Grader and slope scraping control method and device thereof

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 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 comprises:
• obtaining a rotary angle (θ3) of the blade relative to a front frame detected by a second angle detecting member;
• obtaining a swing angle (θ4) of the blade relative to the front frame detected by a third angle detecting member;
• 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
• wherein the step of causing action of the actuator when the actual slope angle is inconsistent with the preset target slope angle comprises:
• causing the actuator to make an adjustment according to a first priority when the actual slope angle is inconsistent with the preset target slope angle, wherein the first priority comprises at least one action of a left linear drive member and a right linear drive member;
• making an adjustment according to a second priority when the actuator reaches a limit position through actions in the first priority and has not been adjusted to the preset target slope angle, wherein the second priority comprises an action of a diagonal linear drive member;
• making an adjustment according to a third priority when the actuator reaches a limit position through actions in the second priority and has not been adjusted to the preset target slope angle wherein the third priority comprises an action of the rotary drive member to drive rotation of the rotary ring.

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.