Patent ID: 11970835
Assignee: JIANGSU XCMG CONSTRUCTION MACHINERY RESEARCH INSTITUTE LTD.
Field: Civil engineering (Other fields)
Classification: CPC E | IPC E

Claim 13:
14. A slope scraping control method of a grader, comprising the steps of:
detecting a first inclination angle (θ1) in a front and rear direction of the grader relative to a horizontal plane and a second inclination angle (θ2) in a left and right direction of the grader relative to a horizontal plane by a first angle detecting member;
detecting attitude information of a blade relative to a front frame by a blade detecting member;
obtaining an actual slope angle of the blade based on the first inclination angle (θ1) and the attitude information of the blade by a controller; and
causing action of the actuator by the controller so as to adjust an attitude of the blade to an target slope angle when the actual slope angle is inconsistent with the preset target slope angle,
wherein the step of causing action of the actuator when the actual slope angle is inconsistent with the preset target slope angle comprises:
determining a left and right direction of the grader to perform slope scraping operation;
determining a size relationship between the actual slope angle and the preset target slope angle;
determining an action direction of the actuator according to the left and right slope scraping direction and the size relationship between the actual slope angle and the preset target slope angle, in the case that the actual slope angle is inconsistent with the preset target slope angle,
when the grader performs a left slope scraping operation, and the actual slope angle is less than the preset target slope angle, a sequence of priorities in adjusting the actuator comprises: a first priority, comprising a right linear drive member first extended and a left linear drive member then shortened; a second priority, comprising a diagonal linear drive member shortened; and a third priority, comprising a rotary drive member driving a rotary ring to rotate clockwise; and/or
when the grader performs a left slope scraping operation and the actual slope angle is greater than the target slope angle, a sequence of priorities in adjusting the actuator comprises: a first priority, comprising a right linear drive member first shortened and a left linear drive member then extended; a second priority, comprising a diagonal linear drive member extended; and a third priority, comprising a rotary drive member driving a rotary ring to rotate counterclockwise; and/or
when the grader performs a right slope scraping operation and the actual slope angle is less than the target slope angle, a sequence of priorities in adjusting the actuator comprises: a first priority, comprising a left linear drive member first extended and a right linear drive member then shortened; a second priority, comprising a diagonal linear drive member extended; and a third priority, comprising a rotary drive member driving a rotary ring to rotate counterclockwise; and/or
when the grader performs a right slope scraping operation and the actual slope angle is greater than the target slope angle, a sequence of priorities in adjusting the actuator comprises: a first priority, comprising a left linear drive member first shortened and a right linear drive member then extended; a second priority, comprising a diagonal linear drive member shortened; and a third priority, comprising a rotary drive member driving a rotary ring to rotate clockwise.