CN113846715B - Land leveler control method and device and land leveler - Google Patents
Land leveler control method and device and land leveler Download PDFInfo
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- CN113846715B CN113846715B CN202111167961.8A CN202111167961A CN113846715B CN 113846715 B CN113846715 B CN 113846715B CN 202111167961 A CN202111167961 A CN 202111167961A CN 113846715 B CN113846715 B CN 113846715B
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/76—Graders, bulldozers, or the like with scraper plates or ploughshare-like elements; Levelling scarifying devices
- E02F3/80—Component parts
- E02F3/84—Drives or control devices therefor, e.g. hydraulic drive systems
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/76—Graders, bulldozers, or the like with scraper plates or ploughshare-like elements; Levelling scarifying devices
- E02F3/80—Component parts
- E02F3/84—Drives or control devices therefor, e.g. hydraulic drive systems
- E02F3/844—Drives or control devices therefor, e.g. hydraulic drive systems for positioning the blade, e.g. hydraulically
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- Mining & Mineral Resources (AREA)
- Civil Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Structural Engineering (AREA)
- Operation Control Of Excavators (AREA)
Abstract
The application discloses a land leveler control method and device and a land leveler. The land leveler control method comprises the following steps: determining a current driving gear of the grader; determining a comparison result of the current torque value of the grader and the maximum torque value corresponding to the current running gear; when the comparison result meets a preset control condition, the height of the scraper knife is increased to a preset height value; the land leveler automatically moves in a working area according to a preset route so as to perform leveling operation, and the preset control condition represents that redundant mound appears in the preset route. The scheme provided by the application can improve the efficiency of the grader for finishing the leveling operation.
Description
Technical Field
The application relates to the technical field of engineering machinery, in particular to a land leveler control method and device and a land leveler.
Background
The land leveler is a mechanical equipment commonly used for leveling land, and when land leveling operation is carried out through the land leveler at present, the land leveler automatically moves in a working area through a preset operation route, and a shovel blade on the land leveler is driven to level the land in the working area through movement, so that automatic leveling operation is realized.
The operation operating mode of leveler is complicated, and sometimes, the scraper blade meets the mound and probably can make the load produce the sudden change in soil, produces very big impact, and the result often can lead to the engine to fall fast, even flame-out, influences the operating efficiency. Grader manufacturers often increase the utilization of engine power and mitigate the effects of sudden changes in load. However, the engine power is constant, and when the load is large, the scheme cannot be implemented. At present, the effective method is to lift the scraper knife to a proper height and reduce the load.
However, in the current automatic leveling work engineering of the land scraper, if an obstacle appears on a work route, the height of the blade of the land scraper cannot be automatically adjusted in advance or adjusted only after the blade meets the obstacle, and the judgment cannot be made in advance according to the working condition, so that the land scraper may have too large resistance and cannot advance, and the land scraper slips in place, and the tire slips or the blade touches the obstacle to damage the land scraper, thereby causing equipment loss and simultaneously influencing the leveling work efficiency.
Disclosure of Invention
The present application is proposed to solve or improve at least one of the above technical problems. The embodiment of the application provides a land leveler control method and device and a land leveler, wherein in the intelligent leveling process of the land leveler, the forward resistance of equipment can be judged in advance, namely, the judgment is made in advance according to the working condition; before the equipment reaches the limit load, the scraper knife is controlled to be lifted to a certain height, the damage to the grader caused by tire slip or the scraper knife touching an obstacle is reduced, and the leveling operation efficiency of the grader is improved.
According to one aspect of the present application, there is provided a grader control method including: determining a current driving gear of the grader; determining a comparison result of the current torque value of the transmission mechanism of the grader and the maximum torque value of the transmission mechanism corresponding to the current running gear; and when the comparison result meets a preset control condition, improving the height of the cutting blade of the land scraper.
In an embodiment, the grader control method further includes: acquiring a mound height value within a preset distance value in front of the land leveler on a preset route; when the mound height value reaches a preset first critical value and is smaller than a second critical value, controlling the grader to stop moving; controlling the scraper knife to swing for a preset number of times according to a preset angle value and restoring the original position after swinging; and resuming movement of the grader on the preset route.
In an embodiment, the grader control method further includes: when the height value of the mound reaches a preset second critical value, the height of the scraper knife is increased; wherein the second critical value is greater than the first critical value.
In an embodiment, the step of increasing the height of the blade further comprises: recording the position of the current land leveler for improving the height of the scraper knife; generating a first route guide according to a preset shifting-out area; and controlling the land scraper to move and move the redundant mound to the removal area through the scraper knife according to the first route guide.
