Method, apparatus and computer-readable storage medium for calibrating the three speeds of a grader blade
By setting three control modes and current gradient calibration, the problem of inconsistent flow caused by manufacturing errors of the solenoid valve was solved, and the precise calibration of the cylinder extension speed was achieved, improving the construction accuracy and response efficiency of the grader.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- XUZHOU XUGONG ROAD CONSTR MACHINERY CO LTD
- Filing Date
- 2026-05-12
- Publication Date
- 2026-07-17
AI Technical Summary
Traditional graders use fixed-ratio PWM signals to drive solenoid valves in their electronic control systems. This makes it difficult to adapt to the response speed and operational precision requirements under different working conditions. Consequently, different batches of solenoid valves may have inconsistent output flow rates under the same current due to manufacturing errors, resulting in blade speed deviations.
Three differentiated control modes are set up, and combined with current gradient calibration and cross-regional current compensation, the cylinder extension speed is accurately calibrated by dynamically calculating the speed compensation value.
It reduces the blade speed deviation in different modes, improves the construction accuracy and response efficiency of the grader under complex working conditions, and takes into account both extensive operation and refined operation needs.
Smart Images
Figure CN122407641A_ABST
Abstract
Description
Technical Field
[0001] This invention belongs to the field of hydraulic cylinder extension speed calibration technology, specifically relating to a data processing method for calibrating hydraulic cylinder extension speed and current, and particularly to a method, device and readable storage medium for calibrating the three speeds of a grader blade. Background Technology
[0002] Graders are mainly used for leveling large areas of ground such as highways, airports, and farmland, as well as for digging ditches, slope scraping, bulldozing, loosening soil, and snow removal. They are essential engineering machinery for national defense projects, mining construction, urban road construction, water conservancy projects, and farmland improvement.
[0003] In traditional technologies, electronic control systems typically use fixed-ratio PWM signals to drive solenoid valves, which is difficult to adapt to the demands for response speed and operational precision under different working conditions. To address this issue, related technologies employ multiple control modes to control the blade speed, aiming to meet both rapid and precise construction needs. However, due to manufacturing errors in different batches of solenoid valves, resulting in inconsistent output flow rates under the same current, blade speed deviations occur. Furthermore, the fixed speed calibration method will introduce errors in different modes, leading to significant discrepancies between the actual extension speed of the cylinder and the calibrated speed in various modes.
[0004] Therefore, how to accurately calibrate the hydraulic cylinder and current in different modes of the shovel is a technical problem that urgently needs to be solved.
[0005] It should be noted that the information disclosed in this background section is only for understanding the background technology of the present application concept, and therefore, the above description is not considered to constitute prior art information. Summary of the Invention
[0006] This disclosure provides at least one method, apparatus, and computer-readable storage medium for calibrating the three speeds of a grader blade.
[0007] In a first aspect, embodiments of this disclosure provide a method for calibrating the three speeds of a grader blade, including: Three control modes are set according to the operating requirements of the shovel blade; The current of the blade and the extension speed of the hydraulic cylinder were initially calibrated under the three control modes respectively; Calculate the compensation value for the cylinder extension speed when the current crosses the region; Based on the compensation value and the initial calibration value, the blade speed under the three control modes was calibrated.
[0008] In one optional implementation, the preliminary calibration process for initially calibrating the current of the blade and the extension speed of the cylinder under the three control modes includes: Determine the calibration range; The current is sent in a gradient, and the blade speed is obtained after each current transmission. A mapping table is generated based on the blade speed to complete the initial calibration.
[0009] In one optional implementation, the process of calculating the compensation value of the cylinder extension speed when the current crosses the region includes: Obtain the final speed V1 as the current progresses from 0 steps to the maximum current value; Reset the blade and directly send the maximum current value to obtain the cross-zone blade speed V2; Obtain the speed difference n = V1 - V2; In the initial calibration calculation, the current initial calibration speed V 当前 The compensation value across a region is m=n(V) 当前 / V1).
