WO2023051136A1

WO2023051136A1 - Land leveller control method and apparatus, and land leveller

Info

Publication number: WO2023051136A1
Application number: PCT/CN2022/115841
Authority: WO
Inventors: 赵盈盈; 胡香平; 刘昭
Original assignee: 湖南三一华源机械有限公司
Priority date: 2021-09-30
Filing date: 2022-08-30
Publication date: 2023-04-06
Also published as: CN113846715B; CN113846715A

Abstract

Disclosed in the present application are a land leveller control method and apparatus, and a land leveller. The land leveller control method comprises: determining the current driving gear of a land leveller; determining a comparison result of the current torque value of the land leveller and a maximum torque value corresponding to the current driving gear; and when the comparison result meets a preset control condition, increasing the height of a scraper knife to a preset height value, wherein the land leveller automatically moves in a working area according to a preset route, so as to perform a leveling operation, and the preset control condition represents that there is an unnecessary pile of soil in the preset route. By means of the solution provided in the present application, the efficiency of a land leveller completing a leveling operation can be improved.

Description

Motor grader control method, device and motor grader

This application claims the priority of the Chinese patent application with the application number 202111167961.8 filed on September 30, 2021, and the title of the invention is "Moderator Control Method, Device, and Motor Grader", which is incorporated herein by reference in its entirety.

technical field

The present application relates to the technical field of construction machinery, and relates to a control method and device for a grader and a grader.

Background technique

In the automatic leveling operation project of the grader, if there is an obstacle on the operation route, the blade of the grader cannot automatically adjust the height in advance or only adjust the height after the blade encounters an obstacle, and cannot advance according to the working conditions Making a judgment may cause the motor grader to be too resistant to move forward, resulting in slippage on the spot, and the tire slipping or the blade hitting an obstacle will cause damage to the grader itself, causing equipment loss and affecting the efficiency of leveling operations.

application content

The present application provides a method for controlling a grader, including: determining the current driving gear of the grader; determining a comparison result between the current torque value of the transmission mechanism of the grader and the maximum torque value of the transmission mechanism corresponding to the current driving gear; And when the comparison result satisfies the preset control condition, increase the blade height of the motor grader.

The present application provides a motor grader control device, including: a gear determination module, used to determine the current driving gear of the grader; a comparison module, used to determine the current torque value of the transmission mechanism of the grader and the current driving gear The corresponding comparison result of the maximum torque value of the transmission mechanism; and a control module, used to increase the height of the blade when the comparison result meets the preset control condition.

The present application provides a grader, including a grader body and a grader control device, the grader control device is installed on the grader body, and is used to execute any one of the above-mentioned motor grader control methods.

The present application provides an electronic device, including a memory, a processor, and a computer program stored in the memory and operable on the processor. When the processor executes the program, any one of the motor grader control methods above is realized.

The present application provides a non-transitory computer-readable storage medium, on which a computer program is stored, wherein, when the computer program is executed by a processor, any one of the above motor grader control methods is realized.

The beneficial effects of this application are reflected in:

This application predicts whether there is redundant soil in the preset route by determining the comparison result between the current torque value and the maximum torque value, and increases the height of the blade to the preset height value to reduce the resistance of the redundant soil to the grader , Improve the efficiency of grader leveling operations.

Description of drawings

Fig. 1 is a schematic flowchart of a method for controlling a motor grader in an embodiment.

Fig. 2 is a schematic flowchart of a method for controlling a motor grader in an embodiment.

Fig. 3 is a schematic flowchart of a method for controlling a motor grader in an embodiment.

Fig. 4 is a schematic flowchart of a method for controlling a motor grader in an embodiment.

Fig. 5 is a schematic flow chart of a soil mound cleaning method in one embodiment.

Fig. 6 is a schematic flowchart of a method for determining the height of a pile of soil in an embodiment.

Fig. 7 is a schematic structural diagram of a motor grader control device in an embodiment.

Fig. 8 is a schematic structural diagram of the motor grader control system in one embodiment.

Fig. 9 is a schematic flow chart of a motor grader control method in an embodiment.

Fig. 10 is a schematic flowchart of a motor grader control method in an embodiment.

Fig. 11 is a schematic structural view of a motor grader in one embodiment.