In an embodiment, the method further comprises: generating a second route guide to a position where the grader is positioned to increase the elevation of the blade when the grader moves and moves the excess mound to the removal area by the blade; controlling the grader to move to a position where the grader is located and the height of the scraper blade is improved according to the second route guide; and when the grader reaches the position where the grader is located and the height of the blade is increased, lowering the height of the blade.
In one embodiment, said controlling the grader to move and move the excess mound to the removal area with the blade according to the first route direction includes: removing the automatic movement of the grader and changing into a manual control mode; and displaying the first route guide on the grader so that an operator manually controls the grader to move according to the first route guide and move the redundant mound to the removal area through the scraper blade.
In one embodiment, the determining the comparison result of the current torque value of the grader and the maximum torque value corresponding to the current driving gear comprises: determining a difference between the maximum torque value and the current torque value; the comparison result meeting the preset control condition comprises the following steps: and the difference value between the maximum torque value and the current torque value is less than or equal to a preset torque difference value.
In one embodiment, the obtaining the mound height value within the preset distance value in front of the grader on the preset route comprises: shooting road condition images within a preset distance value in front of the land leveler through at least two camera devices; the at least two camera devices are arranged at different positions of the front end of the land leveler; processing the road condition images shot by the two camera devices to obtain a three-dimensional road condition image; and determining the mound height value according to the stereo image.
According to another aspect of the present application, there is provided a grader control apparatus including: the gear determining module is used for determining the current driving gear of the grader; the comparison module is used for determining a comparison result of the current torque value of the transmission mechanism of the grader and the maximum torque value of the transmission mechanism corresponding to the current running gear; and the control module is used for increasing the height of the scraper knife when the comparison result meets the preset control condition.
According to another aspect of the present application, there is provided a grader comprising a grader body and grader control apparatus mounted on the grader body for performing any of the methods of grader control described above.
According to the control method and device for the land scraper and the land scraper, whether the movement of the land scraper is blocked or not is determined according to the comparison result of the current torque value and the maximum torque value of the transmission mechanism of the land scraper. Currently, a grader automatically finishes leveling work in a work area according to a preset route by setting the preset route in the work area in advance during leveling work of the grader. However, if the excessive mound occurs on the preset route, although the grader is in the automatic driving state, the front mound condition cannot be predicted by the blade, and only after the blade contacts the mound, the excessive mound on the road surface can be sensed, so that the height of the blade is controlled. Or, in the process of automatic driving of the grader, an operator still needs to observe the condition of the road surface in the cab and manually raise the height of the scraper blade when finding that the front road surface has excessive mound, and the mode depends on the technical level and experience of the operator, so that once the conditions of distraction, untimely reaction and the like occur, the situation that the excessive mound affects the normal work of the grader also occurs. In the embodiment of the invention, whether redundant mound appears in the preset route is predicted by determining the comparison result of the current torque value and the maximum torque value, and the height of the scraper knife is increased to the preset height value to reduce the resistance of the redundant mound to the grader and improve the grading operation efficiency of the grader.
Drawings
The above and other objects, features and advantages of the present application will become more apparent by describing in more detail embodiments of the present application with reference to the attached drawings. The accompanying drawings are included to provide a further understanding of the embodiments of the application and are incorporated in and constitute a part of this specification, illustrate embodiments of the application and together with the description serve to explain the principles of the application. In the drawings, like reference numbers generally represent like parts or steps.
Fig. 1 is a schematic flow chart of a grader control method according to an exemplary embodiment of the present disclosure.
FIG. 2 is a flow chart diagram of another grader control method according to an exemplary embodiment of the present application.
FIG. 3 is a flow chart diagram of another grader control method according to another exemplary embodiment of the present application.
FIG. 4 is a flow chart diagram of another grader control method according to an exemplary embodiment of the present application.
Fig. 5 is a schematic flow chart of a heap cleaning method according to an exemplary embodiment of the present application.
Fig. 6 is a flowchart illustrating a method for determining a mound height according to an exemplary embodiment of the present disclosure.
Fig. 7 is a schematic structural diagram of a grader control device according to an exemplary embodiment of the present application.
Fig. 8 is a schematic structural diagram of a grader control system according to an exemplary embodiment of the present application.
FIG. 9 is a flow chart illustrating another method of controlling a grader provided in an exemplary embodiment of the present application.
FIG. 10 is a flow chart illustrating another method of controlling a grader provided in another exemplary embodiment of the present application.
Fig. 11 is a schematic structural diagram of a motor grader according to an exemplary embodiment of the present application.
Detailed Description
Hereinafter, example embodiments according to the present application will be described in detail with reference to the accompanying drawings. It should be apparent that the described embodiments are only a few embodiments of the present application, and not all embodiments of the present application, and it should be understood that the present application is not limited to the example embodiments described herein.
