Method of controlling motor grader and motor grader

9:

• A method of controlling a motor grader, the motor grader including a blade between a front wheel and a rear wheel, the blade being attached to a swing circle which adjusts a blade angle, the method comprising:
• obtaining current topography in front of the motor grader;
• obtaining an amount of soil on a front surface of the blade;
• and
• adjusting the blade angle of the blade to an angle in accordance with the current topography and the amount of soil by revolving the swing circle.

11:

• A motor grader comprising:
• a swing circle configured to adjust a blade angle;
• a front wheel;
• a rear wheel;
• a blade attached to the swing circle, the blade being provided between the front wheel and the rear wheel;
• a sensor configured to obtain current topography in front of the motor grader;
• and
• a controller configured to control revolution of the swing circle,
• the controller being configured to adjust the blade angle of the blade to an angle in accordance with the current topography by having the swing circle revolve.

12:

• The motor grader according to claim 11, wherein
• the controller is configured to
• determine whether the obtained current topography includes a recess, and
• when the current topography is determined as including the recess, have the swing circle revolve such that the blade angle is larger than the blade angle set by an operator of the motor grader.

13:

• The motor grader according to claim 12, wherein
• the controller is configured to
• further determine a size of the recess,
• when the recess has a first size, have the swing circle revolve such that the blade angle is set to a first angle larger than the blade angle set by the operator, and
• when the recess has a second size larger than the first size, have the swing circle revolve such that the blade angle is set to a second angle larger than the first angle.

15:

• The motor grader according to claim 11, wherein
• the controller is configured to
• determine whether the obtained current topography includes a projection, and
• when the current topography is determined as including the projection, have the swing circle revolve such that the blade angle is smaller than the blade angle set by an operator of the motor grader.

16:

• The motor grader according to claim 15, wherein
• the controller is further configured to
• determine a size of the projection,
• when the projection has a first size, have the swing circle revolve such that the blade angle is set to a first angle smaller than the blade angle set by the operator, and
• when the projection has a second size larger than the first size, have the swing circle revolve such that the blade angle is set to a second angle smaller than the first angle.

19:

• A motor grader comprising:
• a swing circle configured to adjust a blade angle;
• a front wheel;
• a rear wheel;
• a blade attached to the swing circle, the blade being provided between the front wheel and the rear wheel;
• a sensor configured to obtain current topography in front of the motor grader;
• an image pick-up apparatus configured to obtain an amount of soil on a front surface of the blade;
• and
• a controller configured to control revolution of the swing circle,
• the controller being configured to adjust the blade angle of the blade to an angle in accordance with the current topography and the amount of soil by having the swing circle revolve.

20:

• The motor grader according to claim 19, wherein
• the controller is configured to
• determine a size of a recess included in the obtained current topography, and
• when the size of the recess is larger than the amount of soil, have the swing circle revolve such that the blade angle is larger than a current blade angle.