Detailed ways

In order to more clearly understand the above purpose, features and advantages of the present application, the present application will be described in detail below in conjunction with the accompanying drawings and specific embodiments. It should be noted that, in the case of no conflict, the embodiments of the present application and the features in the embodiments can be combined with each other.

In the following description, many specific details are set forth in order to fully understand the application, but the application can also be implemented in other ways than described here, therefore, the protection scope of the application is not limited by the specific implementation disclosed below. Example limitations.

As shown in FIG. 1 , an embodiment of the present application provides a method for controlling a motor grader, which includes the following steps:

Step 110: Determine the current driving gear of the motor grader.

During the driving process of the motor grader, it is necessary to maintain the matching of gear position and speed. The motor grader operates at its best when the speed and gear correspond. If the speed does not match the gear position, high speed and low gear, low speed and high gear, etc., will not only increase fuel consumption, but also cause damage to the engine and transmission, causing irreversible damage to the grader, so the grader must be maintained during driving. Gears and speeds are matched. Thus, the current driving gear of the grader can be determined from the travel speed of the grader. Alternatively, the current driving gear of the grader gearbox can be directly detected by installing a gear detection module on the grader.

Step 120: Determine the comparison result between the current torque value of the transmission mechanism of the motor grader and the maximum torque value of the transmission mechanism corresponding to the current driving gear.

Each gear of the motor grader corresponds to a different driving speed. In the low gear, the torque is larger, but the motor grader travels at a slower speed. In the high gear, the torque is smaller, but the motor grader travels faster. Each gear has the limit of the torque that each gear can bear, that is, the maximum torque value. When the grader is running in a certain gear, the greater the torque, the greater the resistance the grader receives, that is, a larger torque is required to pull the grader to move. By detecting the real-time torque value on the transmission structure of the grader, the current torque value of the grader can be obtained, and the comparison result between the current torque value and the maximum torque value of the current driving gear can be determined. The comparison result can represent the grader The resistance received while moving, that is, whether obstacles prevent the normal movement of the motor grader.

Step 130: When the comparison result satisfies the preset control condition, increase the blade height of the motor grader.

When the comparison result satisfies the preset control conditions, it means that there is excess piled soil in the preset route, which will cause the grader to fail to move forward normally, resulting in slippage on the spot, resulting in wear and tear on the grader. At this time, the blade of the grader is automatically raised to the preset height value, the contact area between the plane of the blade and the piled soil is reduced, and the resistance caused by excess piled soil to the movement of the grader is reduced, so that the grader can continue Carry out leveling work normally according to the preset route.

At present, during the leveling operation of the grader, a preset route is set in the working area in advance, so that the grader can automatically complete the leveling work in the working area according to the preset route. If there is excess piled soil on the preset route, although the motor grader is in the automatic driving state, the blade cannot predict the piled soil ahead. Only when the blade comes into contact with the piled soil can it sense Excessive pile of soil, the height of the blade is controlled. Or, during the automatic driving of the motor grader, the operator still needs to observe the road conditions in the cab, and manually raise the height of the blade when finding excess soil on the road ahead. This method is very dependent on the operator Technical level and experience, once there is distraction or untimely response, there will also be situations where excess soil will affect the normal work of the grader. In the embodiment of the present application, by determining the comparison result between the current torque value and the maximum torque value, it is predicted whether there is redundant soil accumulation in the preset route, and the height of the blade is increased to the preset height value to reduce the redundant soil accumulation Resistance to graders.

As shown in Figure 2, in an embodiment of the present application, after step 130, the method may further include:

Step 210 : Record the blade height raising position where the grader is currently located.

Step 220: Generate a first route guide according to the preset removal area; according to the first route guide, control the motor grader to move and use the blade to move excess piled soil to the removal area.

If the excess soil still exists on the preset route, it will still affect the leveling work. Outside the working area, the removal area where excess soil is piled up is preset. When the shovel blade of the control grader is raised to the preset height value, the grader is controlled to move according to the first route guidance, and the blade after the raised height is driven to pile up the excess soil. The soil is pushed out of the working area to the preset removal area, which not only ensures that the excess soil material is pushed out of the work area without affecting the normal leveling operation, but also facilitates the centralized processing of the staff by pushing the excess soil material to a fixed area.

As shown in Figure 3, in an embodiment of the present application, after step 130, the method may further include the following steps:

Step 310 : As the grader moves and the blade moves excess soil to the removal area, generate a second route guidance to the location where the grader is at raised blade height.

