodiment of this application.

[0042] Figure 5 The diagram shown is a flowchart of another grader control method provided in an embodiment of this application.

[0043] Figure 6 The diagram shown is a flowchart of another grader control method provided in an embodiment of this application.

[0044] Figure 7 The diagram shown is a flowchart of another grader control method provided in an embodiment of this application.

[0045] Figure 8 The diagram shown is a structural block diagram of a grader control device provided in an embodiment of this application.

[0046] Figure 9 The diagram shown is a structural block diagram of an electronic device provided in an embodiment of this application. Detailed Implementation

[0047] Unless otherwise defined, the technical or scientific terms used in the embodiments of this specification shall have the ordinary meaning understood by one 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 indicate any order, quantity, or importance, but are merely used to avoid confusion of constituent elements.

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

[0049] The technical solutions in the embodiments of this specification will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this specification, and not all embodiments. Based on the embodiments in this specification, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this specification.

[0050] Exemplary methods

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

[0052] S10: Obtain the initial blade slope and target blade slope.

[0053] The grader is equipped with tilt and rotation sensors, specifically a blade tilt sensor and a rotation sensor mounted on the blade, and a longitudinal slope tilt sensor mounted on the vehicle body. When the grader travels on uneven ground, the vehicle body will have a certain tilt angle relative to the horizontal plane. Before the blade is in operation, the controller can obtain the initial blade slope based on the values ​​obtained by the blade tilt sensor, rotation sensor, and longitudinal slope tilt sensor, and the target blade slope can be manually set through the display screen.

[0054] S20: Controls the automatic lifting and lowering of the blade cylinder based on the initial blade slope and the target blade slope.

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

[0056] S30: Obtain the actual blade slope during the automatic lifting and lowering process of the blade cylinder.

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

[0058] S40: Control the operating state of the blade cylinder based on the absolute value of the difference between the actual blade slope and the target blade slope.

[0059] While obtaining the actual slope of the shovel during the automatic lifting and lowering process of the shovel cylinder, the absolute value of the difference between the actual slope and the target slope is calculated, and the next action of the shovel cylinder is controlled based on the absolute value of the difference.

[0060] In some embodiments of this application, the initial and target slopes of the blade are obtained. Based on these slopes, the blade cylinder is automatically raised and lowered. The actual blade slope during the automatic raising and lowering process is obtained. The operating state of the blade cylinder is controlled based on the absolute value of the difference between the actual and target slopes. This grader control method continuously calculates the absolute value of the difference between the actual and target blade slopes during the automatic raising and lowering process to control the operating state of the blade cylinder, thereby controlling the tilting and raising / lowering of the blade. This improves construction efficiency and reduces construction costs.

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

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

[0063] A blade tilt sensor mounted on the blade is used to detect the angle between the blade and the horizontal direction. The sensor is fixed to the blade via a mounting bracket; optionally, it is installed on the upper-middle part of the blade's back. The sensor is connected to a controller via a wiring harness. The controller obtains the angle between the blade and the horizontal direction detected by the sensor by acquiring its readings. Before applying the blade tilt sensor, it needs to be calibrated. This can be done through zero-point calibration and multi-point calibration. If there is an error in the zero point, software compensation for the zero-point offset is required.

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

[0065] The slope angle sensor installed on the vehicle body is used to detect the angle between the vehicle body and the horizontal direction. Similarly, the controller obtains the angle between the vehicle body and the horizontal direction detected by the slope angle sensor by acquiring the value from the slope angle sensor. Likewise, before applying the slope angle sensor, it needs to be calibrated in advance.

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

[0067] An angle sensor mounted on the blade is used to detect the blade's rotation angle. Similarly, the controller obtains the blade rotation angle detected by the angle sensor by acquiring the sensor's readings. Likewise, before applying the angle sensor, it needs to be calibrated.

[0068] S34: Calculate the actual blade slope 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 tilt angle sensor, the angle between the vehicle body and the horizontal direction detected by the longitudinal slope tilt angle 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, and the blade's rotation angle) is considered, but also the vehicle body posture information (the angle between the vehicle body and the horizontal direction) is considered. This reduces the influence of the grader's location on the actual blade slope, and can accurately obtain the actual blade slope during the automatic lifting and lowering of the blade cylinder. Ultimately, the blade is controlled at the target blade slope, further improving the grader's operating accuracy.

[0071] In some embodiments of this application, such as Figure 3As shown, in S40, the operating state of the blade cylinder is controlled based on the absolute value of the difference between the actual blade slope and the target blade slope. 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 the first preset difference, control the blade cylinder to stop running.