As shown in fig. 1, an embodiment of the present invention provides a grader control method including the steps of:
step 110: the current driving gear of the grader is determined.
In particular, during the travel of a grader, it is necessary to maintain a match between gear and speed. When the speed and gear correspond, the operation of the grader is at an optimum state. If the speed is not suitable for the gear, the phenomena of high speed, low gear, low speed, high gear and the like occur, the oil consumption is increased, the engine and the transmission are damaged, and irreversible damage is caused to the land leveler, so that the land leveler must keep the gear matching with the speed in the running process. Thus, the current driving gear of the motor grader can be determined by the driving speed of the motor grader. Alternatively, the current driving gear of the gearbox of the grader can be directly detected by additionally arranging a gear detection module on the grader.
Step 120: and determining a comparison result of the current torque value of the transmission mechanism of the grader and the maximum torque value of the transmission mechanism corresponding to the current running gear.
Specifically, each gear of the motor grader corresponds to different running speeds, the torque is larger in the low gear but the running speed of the motor grader is slower, and the torque is smaller in the high gear but the running speed of the motor grader is faster. Each gear has a limit for the torque that each gear can withstand, i.e. a maximum torque value. When the motor grader runs in a certain gear, the higher the torque is, the higher the resistance of the motor grader is, and the higher the torque is needed to pull the motor grader to move. The current torque value of the land scraper can be obtained by detecting the real-time torque value on the transmission structure of the land scraper, and the comparison result of the current torque value and the maximum torque value of the current driving gear is determined, wherein the comparison result can represent the resistance received when the land scraper moves currently, namely whether the obstacle blocks the normal movement of the land scraper or not.
Step 130: and when the comparison result meets the preset control condition, the height of the scraper knife of the land scraper is increased.
Specifically, when the comparison result meets the preset control condition, it indicates that excessive mound occurs in the preset route, and the excessive mound may cause the grader to not move forward normally, resulting in-situ slip and loss of the grader. At the moment, the scraper knife of the land leveler is automatically raised to a preset height value, the contact area between the plane of the scraper knife and the mound is reduced, and the resistance of the redundant mound to the movement of the land leveler is reduced, so that the land leveler can continue to normally perform leveling operation according to a preset line.
Currently, a grader automatically finishes leveling work in a work area according to a preset route by setting the preset route in the work area in advance during leveling work of the grader. However, if the excessive mound occurs on the preset route, although the grader is in the automatic driving state, the front mound condition cannot be predicted by the blade, and only after the blade contacts the mound, the excessive mound on the road surface can be sensed, so that the height of the blade is controlled. Or, in the process of automatic driving of the grader, an operator still needs to observe the condition of the road surface in the cab and manually raise the height of the scraper blade when finding that the front road surface has excessive mound, and the mode depends on the technical level and experience of the operator, so that once the conditions of distraction, untimely reaction and the like occur, the situation that the excessive mound affects the normal work of the grader also occurs. In the embodiment of the invention, whether the excessive mound exists in the preset route is predicted by determining the comparison result of the current torque value and the maximum torque value, and the resistance of the excessive mound to the grader is reduced by increasing the height of the scraper knife to the preset height value.
As shown in fig. 2, in an embodiment of the present invention, after step 130, the method may further include:
step 210: and recording the position of the current land scraper for improving the height of the blade.
Step 220: generating a first route guide according to a preset moving-out area; and controlling the grader to move and move the redundant heap of soil to a removal area through the scraper knife according to the first route guide.
Specifically, if the excess mound still exists on the predetermined route, the leveling work is still affected. Therefore, a shifting-out area for accumulating the redundant soil is preset outside the working area, after the scraper knife of the land leveler is controlled to be increased to a preset height value, the land leveler is controlled to move according to the first route, the scraper knife after the height is lifted is driven to push the redundant soil out of the working area until the preset shifting-out area, the redundant soil can be pushed out of the working area, normal leveling operation is not affected, and the redundant soil is pushed to the fixed area, so that the centralized processing of workers can be facilitated.
As shown in fig. 3, in an embodiment of the present invention, after step 130, the method may further include the following steps:
step 310: when the grader moves and moves the excess mound to the removal area via the blade, a second route guide is generated to a position where the grader is positioned that increases the height of the blade.
Step 320: controlling the grader to move to a position where the grader is positioned to increase the height of the blade based on the second route guidance.
Step 330: when the grader reaches a position where the grader is positioned to raise the height of the blade, the height of the blade is lowered.