Step 320: Control the motor grader to move to the position where the motor grader is located and where the height of the blade is raised according to the second route guidance.

Step 330 : When the grader reaches the raised blade height position where the grader is located, lower the height of the blade.

When the grader moves to the move-out area, it means the grader has pushed the excess material into the move-out area. After that, the grader needs to return to the work area again to continue the previous leveling work. Thus, a second route guidance is generated from the removal area back to the suspended work position where the grading work was previously interrupted. Control the motor grader to move to the suspending operation position according to the second route guidance. When the grader returns to the paused position, it continues to move automatically according to the preset route to continue the leveling operation from the previously interrupted position.

The first route guidance and the second route guidance in the above embodiments can be implemented by a positioning module. The record of the position of the suspended operation can also be recorded by the mark on the virtual map of the positioning module.

In an embodiment of the present application, as shown in FIG. 4, the motor grader control method may include the following steps:

Step 410: Obtain the height of the soil pile within the preset distance in front of the grader on the preset route.

In addition to indirectly determining whether there is redundant soil within a certain range in front of the preset route through the comparison of the current torque value and the maximum torque value, it is also possible to directly obtain the height of the soil pile within a certain range on the preset route to identify the shovel The height of the piled soil in front of the knife contact surface, so as to determine whether the piled soil within a certain range in front will affect the operation of the grader.

Step 420: When the pile height reaches the preset first critical value and is smaller than the second critical value, control the motor grader to stop moving.

Step 430: Control the shovel to swing for a preset number of times according to a preset angle value and return to the original position after swinging, so as to resume the movement of the grader on the preset route.

If it is detected that the height of the pile of soil is greater than the first critical value and smaller than the second critical value, it means that there is a certain amount of piled soil ahead, but the amount of piled soil is not very large, and there is no need to spend time pushing the piled soil to the removal area. At this time, the movement of the grader is first suspended, and the blade is controlled to swing for a preset number of times in situ according to a preset angle value, and the pile of soil is moved away from the preset route through the swing.

Since the grader only moves the pile of soil on the preset route by swinging the blade on the spot, and does not go to the removal area outside the working area, the automatic leveling operation of the grader is only in a suspended state, not an interrupted state. At this time, the movement of the grader on the preset route can be resumed so that the grader can continue to complete the leveling operation.

In an embodiment of the present application, the method may further include: when the pile height reaches a preset second critical value, increasing the height of the blade; wherein the second critical value is greater than the first critical value.

When the pile height reaches the second critical value, since the second critical value is greater than the first critical value, it means that the amount of piled soil ahead has reached a level that will affect the movement of the grader. These excess piles of soil will cause the grader to fail to move forward normally, resulting in slippage on the spot and causing damage to the grader. At this time, the shovel of the grader is automatically raised to a preset height, reducing the contact area between the plane of the shovel and the piled soil, and reducing the resistance caused by excess piled soil to the movement of the grader. Therefore, the motor grader can continue to normally perform leveling operations according to the preset route.

In the above embodiment, the acquisition of the pile height value within the preset distance 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 satisfies the preset control condition or the pile height reaches the second critical value, the operation of controlling the height of the blade to the preset height value will be triggered, that is, as long as any of the above two conditions are met, it will be executed The operation of raising the height of the blade.

Fig. 5 provides a kind of flow chart of soil mound cleaning method, and in an embodiment of the present application, step 220 may comprise the following steps:

Step 221: Release the automatic movement of the motor grader and change to manual control mode.

Step 222: Displaying the first route guide on the grader, so that the operator manually controls the movement of the grader according to the first route guide and moves the excess piled soil to the removal area by the blade.

When it is necessary to push the excess soil to the removal area, the automatic movement of the grader is released and the operator performs manual operation instead. By displaying the first route guide on the built-in display screen of the motor grader, the operator is guided to operate the motor grader to move to the removal area according to the first route guide. In addition, after the excess soil is pushed to the removal area, a second route guide can also be displayed on the display screen to guide the operator to operate the grader back to the suspended operation position according to the second route guide. When it is detected that the grader is near the suspended operation position, switch the manual control mode of the grader back to automatic movement, and resume the leveling operation according to the preset route.