[0010] In one optional implementation, the determination of the calibration interval is: The hydraulic cylinder to be calibrated adjusts the blade to its highest position, and the maximum tilt angle θ_max is recorded by the angle sensor. The hydraulic cylinder to be calibrated adjusts the blade to its lowest position, and the minimum tilt angle θ_min is recorded by the angle sensor. The effective calibration interval H = θ_max - θ_min corresponds to 0% to 100% of the travel.
[0011] In one optional implementation, the current is sent in a gradient manner, and the blade speed after each current transmission is obtained, i.e.: Current values are sent sequentially according to the preset step size; After each current transmission, when the stroke represented by H is the first preset value, the start time t1 is recorded, and the corresponding roll angle change of the angle sensor is Δθ1; when the stroke represented by H is the second preset value, the start time t2 is recorded, and the corresponding roll angle change of the angle sensor is Δθ2. cylinder extension speed ; In the formula, L represents the distance between the left and right cylinders, and v represents the extension speed of the cylinder to be calibrated.
[0012] In one optional implementation, the current of the blade and the extension speed of the cylinder are initially calibrated for the three control modes, including: The upward speed of the left hydraulic cylinder is calibrated, and the downward speed of the left hydraulic cylinder is calibrated. The upward speed of the right hydraulic cylinder is calibrated, and the downward speed of the right hydraulic cylinder is calibrated.
[0013] In one optional implementation, the control mode includes: Coarse flat mode; Normal mode; And, fine-flat mode.
[0014] Secondly, this disclosure also provides a three-speed calibration device for a grader blade, including a controller, which is configured with the following modules: The setting module is used to set three control modes according to the operating requirements of the shovel. The preliminary calibration module is used to perform preliminary calibration of the current of the blade and the extension speed of the cylinder under three control modes respectively; The compensation module is used to calculate the compensation value of the cylinder extension speed when the current crosses the region; The final calibration module is used to calibrate the blade speed under three control modes based on the compensation value and the preliminary calibration value.
[0015] Thirdly, embodiments of this disclosure also provide a computer-readable storage medium having a computer program / instructions stored thereon, which, when executed by a processor, implements the steps of the method described above.
[0016] Fourthly, embodiments of this disclosure also provide a computer program product, including a computer program / instructions that, when executed by a processor, implement the steps of the method described above.
[0017] The beneficial effects of this invention are that the three-speed calibration method, device and computer-readable storage medium for grader blades solve the problem of inconsistent flow under the same current caused by manufacturing errors of solenoid valves by setting three differentiated control modes and combining current gradient calibration and cross-regional current compensation. At the same time, it reduces the blade speed deviation in different modes. By dynamically calculating the speed compensation value when the current crosses regions, it achieves accurate calibration of the cylinder extension speed, improves the construction accuracy and response efficiency of graders under complex working conditions, and takes into account the needs of both rough operation and refined operation.
[0018] Other features and advantages of the invention will be set forth in the following description, and will be apparent in part from the description, or may be learned by practicing the invention. The objects and other advantages of the invention are realized and obtained through the structures particularly pointed out in the description and the drawings.
[0019] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, preferred embodiments are described in detail below with reference to the accompanying drawings. Attached Figure Description
[0020] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.
[0021] Figure 1 A flowchart illustrating the three-speed calibration method for a grader blade provided in this embodiment of the disclosure; Figure 2 This is a schematic diagram illustrating the speed calculation process in the three-speed calibration method for a grader blade provided in this embodiment of the disclosure. Figure 3 A schematic block diagram of the three-speed calibration device for a grader blade provided in this embodiment of the disclosure; Figure 4 The speed and current values of the right hydraulic cylinder during lifting and lowering in the normal mode provided in this embodiment of the disclosure; Figure 5 A partial structural schematic diagram of an electronic device provided in a disclosed embodiment. Detailed Implementation
[0022] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.
[0023] In this document, when it is mentioned that a first component is located on a second component, this can mean that the first component can be directly formed on the second component, or that a third component can be inserted between the first and second components. Furthermore, in the accompanying drawings, the thickness of the components may be exaggerated or reduced for the purpose of effectively describing the technical content.