Specifically, when the grader moves to the removal area, it is stated that the grader pushes the excess earth material to the removal area. Thereafter, the grader needs to return to the work area again to continue the previous grading work. Accordingly, the second route guidance is generated from the removal area back to the work pause position where the leveling work was interrupted before. The grader is controlled to move to the work pause position according to the second route guidance. When the grader returns to the work pause position, the automatic movement is continued according to the preset route to continue finishing the grading work from the previously interrupted position.
It should be noted that the first routing direction and the second routing direction in the above embodiments may be implemented by a positioning module. The recording of the work pause position can also be recorded by a marker of the positioning module on the virtual map.
In an embodiment of the present invention, as shown in fig. 4, the grader control method may further include the steps of:
step 410: and acquiring a mound height value within a preset distance value in front of the grader on a preset route.
Specifically, whether redundant mound exists in a certain range in front of the preset route or not is indirectly determined through a comparison result of the current torque value and the maximum torque value, a mound height value in the certain range on the preset route can be directly obtained, and the mound height in front of the contact surface of the scraper knife is identified, so that whether the mound in the certain range in front can affect the operation of the grader or not is determined.
Step 420: and when the height value of the mound reaches a preset first critical value and is smaller than a second critical value, controlling the grader to stop moving.
Step 430: and controlling the scraper knife to swing for a preset number of times according to a preset angle value, and recovering the original position after swinging to recover the movement of the land scraper on a preset route.
Specifically, if the mound height value is detected to be greater than the first critical value and less than the second critical value, it is indicated that there is a certain degree of mound ahead, but the amount of mound is not so large, and it is not necessary to spend time pushing the mound to the removal area. At this time, the movement of the grader is firstly suspended, the blade is controlled to swing for a preset number of times in situ according to a preset angle value, and the piled soil is moved away from the preset route through swinging.
Specifically, since the grader removes the mound on the preset route only by swinging the blade in situ and does not go to the removal area outside the working area, the automatic grading work of the grader is only in a suspended state, not in an interrupted state. At this time, the grader can continue to finish the grading operation by returning to the movement of the grader on the preset route.
In an embodiment of the present invention, the method may further include: when the mound height value reaches a preset second critical value, the height of the scraper knife is increased; the second critical value is larger than the first critical value.
Specifically, when the mound height value reaches the second threshold value, since the second threshold value is greater than the first threshold value, it is indicated that the amount of the front mound has reached a degree that may affect the movement of the grader. This excess mound can cause the grader to not advance properly, resulting in a skid on site, resulting in wear and tear on the grader. At the moment, the scraper knife of the land scraper is automatically lifted to a preset height value, the contact area between the plane of the scraper knife and the piled soil is reduced, and the resistance of the redundant piled soil to the movement of the land scraper is reduced. Therefore, the land leveler can continue to normally perform leveling operation according to the preset line.
It should be noted that, in the above embodiment, the obtaining of the mound height value within the preset distance value in front of the grader on the preset route and the determination of the comparison result between the current torque value and the maximum torque value are performed simultaneously. When the comparison result meets the preset control condition or the mound height value reaches the second critical value, the operation of controlling the height of the scraper knife to the preset height value is triggered, namely, the operation of lifting the height of the scraper knife can be executed as long as any condition of the two conditions is met.
FIG. 5 provides a flowchart of a heap cleaning method, and in an embodiment of the present invention, step 220 may include the following steps:
step 221: the automatic movement of the grader is deactivated and changed to the manual control mode.
Step 222: a first route guide is displayed on the grader so that an operator manually controls the grader to move according to the first route guide and move excess mound to a removal area via the blade.
Specifically, when the excessive mound needs to be pushed out to the removal area, the automatic movement of the grader is released, and manual operation is performed by an operator instead. The operator may be guided to operate the grader to move to the removal area according to the first route guide by displaying the first route guide on a built-in display screen of the grader. In addition, after pushing the excess mound to the removal area, a second route guide may be displayed on the display screen to guide the operator to operate the grader back to the suspended work position according to the second route guide. And when the grader is detected to be close to the pause operation position, switching the manual control mode of the grader back to automatic movement, and resuming the grading operation according to the preset route.
In an embodiment of the present invention, step 120 may include: a difference between the current torque value and the maximum torque value is determined. The comparison result meeting the preset control condition comprises the following steps: the difference value between the maximum torque value and the current torque value is less than or equal to a preset torque difference value.
Specifically, if the current torque value has reached the maximum torque value, it indicates that the blade has caused the grader's resistance to forward travel to be too great due to the removal of the excess mound, causing the torque to rise. Therefore, in order to raise the scraper knife before the scraper knife contacts the maximum torque value, a torque difference value needs to be set, when the difference value between the current torque value and the maximum torque value is smaller than the torque difference value, the scraper knife is about to contact with the redundant mound, and the height of the scraper knife is raised in advance to reduce the resistance of the redundant mound to the scraper knife.