In an embodiment of the present application, step 120 may include: determining a difference between the current torque value and the maximum torque value. The comparison result meeting the preset control condition includes: the difference between the maximum torque value and the current torque value is less than or equal to the preset torque difference.

If the current torque value has reached the maximum torque value, it means that the shovel blade has removed the excess soil and caused the forward resistance of the grader to be too large, which makes the torque increase. Therefore, in order to raise the blade in advance before the blade touches the maximum torque value, it is necessary to set a torque difference value. When the difference between the current torque value and the maximum torque value is less than the torque difference value, it means that the blade is about to touch When the excess soil comes into contact, the height of the shovel is raised in advance to reduce the resistance caused by the excess soil to the shovel.

Figure 6 provides a method for determining the height of the pile of soil. In an embodiment of the present application, step 410 may include the following steps:

Step 411: Take at least two camera devices to capture road condition images within a preset distance in front of the grader; at least two camera devices are installed at different positions on the front end of the grader.

The height of obstacles in front of the blade can be judged by means of image recognition. Multiple camera devices are hoisted at different positions in front of the cab of the grader to build an image recognition system for the height of the soil piled by the blade.

Step 412: Process the road condition images captured by at least two camera devices to obtain a stereoscopic road condition image.

Step 413: Determine the height of the soil pile according to the stereo image.

Since each camera has a different position and a shooting angle, the three-dimensional road image can be obtained by processing the road condition images acquired by different camera devices. Each camera device is responsible for image acquisition at one angle. The images collected by multiple camera devices are spliced and fused through algorithms, and combined with the ratio of the stereo image, the height value of certain positions in the stereo image can be determined. The color of the soil pile will be obviously darker than the environment color, therefore, it can be judged which parts in the stereoscopic image belong to the soil pile obstacle by the color, and the height of the soil pile obstacle can be determined.

To sum up, the solution provided by the embodiment of the present application can provide two control solutions for the motor grader. The first solution is to only detect the torque value and control the action of the blade according to the torque value. Option 1 includes the following steps:

Step 1: Obtain the current driving gear of the motor grader;

Step 2: Obtain the limit torque value Ti of the transmission structure corresponding to the current driving gear;

Step 3: Get the torque difference;

Step 4: Obtain the real-time torque Tn of the transmission structure and the real-time position information on the target map. When the real-time torque reaches the limit torque minus the torque difference, output the blade lifting signal.

Step 5: Mark the position X on the map where the blade lift signal is output for the first time.

Step 6: The shovel lift cylinder receives the shovel lift signal, stops automatically controlling the attitude and lifting of the shovel according to the preset route, controls the shovel to lift to a fixed height and keeps it for 3-5 seconds, and then falls; the motor grader continues to move forward Drive forward to push the excess soil to the removal area; if the real-time torque continues to reach the limit torque minus the torque difference, repeat this step until the excess soil is pushed out of the range that does not affect the construction.

Step 7: After the excess soil material is cleaned up, return to the vicinity of point X according to the map navigation. If the grader is detected to be near the position where the blade lift signal is output for the first time, resume the automatic control of the blade according to the target map.

The action of the blade is controlled by detecting the two determination conditions of the torque value of the transmission structure and the height of the obstacle. The judgment of the height of the obstacle in front of the blade mentioned in this application can use image recognition to identify the height of the blade in front of the contact surface. Height of soil pile, when the height of pile of soil reaches the preset height, control the swing of the blade to push away the pile of soil. Option two includes the following steps:

Step 1: By hoisting the camera in front of the motor grader cab, build an image recognition system for the height of the soil piled by the blade;

Step 2: Obtain the first critical value Hi1, the second critical value Hi2, and the limit torque value Ti of the transmission structure corresponding to the pile height of the shovel action set for the current driving gear;

Step 3: Obtain the actual value Hn of the soil mound height of the blade, obtain the real-time torque Tn of the transmission structure, and the real-time position information on the target map;

Step 4: If the image recognition system detects that the actual value Hn of the soil pile height of the blade is greater than the first critical value Hi1 of the soil pile height of the blade action, then output the blade swing signal to push away the surrounding excess soil pile. After controlling the shovel to swing at a certain angle for a certain number of times, it will return to the neutral position and continue to perform leveling operations according to the preset route;

Step 5: When the real-time torque is greater than the limit torque minus the torque difference or the image recognition system detects that the actual value Hn of the soil pile height of the blade is greater than the second critical value Hi2 of the soil pile height of the blade action, the controller Output blade lift signal, and stop automatic control of blade attitude and lift according to the target map;

Step 6: Mark the positioning X where the blade lift signal is output for the first time.