[0024] In this document, when an element or layer is referred to as “located,” “joined to,” “connected to,” “attached to,” or “coupled to” another element or layer, it may be directly located, joined, connected, attached to, or coupled to the other element or layer, or there may be intermediate elements or layers present. Conversely, when an element is referred to as “directly on another element or layer,” “directly joined to,” “directly connected to,” “directly attached to,” or “directly coupled to” another element or layer, there may be no intermediate elements or layers present. Other terms used to describe relationships between elements should be interpreted in a similar manner (e.g., “between” versus “directly between,” “adjacent” versus “directly adjacent,” etc.). As used herein, the term “and / or” includes any and all combinations of one or more of the related listed items.
[0025] In this document, exemplary embodiments of the present disclosure will be described in more detail with reference to the accompanying drawings. As used herein, expressions such as “at least one of…” modify the entire list of elements when following a list of elements, rather than individual elements in the list. For example, the expression “at least one of a, b, and c” should be understood to include only a, only b, only c, both a and b, both a and c, both b and c, or all of a, b, and c.
[0026] The terminology used herein is for the purpose of describing specific exemplary configurations only and is not intended to be limiting. As used herein, the singular articles “a,” “an,” and “the” may also be intended to include plural forms unless otherwise expressly stated herein. The terms “comprising,” “including,” and “having” are inclusive and thus specify the presence of features, steps, operations, elements, and / or components, but do not preclude the presence or addition of one or more other features, steps, operations, elements, components, and / or combinations thereof. The method steps, processes, and operations described herein should not be construed as requiring them to be performed in the specific order discussed or shown, unless specifically identified as such. Additional or alternative steps may be employed.
[0027] As used herein, the phrases “in one embodiment,” “according to one embodiment,” “in some embodiments,” etc., generally refer to the fact that a particular feature, structure, or characteristic following the phrase can be included in at least one embodiment of this disclosure. Therefore, a particular feature, structure, or characteristic can be included in more than one embodiment of this disclosure, such that these phrases do not necessarily refer to the same embodiment. As used herein, the terms “example,” “exemplary,” etc., are used to “serve as an example, instance, or illustration.” Any implementation, aspect, or design described herein as “example” or “exemplary” is not necessarily to be construed as preferred or superior to other implementations, aspects, or designs. Rather, the use of the terms “example,” “exemplary,” etc., is intended to present concepts in a specific manner.
[0028] Research has revealed that electronic control systems typically use fixed-ratio PWM signals to drive solenoid valves, making it difficult to adapt to the varying demands for response speed and operational precision under different working conditions. To address this issue, related technologies employ multiple control modes to regulate the blade speed, aiming to meet both rapid and precise construction requirements. However, due to manufacturing errors in different batches of solenoid valves, resulting in inconsistent output flow rates under the same current, blade speed deviations occur. Furthermore, the fixed speed calibration method introduces errors in different modes, leading to significant discrepancies between the actual cylinder extension speed and the calibrated speed across various modes.
[0029] Based on the above research, this disclosure provides a method, device, and computer-readable storage medium for calibrating the three speeds of a grader blade. By setting three differentiated control modes and combining current gradient calibration and cross-regional current compensation, the problem of inconsistent flow under the same current caused by manufacturing errors of the solenoid valve is solved. At the same time, the blade speed deviation under different modes is reduced. By dynamically calculating the speed compensation value when the current crosses regions, the precise calibration of the cylinder extension speed is achieved, improving the construction accuracy and response efficiency of the grader under complex working conditions, while taking into account the needs of both rough operation and refined operation.
[0030] The shortcomings of the above solutions are the result of the inventor's practical experience and careful research. Therefore, the discovery process of the above problems and the solutions proposed in this disclosure should be considered as the inventor's contribution to this disclosure.
[0031] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.
[0032] The following detailed description of some embodiments of the present invention is provided in conjunction with the accompanying drawings. Unless otherwise specified, the following embodiments and features can be combined with each other.