Fig. 6 provides a method for determining a mound height value, and in an embodiment of the present invention, step 410 may include the following steps:
step 411: shooting road condition images within a preset distance value in front of the land leveler through at least two camera devices; at least two cameras are mounted at different positions on the front end of the grader.
Specifically, the judgment of the height of the obstacle in front of the scraper knife can adopt an image recognition mode, a plurality of camera devices are hoisted at different positions in front of a cab of the land leveler, and an image recognition system of the soil piling height of the scraper knife is built.
Step 412: and processing the road condition images shot by the at least two camera devices to obtain a three-dimensional road condition image.
Step 413: and determining the mound height value according to the stereo image.
Specifically, since the positions of the cameras are different and the shooting angles are different, the road condition images acquired by the different cameras are processed to obtain a three-dimensional road condition image. Each camera device is responsible for image acquisition at an angle, images acquired by the plurality of camera devices are spliced and fused through an algorithm, and the height values of certain positions in the three-dimensional images can be determined by combining the proportion of the three-dimensional images. Generally, the color of the mound is obviously darker than the color of the environment, so that it can be determined by the color which part of the stereo image belongs to the mound obstacle and the height of the mound obstacle.
In summary, the solutions provided by the embodiments of the present invention can provide two ground machine control solutions, wherein the first solution is to detect only the torque value and control the scraper blade to operate according to the torque value. The first scheme comprises the following steps:
step 1: acquiring a current running gear of the grader;
step 2: acquiring a transmission structure limit torque value Ti corresponding to a current running gear;
and 3, step 3: acquiring a torque difference value;
and 4, step 4: and acquiring real-time torque Tn of the transmission structure and real-time position information on a target map, and outputting a scraper knife lifting signal when the real-time torque reaches the limit torque minus a torque difference value.
And 5, step 5: and marking the position location X of the first output shovel blade lifting signal on the map.
And 6, step 6: the scraper knife lifting oil cylinder receives a scraper knife lifting signal, stops automatically controlling the posture and lifting of the scraper knife according to a preset route, controls the scraper knife to lift by a fixed height and keep 3-5 seconds, and then falls down; the land leveler continues to run forwards to push the redundant soil pile to a moving-out area; if the situation that the real-time torque reaches the limit torque minus the torque difference value continuously occurs subsequently, the step is repeated until the redundant soil is pushed out of the range which does not influence the construction.
And 7, step 7: and after cleaning the redundant soil, returning to the position near the X point according to the map navigation, and if detecting that the grader is near the position of outputting the blade lifting signal for the first time, restoring to automatically control the blade according to the target map.
The shovel blade is controlled to act by detecting two judgment conditions of a torque value of a transmission structure and the height of an obstacle, the judgment of the height of the obstacle in front of the shovel blade can identify the mound height in front of a contact surface of the shovel blade in an image identification mode, and when the mound height reaches a preset height, the shovel blade is controlled to swing to push away the mound. The second scheme comprises the following steps:
step 1: an image recognition system of the shovel blade soil piling height is built in a mode of hoisting a camera in front of a cab of the grader;
step 2: acquiring a first critical value Hi1, a second critical value Hi2 and a transmission structure limit torque value Ti of the soil piling height corresponding to the scraper knife action set at the current driving gear;
and 3, step 3: acquiring an actual value Hn of the soil piling height of the scraper knife, acquiring real-time torque Tn of a transmission structure and real-time position information on a target map;
and 4, step 4: and if the image recognition system detects that the actual value Hn of the shovel blade mound height is larger than the first critical value Hi1 of the critical value of the mound height of the shovel blade action, outputting a shovel blade swinging signal to push away the surrounding redundant mound. After the scraper knife is controlled to swing for a certain number of times at a certain angle in situ, the middle position is recovered, and leveling operation is continued according to a preset route;
and 5, step 5: when the real-time torque is larger than the limit torque minus the torque difference or the image recognition system detects that the actual value Hn of the shovel blade mound height is larger than a second critical value Hi2 of the mound height of the shovel blade action, the controller outputs a shovel blade lifting signal and stops automatically controlling the posture and lifting of the shovel blade according to a target map;
and 6, step 6: and marking the position location X of the first output shovel blade lifting signal.
And 7, step 7: the scraper knife lifting oil cylinder receives the scraper knife lifting signal, stops automatically controlling the posture and lifting of the scraper knife according to the target map, controls the scraper knife to lift by a fixed height and keep 3-5 seconds, and then falls down; the land leveler continues to run forwards; if the situation that the real-time torque reaches the limit torque minus the fixed torque value continuously occurs subsequently, the step is repeated until the redundant soil is pushed out of the range which does not influence the construction.