Step 7: The shovel lift cylinder receives the shovel lift signal, stops automatically controlling the attitude and lifting of the shovel according to the target map, controls the shovel to lift to a fixed height and keeps it for 3-5 seconds, and then falls; the grader continues to move forward Driving; if the real-time torque continues to reach the limit torque minus the fixed torque value, repeat this step until the excess soil material is pushed out of the range that does not affect the construction.

Step 8: After the excess soil material is cleaned, return to the vicinity of point X. If it is detected that the grader is near the position where the blade lift signal is output for the first time, the leveling operation according to the preset route will be resumed.

As shown in Figure 7, an embodiment of the present application provides a control device for a grader, which is installed on the grader, including:

Gear determination module 710, configured to determine the current driving gear of the motor grader.

The comparison module 720 is used to determine the comparison result between the current torque value of the transmission mechanism of the motor grader and the maximum torque value of the transmission mechanism corresponding to the current driving gear.

The control module 730 is configured to increase the height of the blade when the comparison result meets the preset control condition.

In an embodiment of the present application, as shown in FIG. 7 , after the control module 730 executes raising the height of the blade to a preset height value, it is further configured to: generate a first route guide according to a preset removal area;

According to the first route guidance, the motor grader is controlled to move and the excess soil is moved to the removal area through the blade; wherein, the removal area is outside the working area.

In an embodiment of the present application, as shown in FIG. 7 , the control module 730 is configured to record the current suspension position of the grader after raising the height of the blade to a preset height value. The control module 730 is also used to execute: when the grader moves to the removal area, generate a second route guidance from the removal area to the suspended operation position; control the grader to move to the suspended operation position according to the second route guidance; when the grader reaches the suspended operation position , resume the automatic movement of the motor grader according to the preset route.

In an embodiment of the present application, as shown in FIG. 7, the control module 730 includes:

The acquiring unit 731 is configured to acquire the height of the piled soil within the preset distance in front of the grader on the preset route.

The parking unit 732 is configured to control the motor grader to stop moving when the pile height reaches the preset first critical value and is smaller than the second critical value.

The swing control unit 733 is used to control the blade to swing for a preset number of times according to a preset angle value and return to the original position after swinging.

A recovery unit 734, configured to recover the movement of the motor grader on the preset route.

In an embodiment of the present application, as shown in FIG. 7 , the control module 730 is also used to execute: when the pile height reaches a preset second critical value, increase the height of the blade to a preset height; wherein, The second critical value is greater than the first critical value.

In an embodiment of the present application, as shown in FIG. 7 , when the control module 730 controls the movement of the grader according to the first route guidance and moves the excess soil to the removal area through the blade, it executes: release the automatic function of the grader; moving and changing to a manual control mode; and displaying a first route guide on the grader, so that the operator manually controls the grader to move according to the first route guide and moves the excess pile of soil to the removal area through the blade.

In an embodiment of the present application, as shown in FIG. 7 , the comparison module 720 is configured to perform: determine the difference between the current torque value and the maximum torque value.

The comparison result meeting the preset control condition includes: the difference between the current torque value and the maximum torque value is smaller than the preset torque difference.

In an embodiment of the present application, as shown in FIG. 7 , the acquisition unit 731 is configured to: use at least two camera devices to capture road condition images within a preset distance in front of the grader; at least two camera devices are installed at the front end of the grader different positions; process the road condition images captured by the two camera devices to obtain a three-dimensional road condition image; determine the height of the soil pile according to the three-dimensional image.

In an embodiment of the present application, the control module 730 is configured to: increase the height of the shovel blade when the pile height reaches a preset second critical value; wherein the second critical value is greater than the first critical value.

As shown in Figure 8, a grader control system, in an embodiment of the present application, the grader control device can be the control module 810 on the grader, through the gear position detection module 820, limit torque selection module 830, transmission structure The torque detection module 840 and the motor grader position detection module 850 complete the processing of the control logic. The automatic leveling operation is realized through the intelligent leveling module 860 . The height value of the blade is controlled by the blade control module 870 , and the interrupt position of the leveling operation is marked by the position marking module 880 .