[0073] A first preset difference value is set, which can be used to temporarily stop controlling the blade cylinder. Optionally, the first preset difference value can be set to 0.2. After calculating the absolute value of the difference between the actual blade slope and the target blade slope, it is necessary to determine the relationship between the absolute value of the difference and the first preset difference value. When the absolute value of the difference is less than or equal to the first preset difference value, it indicates that the blade angle has been adjusted to be very close to the target blade slope. The blade cylinder can be stopped. Through inertia, the absolute value of the difference between the blade angle and the target blade slope can be kept within the allowable error range. The grader can then be started, and its travel speed and direction adjusted to begin the leveling operation.

[0074] In some embodiments of this application, such as Figure 4 As shown, in S40, the operating state of the blade cylinder is controlled based on the absolute value of the difference between the actual blade slope and the target blade slope. 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 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 within the preset period and the change value of the absolute value of the difference between the actual blade slope and the target blade slope.

[0076] During the control of the blade cylinder, the blade's tilt angle and lifting height are constantly adjusted. These factors 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 is relatively stable, but this may affect the leveling effect. When working on uneven ground or slopes, an excessively high blade position makes the grader more prone to losing balance. Therefore, while ensuring automatic blade control and improving work efficiency and quality, it is also necessary to monitor the grader's tilt to prevent tipping.

[0077] During the process of controlling the blade slope from the initial blade slope to the target blade slope, 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, 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 tilt of the grader and control the operation 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, the blade tilt angle has not yet been adjusted to be very close to the target blade slope. Under normal circumstances, the automatic lifting and lowering of the blade cylinder will continue. However, if 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 indicate that the grader's tilt is severe, the operation of the blade cylinder needs to be changed in a timely manner to ensure the safe operation of the grader.

[0078] In some embodiments of this application, such as Figure 5 As shown in step 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 based on 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. 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 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 first difference change value, an alarm message is issued, and the automatic lifting and lowering of the blade cylinder is maintained.

[0080] To better monitor the tilt of the grader and prevent it from tipping over, this application further 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 but 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 both cases, the tilt of the grader is determined based on the change in the angle between the blade and the horizontal direction, as well as 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 preset. Optionally, the second preset difference is 0.5 and the preset period is 1 second. While continuously acquiring the actual slope of the blade during the automatic lifting and lowering of the blade cylinder, the absolute value of the difference between the actual blade slope and the target blade slope is calculated. The relationship between the absolute value of the difference and the first and second preset differences 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 further judged. 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, the severity of the grader's tilt is determined to be relatively serious, and the possibility of the grader overturning is relatively low. Monitoring can continue, and only an alarm message needs to be issued to the operator to remind them, while maintaining control of the automatic lifting and lowering of the blade cylinder.

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

[0083] In this embodiment, when the controller determines that the grader's tilting 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, the operator can choose to maintain the automatic lifting and lowering of the blade cylinder by default or switch to manual control after hearing the alarm message. This allows for automatic control of the blade and improved work efficiency and quality while monitoring the grader's tilting and preventing the grader from tipping over.

[0084] In some embodiments of this application, such as 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 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. Specific steps may further 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 value, 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, 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 value, 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 are further judged. 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, the severity of the grader's tilt is determined to be severe. If the automatic lifting and lowering of the blade cylinder is continued, the grader is more likely to overturn. In addition to issuing an alarm message to the operator, the blade cylinder is stopped at the same time. At this time, only manual control is supported.

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

[0088] In this embodiment, when the controller determines that the grader's tilting is severe based on the absolute value of the difference between the actual and target blade slopes, 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 and target blade slopes, the controller forcibly stops the blade cylinder, allowing only manual control. This prioritizes the grader's operational safety and avoids the risk of the vehicle overturning and causing damage to the vehicle and personnel if manual intervention is not timely when encountering severe tilting.

[0089] In some embodiments of this application, such as Figure 7 As shown, the grader control method described above also includes: S50: The control display screen shows the actual blade slope, 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 displays data about the blade during the automatic control process of the grader's blade cylinder. For example, the display screen shows 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. The display screen can be a vehicle-mounted display tablet that supports 4G network and has a client management system program installed on it. This program 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 mobile devices on site.

[0091] Exemplary device

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

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

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

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

[0096] The grader control device provided in this embodiment belongs to the same concept as the grader control method provided in the above embodiments of this application. It can execute the grader control method provided in any of the above embodiments of this application and has the corresponding functional units and beneficial effects of the grader control method. Technical details not described in detail in this embodiment can be found in the specific processing content of the grader control method provided in the above embodiments of this application, and will not be repeated here.

[0097] Exemplary electronic devices

[0098] As a third aspect of this application, this application also provides an electronic device. (Reference) Figure 9 This describes an electronic device according to embodiments 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 memory 902.

[0101] The processor 901 may be a central processing unit (CPU) or other form of processing unit with data processing 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. The volatile memory may include, for example, random access memory (RAM) and / or cache memory. The non-volatile memory may include, for example, read-only memory (ROM), hard disk, flash memory, etc. 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 grader control methods of the various embodiments of this application described above, and / or other desired functions.