And 8, step 8: and after cleaning the redundant soil, returning to the position near the X point, and if the position near the position where the grader outputs the lifting signal of the scraper knife for the first time is detected, resuming the leveling operation according to the preset route.
As shown in fig. 7, an embodiment of the present invention provides a motor grader control apparatus mounted on a motor grader, including:
a gear determination module 710 for determining a current driving gear of the grader.
And a comparison module 720, configured to determine a comparison result between the current torque value of the transmission of the grader and the maximum torque value of the transmission corresponding to the current driving gear.
And the control module 730 is used for increasing the height of the scraper knife when the comparison result meets the preset control condition.
In an embodiment of the present invention, as shown in fig. 7, after the control module 730 performs the step of raising the height of the blade to the preset height value, the control module is further configured to perform: generating a first route guide according to a preset moving-out area;
controlling the grader to move according to the first route guide and moving the redundant mound to a moving-out area through the shovel blade; wherein the removal region is outside the working region.
In one embodiment of the present invention, as shown in FIG. 7, the control module 730 is configured to record the current work pause position of the grader after raising the height of the blade to the predetermined height value. The control module 730 is further configured to perform: when the grader moves to the removal area, generating a second route guide from the removal area to the work pause position; controlling the grader to move to the work pause position according to the second route guide; and when the land scraper reaches the operation pause position, the automatic movement of the land scraper according to the preset route is resumed.
In an embodiment of the present invention, as shown in fig. 7, the control module 730 includes:
an obtaining unit 731, configured to obtain a mound height value within a preset distance value in front of the grader on a preset route.
A parking unit 732 for controlling the grader to suspend moving when the mound height value reaches a preset first critical value and is less than a second critical value.
And a swing control unit 733 configured to control the blade to swing a preset number of times according to a preset angle value and to restore an original position after the blade swings.
A recovery unit 734 for recovering the movement of the grader on the preset route.
In an embodiment of the present invention, as shown in fig. 7, the control module 730 is further configured to perform: when the mound height value reaches a preset second critical value, the height of the scraper knife is increased to a preset height value; wherein the second critical value is larger than the first critical value.
In one embodiment of the present invention, as shown in fig. 7, the control module 730, when performing controlling the grader to move and move the excess mound to the removal area by the blade according to the first route guidance, performs: the automatic movement of the grader is released and changed into a manual control mode; and displaying the first route guide on the grader so that an operator manually controls the grader to move according to the first route guide and move the excess mound to the removal area through the scraper blade.
In an embodiment of the invention, as shown in fig. 7, the comparing module 720 is configured to perform: a difference between the current torque value and the maximum torque value is determined.
The comparison result meeting the preset control condition comprises the following steps: the difference between the current torque value and the maximum torque value is smaller than a preset torque difference.
In an embodiment of the invention, as shown in fig. 7, the obtaining unit 731 is configured to perform: shooting road condition images within a preset distance value in front of the land leveler through at least two camera devices; at least two camera devices are arranged at different positions at the front end of the land scraper; processing road condition images shot by the two camera devices to obtain a three-dimensional road condition image; and determining the mound height value according to the stereo image.
In an embodiment of the present invention, the control module 730 is configured to perform: when the height value of the mound reaches a preset second critical value, the height of the scraper knife is increased; wherein the second critical value is greater than the first critical value.
In one embodiment of the present invention, the grader control system may be a control module 810 on the grader, and the processing of the control logic is accomplished by a gear detection module 820, a limit torque selection module 830, a driveline torque detection module 840, and a grader position detection module 850, as shown in FIG. 8. Automatic leveling operation is realized through the intelligent leveling module 860. The blade height value is controlled by the blade control module 870, and the leveling work interruption position is marked by the position marking module 880.
In combination with the above embodiments, in an embodiment of the present invention, as shown in fig. 9, there is provided a grader control method including the steps of:
step 910: the real-time torque of the transmission structure is detected during automatic leveling work of the grader according to a preset route.
Step 920: and acquiring the limit torque of the transmission structure corresponding to the current gear.
Step 930: and when the real-time torque reaches the limit torque minus the fixed torque value, outputting a scraper knife lifting signal.
If the real-time torque does not reach the limit torque minus the fixed torque value, the automatic leveling operation is continued.
Step 940: marking the current position and keeping the scraper knife at the lifting height for a fixed time.
Step 950: returning to the marking position to continue the automatic leveling operation.