In combination with the above-mentioned embodiments, in an embodiment of the present application, as shown in FIG. 9 , a method for controlling a motor grader is provided, and the method includes the following steps:

Step 910: Detect the real-time torque of the transmission structure during the automatic leveling operation of the motor grader according to the preset route.

Step 920: Obtain the limit torque of the transmission structure corresponding to the current gear.

Step 930: When the real-time torque reaches the limit torque minus the fixed value of torque, output a blade lifting signal.

In addition, if the real-time torque does not reach the limit torque minus the fixed torque value, the automatic leveling operation will continue.

STEP 940 : Mark the current position and hold the blade at the raised height for a fixed time.

Step 950: Go back to the marked position and continue the automatic leveling operation.

In combination with the above-mentioned embodiments, in an embodiment of the present application, as shown in FIG. 10 , another method for controlling a motor grader is provided, and the method includes the following steps:

Step 1010: Detect the real-time torque of the transmission structure during the automatic leveling operation of the grader according to the preset route, and simultaneously detect the obstacle height value within the preset range in front of the grader.

Step 1020: When the obstacle height value is greater than the first critical value, control the swing of the blade, and continue the automatic leveling operation after the swing ends.

Step 1030: When the real-time torque reaches the limit torque minus the torque fixed value or the obstacle height value is greater than the second critical value, mark the current location, raise the blade and keep it for a preset time before falling back, and push the excess pile of soil out of the work area.

Step 1040: When the grader returns to the marked location, continue the automatic leveling operation.

As shown in Figure 11, an embodiment of the present application provides a grader, including a grader body 1110 and a grader control device 1120, the grader control device 1120 is installed on the grader body 1110, and is used for any A motor grader control method.

Each embodiment of the present application has at least the following advantages and progress:

1. Detect the motor grader in each gear position. When the limit load is reached, it is the limit torque value on the transmission structure. It is used as the input of the controller and set as the equipment parameter, which is convenient for subsequent calculation.

2. During the intelligent leveling construction process of the grader, 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, it determines that the pile of soil is too high, and controls the blade to automatically lift to a certain height.

3. Automatically record the location where the shovel blade is automatically lifted due to the first time the soil pile is too high, and automatically resume intelligent leveling according to the target map when the operator drives the grader to the vicinity of the positioning point.

In this application, it should be understood that any process or method descriptions in flowcharts or otherwise described herein can be understood as representing an executable process including one or more steps for realizing a specific logical function or process. modules, segments or portions of code of instructions, and the scope of the preferred embodiments of the present application includes additional implementations, which may not be in the order shown or discussed, including in a substantially simultaneous manner or in reverse depending on the functions involved Functions are performed in a sequence, which should be understood by those skilled in the art to which the embodiments of the present application belong.

The logic and/or steps represented in the flowcharts or otherwise described herein, for example, can be considered as a sequenced listing of executable instructions for implementing logical functions, can be embodied in any computer-readable medium, For use with instruction execution systems, devices, or devices (such as computer-based systems, systems including processors, or other systems that can fetch instructions from instruction execution systems, devices, or devices and execute instructions), or in conjunction with these instruction execution systems, devices or equipment for use. For the purposes of this specification, a "computer-readable medium" may be any device that can contain, store, communicate, propagate or transmit a program for use in or in conjunction with an instruction execution system, device or device. More specific examples (non-exhaustive list) of computer-readable media include the following: electrical connection with one or more wires (electronic device), portable computer disk case (magnetic device), random access memory (RAM), Read Only Memory (ROM), Erasable and Editable Read Only Memory (EPROM or Flash Memory), Fiber Optic Devices, and Portable Compact Disc Read Only Memory (CDROM). In addition, the computer-readable medium may even be paper or other suitable medium on which the program may be printed, as it may be possible, for example, by optically scanning the paper or other medium, followed by editing, interpretation or other suitable means if necessary. Processing to obtain programs electronically and store them in computer memory.