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

[0104] When the electronic device is a standalone device, the input device 903 can be a communication network connector for receiving the 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, etc.

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

[0107] Of course, for the sake of simplicity, Figure 9 Only some of the components of the electronic device 90 relevant to this application are shown in this illustration; components such as buses, input / output interfaces, etc., are omitted. In addition, the electronic device 90 may include any other suitable components depending on the specific application.

[0108] Exemplary grader

[0109] As a fourth aspect of this application, this application provides a grader, comprising:

[0110] spatula;

[0111] The blade cylinder is connected to the blade via a linkage mechanism to control the blade's tilting and lifting.

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

[0113] The grader in this application can 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 it.

[0114] Exemplary computer-readable storage media

[0115] As a fifth aspect of this application, this application provides a computer-readable storage medium storing a computer program for performing the steps in the grader control methods of the various embodiments described above.

[0116] Computer-readable storage media may take the form of any combination of one or more readable media. A readable medium may be a readable signal medium or a readable storage medium. A readable storage medium may, for example, include, but is not limited to, electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatuses, or devices, or any combination thereof. More specific examples of readable storage media (a non-exhaustive list) include: electrical connections having one or more wires, portable disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fibers, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof.

[0117] In addition to the methods and devices described above, embodiments of this application may also be computer program products, which include computer program information. When the computer program information is run by a processor, it causes the processor to execute the steps in the grader control methods of various embodiments of this application.

[0118] Computer program products can be written in any combination of one or more programming languages ​​to perform the operations of the embodiments of this application. The programming languages ​​include object-oriented programming languages ​​such as Java and C++, as well as conventional procedural programming languages ​​such as C or similar languages. The program code can 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 this application have been described above with reference to specific embodiments. However, it should be noted that the advantages, benefits, and effects mentioned in this application are merely examples and not limitations, and should not be considered as essential features of each embodiment of this application. Furthermore, the specific details disclosed above are for illustrative and facilitative purposes only, and are not limitations. These details do not limit the application to the necessity of employing the aforementioned specific details for implementation.

[0120] The block diagrams of devices, apparatuses, devices, 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 those skilled in the art will recognize, these devices, apparatuses, devices, and systems can be connected, arranged, and configured in any manner. Words such as “comprising,” “including,” “having,” etc., are open-ended terms meaning “including but not limited to,” and are used interchangeably with them. The terms “or” and “and” as used herein refer to the terms “and / or,” and are used interchangeably with them unless the context clearly indicates otherwise. The term “such as” as used herein refers to the phrase “such as but not limited to,” and is used interchangeably with it.

[0121] It should also be noted that in the apparatus, equipment, and methods of this application, the components or steps can be disassembled and / or recombined. These disassemblies and / or recombinations should be considered as equivalent solutions of this application.

Claims

1. A method for controlling a grader, characterized in that, include: Obtain the initial blade slope and target blade slope; The blade cylinder is automatically raised and lowered based on the initial blade slope and the target blade slope. Obtain the actual blade slope during the automatic lifting and lowering process of the blade cylinder, including: Obtain the angle between the blade and the horizontal direction detected by the blade tilt sensor; Obtain the angle between the vehicle body and the horizontal direction detected by the longitudinal slope tilt angle sensor; Obtain the blade rotation angle detected by the rotation sensor; The actual blade slope is calculated 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. The operating state of the blade cylinder is controlled based on the absolute value of the difference between the actual blade slope and the target blade slope, including: 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.

2. The grader control method according to claim 1, characterized in that, The step of controlling the operating state of the blade cylinder based on 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 the first preset difference, the blade cylinder is controlled to stop operating.

3. The grader control method according to claim 1, 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, the operating state of the blade cylinder is controlled based on 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, including: When the absolute value of the difference between the actual blade slope and the target blade slope is greater than a first preset difference and less than a second preset difference, the change value of 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 value of 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 automatic lifting and lowering of the blade cylinder is maintained.

4. The grader control method according to claim 1, characterized in that, When the absolute value of the difference is greater than a first preset difference, the operating state of the shovel cylinder is controlled based on the change in the angle between the shovel and the horizontal direction within a preset period and the change in the absolute value of the difference between the actual shovel slope and the target shovel slope, including: 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.

5. The grader control method according to any one of claims 1-4, characterized in that, The method further includes: The control display screen shows the actual blade slope, target blade slope, and the angle between the blade and the horizontal direction during the operation of the blade cylinder.

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

7. A grader, characterized in that, include: spatula; The blade cylinder is connected to the blade via a linkage mechanism to control the blade's tilting and lifting. And the grader control device as described in claim 6.

8. An electronic device, characterized in that, include: Memory; A processor and a computer program stored in the memory and capable of running on the processor; When the processor executes the computer program, it implements the grader control method according to any one of claims 1-5.

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