In combination with the above embodiments, in one embodiment of the present invention, as shown in fig. 10, there is provided another grader control method including the steps of:
step 1010: the method comprises the steps of detecting real-time torque of a transmission structure during automatic leveling operation of the land leveler according to a preset route, and simultaneously detecting the height value of an obstacle in a preset range in front of the land leveler.
Step 1020: and when the height value of the obstacle is greater than a first critical value, controlling the scraper knife to swing, and continuing to perform automatic leveling operation after the swing is finished.
Step 1030: when the real-time torque reaches the value obtained by subtracting the fixed torque value from the limit torque or the height value of the obstacle is larger than a second critical value, marking the current place, lifting the scraper knife, keeping the preset time value, falling back, and pushing the redundant soil pile out of the working area.
Step 1040: when the grader returns to the marked location, the automatic grading work is continued.
As shown in fig. 11, an embodiment of the present invention provides a motor grader including a grader body 1110 and a grader control apparatus 1120, the grader control apparatus 1120 being mounted on the grader body 1110 for use in any of the methods of motor grader control described in the embodiments above.
Various embodiments of the present invention have at least the following advantages and advances:
1. the detection of the grader at each gear, the achievement of the limit load is a limit torque value on the transmission structure, the limit torque value is used as the input of the controller and is well set as an equipment parameter, and the subsequent calculation is convenient to carry out.
2. During the intelligent leveling construction process of the land leveler, when the system detects that the real-time torque value on the transmission structure is close to the limit torque value corresponding to the gear, the soil piling is judged to be too high, and the shovel blade is controlled to be automatically lifted by a certain height.
3. The positioning of automatic lifting of the shovel blade caused by over-high soil piling of the shovel blade for the first time is automatically recorded, and when the grader is driven to be close to the positioning point by an operator, intelligent leveling is automatically carried out according to a target map.
The foregoing describes the general principles of the present application in conjunction with specific embodiments, however, it is noted that the advantages, effects, etc. mentioned in the present application are merely examples and are not limiting, and they should not be considered essential to the various embodiments of the present application. Furthermore, the foregoing disclosure of specific details is for the purpose of illustration and description and is not intended to be limiting, since the foregoing disclosure is not intended to be exhaustive or to limit the disclosure to the precise details disclosed.
The block diagrams of devices, apparatuses, systems referred to in this application are only given as illustrative examples and are not intended to require or imply that the connections, arrangements, configurations, etc. must be made in the manner shown in the block diagrams. These devices, apparatuses, devices, systems may be connected, arranged, configured in any manner, as will be appreciated by those skilled in the art. Words such as "including," "comprising," "having," and the like are open-ended words that mean "including, but not limited to," and are used interchangeably therewith. The words "or" and "as used herein mean, and are used interchangeably with, the word" and/or, "unless the context clearly dictates otherwise. The word "such as" is used herein to mean, and is used interchangeably with, the phrase "such as but not limited to".
It should also be noted that in the devices, apparatuses, and methods of the present application, the components or steps may be decomposed and/or recombined. These decompositions and/or recombinations should be considered as equivalents of the present application.
The previous description of the disclosed aspects is provided to enable any person skilled in the art to make or use the present application. Various modifications to these aspects will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other aspects without departing from the scope of the application. Thus, the present application is not intended to be limited to the aspects shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
The foregoing description has been presented for purposes of illustration and description. Furthermore, the description is not intended to limit embodiments of the application to the form disclosed herein. While a number of example aspects and embodiments have been discussed above, those of skill in the art will recognize certain variations, modifications, alterations, additions and sub-combinations thereof.
Claims (9)
1. A grader control method characterized by comprising:
determining a current driving gear of the grader;
determining a comparison result of the current torque value of the transmission mechanism of the grader and the maximum torque value of the transmission mechanism corresponding to the current running gear; and
when the comparison result meets a preset control condition, the height of the cutting blade of the land scraper is increased;
wherein, the land leveler control method further comprises the following steps:
acquiring a mound height value within a preset distance value in front of the land leveler on a preset route;
when the mound height value reaches a preset first critical value and is smaller than a second critical value, controlling the grader to stop moving;
controlling the scraper knife to swing for a preset number of times according to a preset angle value and restoring the original position after swinging; and
resuming movement of the grader on the preset route.
2. The grader control method according to claim 1, further comprising:
when the mound height value reaches a preset second critical value, the height of the scraper knife is increased; wherein the second critical value is greater than the first critical value.
3. The grader control method of any of claims 1-2, further comprising, after the step of increasing the height of the blade:
recording the position of the current land leveler for improving the height of the scraper blade;
generating a first route guide according to a preset moving-out area;
and controlling the land scraper to move and move the redundant heap of soil to the removal area through the scraper knife according to the first route guide.