It should be understood that each part of the present application may be realized by hardware, software, firmware or a combination thereof. In the embodiments described above, various steps or methods may be implemented by software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, it can be implemented by any one or combination of the following techniques known in the art: Discrete logic circuits, ASICs with suitable combinational logic gates, programmable gate arrays (PGAs), field programmable gate arrays (FPGAs), etc. Those of ordinary skill in the art can understand that all or part of the steps carried by the methods of the above embodiments can be completed by instructing related hardware through a program, and the program can be stored in a computer-readable storage medium. When the program is executed , including one or a combination of the steps of the method embodiment. In addition, each functional unit in each embodiment of the present application may be integrated into one processing module, each unit may exist separately physically, or two or more units may be integrated into one module. The above-mentioned integrated modules can be implemented in the form of hardware or in the form of software function modules. If the integrated modules are realized in the form of software function modules and sold or used as independent products, they can also be stored in a computer-readable storage medium. The storage medium mentioned above may be a read-only memory, a magnetic disk or an optical disk, and the like.

The above are only preferred embodiments of the present application, and are not intended to limit the present application. For those skilled in the art, there may be various modifications and changes in the present application. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of this application shall be included within the protection scope of this application.

Claims

A control method for a motor grader, comprising:

Determine the current driving gear of the motor grader;

determining a comparison result between the current torque value of the transmission mechanism of the motor grader and the maximum torque value of the transmission mechanism corresponding to the current driving gear; and

When the comparison result satisfies the preset control condition, the height of the blade of the motor grader is increased.
The motor grader control method according to claim 1, further comprising:

Obtain the height of the soil pile within the preset distance in front of the grader on the preset route;

When the pile height reaches a preset first critical value and is smaller than a second critical value, controlling the motor grader to stop moving;

controlling the shovel to perform a preset number of swings according to a preset angle value and restore the original position after swinging; and

Resuming movement of the motor grader on the preset route.
The motor grader control method according to claim 2, further comprising:

When the pile height reaches a preset second critical value, the height of the blade is increased; wherein, the second critical value is greater than the first critical value.
The motor grader control method according to any one of claims 1-3, wherein, after raising the height of the blade of the motor grader, it includes:

Record the location of the raised blade height where the motor grader is currently located;

Generate a first route guide according to a preset moving-out area;

According to the first route guidance, the motor grader is controlled to move and the excess soil is moved to the removal area through the blade.
The motor grader control method according to claim 4, further comprising:

generating a second routing to a location where the grader is at an elevated blade height as the grader moves and moves the excess mound to the removal zone with the blade;

controlling the motor grader to move to a position where the motor grader is located to raise the height of the blade according to the second route guide; and

When the motor grader reaches the position where the motor grader is located and where the height of the blade is raised, the height of the blade is lowered.
The method for controlling a grader according to claim 4, wherein, according to the first route guidance, controlling the grader to move and move the excess pile of soil to the removal area through the blade includes :

deactivate automatic movement of said motor grader and change to manual control mode; and

The first route guide is displayed on the grader, so that the operator manually controls the movement of the grader according to the first route guide and moves the excess soil to the removal area through the blade.
The motor grader control method according to any one of claims 1-3, wherein the determining the comparison result between the current torque value of the motor grader and the maximum torque value corresponding to the current driving gear comprises: determining the difference between the maximum torque value and the current torque value;

The comparison result meeting the preset control condition includes: the difference between the maximum torque value and the current torque value is less than or equal to a preset torque difference.
The method for controlling a grader according to claim 2 or 3, wherein said obtaining the height of the piled soil within the preset distance in front of the grader on the preset route comprises:

At least two camera devices are used to capture road condition images within a preset distance in front of the grader; the at least two camera devices are installed at different positions at the front end of the grader;

processing the road condition images captured by the two camera devices to obtain a stereoscopic road condition image; and

The height value of the pile of soil is determined according to the stereo image.
A motor grader control device for realizing the motor grader control method according to any one of claims 1-8, comprising:

a gear determination module, configured to determine the current driving gear of the motor grader;

A comparison module, configured to determine a comparison result between the current torque value of the transmission mechanism of the motor grader and the maximum torque value of the transmission mechanism corresponding to the current driving gear; and

A control module, configured to increase the height of the shovel when the comparison result satisfies a preset control condition.
A grader, comprising a grader body and the grader control device according to claim 9, the grader control device being installed on the grader body.
An electronic device, comprising a memory, a processor, and a computer program stored in the memory and operable on the processor. When the processor executes the program, the motor grader control method according to any one of claims 1 to 8 is realized.
A non-transitory computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, the motor grader control method according to any one of claims 1 to 8 is realized.