[0033] Please see Figure 1 At least one embodiment provides a three-speed calibration method for a grader blade. By setting three differentiated control modes and combining current gradient calibration and cross-regional current compensation, the method solves the problem of inconsistent flow under the same current caused by manufacturing errors of the solenoid valve. At the same time, it reduces the blade speed deviation in different modes. By dynamically calculating the speed compensation value when the current crosses regions, it achieves accurate calibration of the cylinder extension speed, improves the construction accuracy and response efficiency of the grader under complex working conditions, and takes into account both the needs of rough operation and refined operation.
[0034] Specifically, the calibration method includes: S110: Three control modes are set according to the operating requirements of the shovel.
[0035] Specifically, the control modes include: coarse leveling mode; normal mode; and fine leveling mode.
[0036] The coarse leveling mode features a steep slope in the control current curve, a rapid current rise, and a swift blade response, designed for initial ground leveling and quick clearing of uneven surfaces. The normal mode balances response speed and stability, suitable for routine leveling operations. The fine leveling mode has a shallow slope in the control current, a wide micro-motion range, and high blade sensitivity, ideal for precise leveling and high-precision construction.
[0037] S120: Perform preliminary calibration of the current of the blade and the extension speed of the hydraulic cylinder under the three control modes respectively.
[0038] Preliminary calibrations were performed on the current of the blade and the extension speed of the hydraulic cylinder under three control modes, including: calibration of the rising speed of the left hydraulic cylinder, calibration of the falling speed of the left hydraulic cylinder, calibration of the rising speed of the right hydraulic cylinder, and calibration of the falling speed of the right hydraulic cylinder.
[0039] Specifically, the preliminary calibration process for the initial calibration of the blade current and cylinder extension speed under the three control modes includes: S121: Determine the calibration interval.
[0040] The determination of the calibration interval is as follows: The hydraulic cylinder to be calibrated adjusts the blade to its highest position, and the maximum tilt angle θ_max is recorded by the angle sensor. The hydraulic cylinder to be calibrated adjusts the blade to its lowest position, and the minimum tilt angle θ_min is recorded by the angle sensor. The effective calibration interval H = θ_max - θ_min corresponds to 0% to 100% of the travel.
[0041] A schematic diagram of the calibration interval is shown below. Figure 2 As shown.
[0042] S122: Current is sent according to gradient, and the blade speed is obtained after each current transmission.
[0043] Specifically, the current is sent in a gradient, and the blade speed is obtained after each current transmission, i.e.: Current values are sent sequentially according to the preset step size; After each current transmission, when the stroke represented by H is the first preset value, the start time t1 is recorded, and the corresponding roll angle change of the angle sensor is Δθ1; when the stroke represented by H is the second preset value, the start time t2 is recorded, and the corresponding roll angle change of the angle sensor is Δθ2. cylinder extension speed ; In the formula, L represents the distance between the left and right cylinders, and v represents the extension speed of the cylinder to be calibrated.
[0044] S123: Generate a mapping table based on the blade speed to complete the initial calibration.
[0045] S130: Compensation value for cylinder extension speed when the current crosses the region.
[0046] Specifically, step S130 includes the following steps: obtaining the final speed V1 when the current steps from 0 to the maximum current value; resetting the blade, directly issuing the maximum current value, and obtaining the cross-zone blade speed V2; obtaining the speed difference n = V1 - V2; calculating the current preliminary calibration speed V during the preliminary calibration. 当前 The compensation value across a region is m=n(V) 当前 / V1).
[0047] S140: Based on the compensation value and the preliminary calibration value, complete the calibration of the blade speed under the three control modes.
[0048] Example 1 Following the calibration process described above, the cylinder speed and current values in normal mode are calibrated.
[0049] The table corresponding to the preliminary calibration of the right hydraulic cylinder is as follows: Figure 4 As shown.