4. The grader control method according to claim 3, further comprising:
generating a second route guide to a location where the grader is positioned that increases the height of the blade when the grader moves and moves the excess mound to the removal area via the blade;
controlling the grader to move to a position where the grader is located and the height of the scraper blade is improved according to the second route guide; and
and when the land scraper reaches the position of the land scraper where the land scraper is positioned for improving the height of the cutting blade, the height of the cutting blade is lowered.
5. The grader control method of claim 3, wherein controlling the grader to move and move the excess mound to the removal area with the blade according to the first route direction comprises:
removing the automatic movement of the grader and changing into a manual control mode; and
displaying the first route guide on the grader so that an operator manually controls the grader to move according to the first route guide and moves the excess mound to the removal area through the blade.
6. The grader control method according to any of claims 1-2, wherein the determining the comparison of the current torque value of the grader and the maximum torque value corresponding to the current drive gear comprises: determining a difference between the maximum torque value and the current torque value;
the comparison result meeting the preset control condition comprises the following steps: and the difference value between the maximum torque value and the current torque value is less than or equal to a preset torque difference value.
7. The grader control method according to claim 1 or 2, wherein the obtaining of the mound height value within a preset distance value in front of the grader on a preset route comprises:
shooting road condition images within a preset distance value in front of the land leveler through at least two camera devices; the at least two camera devices are arranged at different positions of the front end of the land scraper;
processing the road condition images shot by the two camera devices to obtain a three-dimensional road condition image; and
and determining the mound height value according to the stereo image.
8. A grader control apparatus for implementing the grader control method according to any one of claims 1 to 7, comprising:
the gear determining module is used for determining the current driving gear of the grader;
the comparison module is used for determining a comparison result of the current torque value of the transmission mechanism of the grader and the maximum torque value of the transmission mechanism corresponding to the current running gear; and
the control module is used for increasing the height of the scraper knife when the comparison result meets a preset control condition;
wherein, the control module includes:
the acquisition unit is used for acquiring a mound height value within a preset distance value in front of the land leveler on a preset route;
the parking unit is used for controlling the grader to stop moving when the mound height value reaches a preset first critical value and is smaller than a second critical value;
the swinging control unit is used for controlling the scraper knife to swing for a preset number of times according to a preset angle value and restoring the original position after swinging;
and the restoring unit is used for restoring the movement of the grader on the preset route.
9. A grader comprising a grader body and the grader control apparatus of claim 8 mounted on the grader body.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111167961.8A CN113846715B (en) | 2021-09-30 | 2021-09-30 | Land leveler control method and device and land leveler |
| PCT/CN2022/115841 WO2023051136A1 (en) | 2021-09-30 | 2022-08-30 | Land leveller control method and apparatus, and land leveller |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202111167961.8A CN113846715B (en) | 2021-09-30 | 2021-09-30 | Land leveler control method and device and land leveler |
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| CN113846715B true CN113846715B (en) | 2022-09-06 |
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| CN113846715B (en) * | 2021-09-30 | 2022-09-06 | 湖南三一华源机械有限公司 | Land leveler control method and device and land leveler |
| CN114575399B (en) * | 2022-03-11 | 2022-12-06 | 湖南三一华源机械有限公司 | Engineering machine and scraper knife control method and control system thereof |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| JPH0748857A (en) * | 1994-04-28 | 1995-02-21 | Komatsu Ltd | Travel slip control device for bulldozer |
| JP2007077871A (en) * | 2005-09-14 | 2007-03-29 | Toyota Motor Corp | Control device for vehicle |
| CN101358456B (en) * | 2008-08-29 | 2011-01-05 | 三一重工股份有限公司 | Land leveler control method, system and leveler |
| CN102635140B (en) * | 2012-04-28 | 2014-12-17 | 山推工程机械股份有限公司 | Control method and control system of working device, and engineering machinery for traction work |
| CN102635139A (en) * | 2012-04-28 | 2012-08-15 | 山推工程机械股份有限公司 | Control method and system for working device and engineering machine for traction operations |
| CN106032673B (en) * | 2015-03-20 | 2018-10-16 | 徐工集团工程机械股份有限公司 | A kind of perching knife load control system, land leveller and method |
| JP6666180B2 (en) * | 2016-03-23 | 2020-03-13 | 株式会社小松製作所 | Motor grader control method and motor grader |
| WO2020162428A1 (en) * | 2019-02-04 | 2020-08-13 | 住友重機械工業株式会社 | Excavator |
| CN113846715B (en) * | 2021-09-30 | 2022-09-06 | 湖南三一华源机械有限公司 | Land leveler control method and device and land leveler |
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