阅读说明：本技术 平地机铲刀刮坡角的确定方法、装置、系统以及存储介质 (Method, device and system for determining slope scraping angle of cutting blade of land scraper and storage medium ) 是由 刘浩 侯志强 刘兵 卜令臣 于 2020-04-26 设计创作，主要内容包括：本公开提供了一种平地机铲刀刮坡角的确定方法、装置、平地机铲刀控制系统以及存储介质,涉及工程机械技术领域,其中的方法包括：基于平地机的运行方向和铲刀的移动方向建立基准坐标系；获取姿态检测装置采集的、与铲刀运行相对应的空间姿态角信息；获取铲刀绕基准坐标系的各坐标轴的旋转动作顺序；根据空间姿态角信息和旋转动作顺序,使用预设的刮坡角计算规则计算与铲刀相对应的刮坡角。本公开的方法、装置、系统以及存储介质,通过检测铲刀在空间状态下的姿态角,根据姿态角与旋转动作顺序进行刮坡角的计算,可以实现平地机铲刀刮坡角的精准确定,降低对于操作者经验的依赖,提高作业效率。(The invention provides a method and a device for determining a slope scraping angle of a grader blade, a grader blade control system and a storage medium, and relates to the technical field of engineering machinery, wherein the method comprises the following steps: establishing a reference coordinate system based on the running direction of the land leveler and the moving direction of the scraper knife; acquiring spatial attitude angle information which is acquired by an attitude detection device and corresponds to the operation of a scraper knife; acquiring a rotation action sequence of the scraper knife around each coordinate axis of the reference coordinate system; and calculating the slope scraping angle corresponding to the scraper knife by using a preset slope scraping angle calculation rule according to the spatial attitude angle information and the rotation action sequence. According to the method, the device, the system and the storage medium, the slope scraping angle of the cutting blade of the grader can be accurately determined by detecting the attitude angle of the cutting blade in a space state and calculating the slope scraping angle according to the attitude angle and the rotation action sequence, so that the dependence on the experience of an operator is reduced, and the operation efficiency is improved.)

1. A method of determining a grader blade slope angle, comprising:

establishing a reference coordinate system based on the running direction of the land leveler and the moving direction of the scraper knife;

acquiring spatial attitude angle information which is acquired by an attitude detection device and corresponds to the operation of a scraper knife; wherein the spatial attitude angle comprises: the attitude angle of the scraper knife rotating around each coordinate axis of the reference coordinate system;

acquiring the rotation action sequence of the scraper knife around each coordinate axis of the reference coordinate system;

and calculating a slope scraping angle corresponding to the scraper knife by using a preset slope scraping angle calculation rule according to the spatial attitude angle information and the rotation action sequence.

2. The method of claim 1, wherein establishing a reference coordinate system based on the direction of travel of the grader and the direction of movement of the blade comprises:

setting the projection of the intersection point of the transverse center line of the cutting blade of the land scraper and the longitudinal center line of the land scraper on a horizontal plane as an origin, and setting the horizontal plane as an XOY plane for establishing the reference coordinate system;

the X-axis direction of the reference coordinate system is the running direction of the land leveler, the Y-axis direction is the transverse moving direction of the scraper knife, and the Z-axis direction is the vertical upward direction perpendicular to the horizontal plane.

3. The method of claim 2, wherein,

the attitude angles include a first attitude angle α for the blade to rotate about the X-axis, a second attitude angle β for the blade to rotate about the Y-axis, and a third attitude angle γ for the blade to rotate about the Z-axis.

4. The method of claim 3, wherein calculating a rake angle corresponding to the blade using a preset rake angle calculation rule based on the spatial attitude angle information and the sequence of rotational actions comprises:

selecting at least two attitude angles from the first attitude angle α, the second attitude angle β, and the third attitude angle γ according to the rotational motion sequence, and calculating the slope scraping angle.

5. The method of claim 4, further comprising:

selecting the first attitude angle α and the second attitude angle β to calculate the slope scraping angle if the sequence of rotational actions is determined to be a first sequence, a third sequence, a fifth sequence or a sixth sequence;

the first sequence is that the shovel blade sequentially rotates a first attitude angle α around an X axis, a second attitude angle β around a Y axis and a third attitude angle gamma around a Z axis, the third sequence is that the shovel blade sequentially rotates a second attitude angle β around the Y axis, a first attitude angle α around the X axis and a third attitude angle gamma around the Z axis, the fifth sequence is that the shovel blade sequentially rotates a third attitude angle gamma around the Z axis, a first attitude angle α around the X axis and a second attitude angle β around the Y axis, and the sixth sequence is that the shovel blade sequentially rotates a third attitude angle gamma around the Z axis, a second attitude angle β around the Y axis and a first attitude angle α around the X axis.

