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

Claim 8:
9. The slope scraping control method of a grader according to claim 8, wherein the step of obtaining an actual slope angle of the blade based on the first inclination angle (θ1), the second inclination angle (θ2), the rotary angle (θ3), and the swing angle (θ4) by the controller comprises:
calculating a vector of the grader in a forward direction based on the first inclination angle (θ1) and the second inclination angle (θ2);
calculating a vector of the blade in a lower edge direction based on the first inclination angle (θ1), the second inclination angle (θ2), the rotary angle (θ3) and the swing angle (θ4);
calculating a normal vector of a combined plane formed by the vector in the forward direction and the vector in the lower edge direction; and
calculating an included angle between the normal vector of the combined plane and the left and right direction as the actual slope angle.