[0050] In normal mode, the current jumps directly from 260mA to 320mA, skipping 290mA. At this time, the speed needs to be compensated by 0.35 - (the compensation speed corresponding to 290mA - the compensation speed corresponding to 260mA). The compensation speed corresponding to 260mA = n(0 / 23.56), and the compensation speed corresponding to 290mA = n(0.35 / 23.56), thus obtaining the calibration current when the current jumps directly from 260mA to 320mA.
[0051] Please see Figure 3 This disclosure also provides a three-speed calibration device for a grader blade, including a controller, which is configured with the following modules: The setting module is used to set three control modes according to the shovel's operating requirements and to execute step S110 in the above steps.
[0052] The preliminary calibration module is used to perform preliminary calibration of the current of the blade and the extension speed of the cylinder under the three control modes respectively; and is used to execute S120 in the above steps.
[0053] The compensation module is used to calculate the compensation value of the cylinder extension speed when the current crosses the region, and is used to perform S130 in the above steps.
[0054] The final calibration module is used to calibrate the blade speed under the three control modes based on the compensation value and the preliminary calibration value, and is used to execute S140 in the above steps.
[0055] This disclosure also provides a computer-readable storage medium having a computer program / instructions stored thereon, which, when executed by a processor, implements the steps of the method described above.
[0056] By setting three differentiated control modes and combining current gradient calibration and cross-regional current compensation, the problem of inconsistent flow under the same current caused by manufacturing errors of the solenoid valve was solved. At the same time, the blade speed deviation in different modes was reduced. By dynamically calculating the speed compensation value when the current crosses regions, the cylinder extension speed was accurately calibrated, which improved the construction accuracy and response efficiency of the grader under complex working conditions, while taking into account the needs of both rough operation and refined operation.
[0057] This disclosure also provides a computer program product, including a computer program / instructions that, when executed by a processor, implement the steps of the method described above.
[0058] Please see Figure 5 This disclosure also provides an electronic device, including: a memory 502 and a processor 501; the memory 502 stores at least one program instruction; the processor 501 loads and executes the at least one program instruction to implement the three-speed calibration method for grader blades as described above.
[0059] The memory 502 and processor 501 are connected via a bus, which may include any number of interconnecting buses and bridges. The bus connects various circuits of one or more processors 501 and memory 502 together. The bus may also connect various other circuits, such as peripheral devices, voltage regulators, and power management circuits, which are well known in the art and therefore will not be described further herein. A bus interface provides an interface between the bus and the transceiver. The transceiver may be a single element or multiple elements, such as multiple receivers and transmitters, providing a unit for communicating with various other devices over a transmission medium. Data processed by processor 501 is transmitted over a wireless medium via an antenna, which further receives data and transmits it to processor 501.
[0060] Processor 501 is responsible for managing the bus and general processing, and can also provide various functions, including timing, peripheral interfaces, voltage regulation, power management, and other control functions. Memory 502 can be used to store data used by processor 501 during operation.
[0061] In summary, this invention provides a method, device, and computer-readable storage medium for calibrating the three-speed blade of a grader. By setting three differentiated control modes and combining current gradient calibration and cross-regional current compensation, it solves the problem of inconsistent flow rate under the same current caused by manufacturing errors of the solenoid valve. At the same time, it reduces the blade speed deviation in different modes. By dynamically calculating the speed compensation value when the current crosses regions, it achieves accurate calibration of the cylinder extension speed, improves the construction accuracy and response efficiency of the grader under complex working conditions, and takes into account both the needs of rough operation and refined operation.
[0062] To facilitate understanding of this embodiment, a model building method disclosed in this disclosure will first be described in detail. The execution entity of the privacy-preserving multi-party data model training method provided in this disclosure is generally a computer device with certain computing capabilities. This computer device may include, for example, a terminal device, a server, or other processing devices. The terminal device can be a user equipment (UE), mobile device, user terminal, terminal, cellular phone, cordless phone, personal digital assistant (PDA), handheld device, computing device, in-vehicle device, wearable device, etc. In some possible implementations, this model building method can be implemented by a processor calling computer-readable instructions stored in memory.
[0063] In the above discussion, unless otherwise stated, when used to describe numerical values, the terms “about,” “approximately,” “basically,” etc., indicate a change of + / - 10% in that value.
[0064] Based on the above-described preferred embodiments of the present invention, and through the foregoing description, those skilled in the art can make various changes and modifications without departing from the inventive concept. The technical scope of this invention is not limited to the contents of the specification, but must be determined according to the scope of the claims.
Claims
1. A method for calibrating the three speeds of a grader blade, characterized in that, include: Three control modes are set according to the operating requirements of the shovel blade; The current of the blade and the extension speed of the hydraulic cylinder were initially calibrated under the three control modes respectively; Calculate the compensation value for the cylinder extension speed when the current crosses the region; Based on the compensation value and the initial calibration value, the blade speed under the three control modes was calibrated.
2. The method for calibrating the three speeds of a grader blade as described in claim 1, characterized in that, The preliminary calibration process for the initial calibration of the blade current and cylinder extension speed under three control modes includes: Determine the calibration range; The current is sent in a gradient, and the blade speed is obtained after each current transmission. A mapping table is generated based on the blade speed to complete the initial calibration.
3. The method for calibrating the three speeds of a grader blade as described in claim 2, characterized in that, The process of calculating the compensation value of the cylinder extension speed when the current crosses the region includes: Obtain the final speed V1 as the current progresses from 0 steps to the maximum current value; Reset the blade and directly send the maximum current value to obtain the cross-zone blade speed V2; Obtain the speed difference n = V1 - V2; In the initial calibration calculation, the current initial calibration speed V 当前 The compensation value across a region is m=n(V) 当前 / V1).
4. The method for calibrating the three speeds of a grader blade as described in claim 2, characterized in that, The determination of the calibration interval is as follows: The hydraulic cylinder to be calibrated adjusts the blade to its highest position, and the maximum tilt angle θ_max is recorded by the angle sensor. The hydraulic cylinder to be calibrated adjusts the blade to its lowest position, and the minimum tilt angle θ_min is recorded by the angle sensor. The effective calibration interval H = θ_max - θ_min corresponds to 0% to 100% of the travel.
5. The method for calibrating the three speeds of a grader blade as described in claim 4, characterized in that, The current is transmitted in a gradient, and the blade speed is obtained after each current transmission, i.e.: Current values are sent sequentially according to the preset step size; After each current transmission, when the stroke represented by H is the first preset value, the start time t1 is recorded, and the corresponding roll angle change of the angle sensor is Δθ1; when the stroke represented by H is the second preset value, the start time t2 is recorded, and the corresponding roll angle change of the angle sensor is Δθ2. cylinder extension speed ; In the formula, L represents the distance between the left and right cylinders, and v represents the extension speed of the cylinder to be calibrated.
6. The method for calibrating the three speeds of a grader blade as described in claim 1, characterized in that, Preliminary calibrations were performed on the blade current and cylinder extension speed under three control modes, including: The upward speed of the left hydraulic cylinder is calibrated, and the downward speed of the left hydraulic cylinder is calibrated. The upward speed of the right hydraulic cylinder is calibrated, and the downward speed of the right hydraulic cylinder is calibrated.
7. The method for calibrating the three speeds of a grader blade as described in claim 1, characterized in that, The control modes include: Coarse flat mode; Normal mode; And, fine-flat mode.
8. A three-speed calibration device for a grader blade, characterized in that, The controller includes the following modules: The setting module is used to set three control modes according to the operating requirements of the shovel. The preliminary calibration module is used to perform preliminary calibration of the current of the blade and the extension speed of the cylinder under three control modes respectively; The compensation module is used to calculate the compensation value of the cylinder extension speed when the current crosses the region; The final calibration module is used to calibrate the blade speed under three control modes based on the compensation value and the preliminary calibration value.
9. A computer-readable storage medium having a computer program / instructions stored thereon, characterized in that, When the computer program / instruction is executed by the processor, it implements the steps of the method of claim 1.
10. A computer program product comprising a computer program / instructions, characterized in that, When the computer program / instruction is executed by the processor, it implements the steps of the method of claim 1.