6. The method of claim 5, wherein,

the slope angle θ is 180-arc (cos (α) cos (β)).

7. The method of claim 4, further comprising:

selecting the first attitude angle α, the second attitude angle β and a third attitude angle gamma to calculate the slope scraping angle if the rotation action sequence is determined to be a second sequence;

wherein the second order is that the blade performs a rotation of the first attitude angle α about the X-axis, a rotation of the third attitude angle γ about the Z-axis, and a rotation of the second attitude angle β about the Y-axis in that order.

8. The method of claim 7, wherein,

the slope angle θ is 180-arc (-sin (α) sin (γ) sin (β) + cos (α) cos (β)).

9. The method of claim 4, further comprising:

selecting the first attitude angle α, the second attitude angle β and a third attitude angle gamma to calculate the slope scraping angle if the rotation action sequence is determined to be a fourth sequence;

wherein the fourth order is that the blade performs a rotation of the second attitude angle β about the Y-axis, a rotation of the first attitude angle α about the X-axis, and a rotation of the third attitude angle γ about the Z-axis in that order.

10. The method of claim 9, wherein,

the slope angle θ is 180-arc (cos (α) cos (β) + sin (α) sin (β) sin (γ)).

11. The method of claim 1, wherein,

the attitude detection device includes: tilt sensors, magnetometers, or fiber optic gyroscopes.

12. A device for determining a blade slope angle of a grader, comprising:

the coordinate system establishing module is used for establishing a reference coordinate system based on the running direction of the land leveler and the moving direction of the scraper knife;

the space attitude acquisition module is used for acquiring space attitude angle information which is acquired by the attitude detection device and corresponds to the operation of the scraper knife; wherein the spatial attitude angle comprises: the attitude angle of the scraper knife rotating around each coordinate axis of the reference coordinate system;

the action sequence acquisition module is used for acquiring the rotation action sequence of the scraper knife around each coordinate axis of the reference coordinate system;

and the slope scraping angle calculation module is used for calculating the slope scraping angle corresponding to the scraper knife by using a preset slope scraping angle calculation rule according to the space attitude angle information and the rotation action sequence.

13. A device for determining a blade slope angle of a grader, comprising:

a memory; and a processor coupled to the memory, the processor configured to perform the method of any of claims 1-11 based on instructions stored in the memory.

14. A grader blade control system comprising:

the device for determining a blade bevel of a grader as in claim 12 or 13.

15. The system of claim 14, further comprising:

and the display module and the storage module are connected with the device for determining the slope scraping angle of the cutting blade of the land leveler.

16. A computer-readable storage medium having stored thereon computer instructions for execution by a processor to perform the method of any one of claims 1 to 11.

Technical Field

The disclosure relates to the technical field of engineering machinery, in particular to a method and a device for determining a slope scraping angle of a grader blade, a grader blade control system and a storage medium.

Background

When the land leveler is used for slope operation, the slope angle of the scraper knife needs to be controlled, so that the accuracy of the slope is guaranteed, repeated correction of the slope is avoided, the construction efficiency is improved, and the construction cost is reduced. At present, in actual operation, the control of the slope scraping angle of the scraper mainly depends on the experience of an operator for visual judgment, the slope angle formed by the method is often greatly different from the actual slope angle, and the slope angle needs to be reworked for finishing for many times; in addition, no technical scheme that a sensor directly measures the slope angle of the scraper knife operation exists at present, and direct detection of the slope angle cannot be realized; can carry out indirect formula angle monitoring based on hydro-cylinder position sensor technique: designing the shovel angle of the shovel blade and the stroke of the shovel angle telescopic oil cylinder into a certain functional relation, configuring a position sensor on the shovel angle telescopic oil cylinder, transmitting the acquired oil cylinder stroke value to a controller, and then indirectly controlling the shovel angle of the shovel blade by controlling a displacement signal; when in slope scraping operation, the slope scraping angle is jointly determined by the states of the control oil cylinders, the algorithm is complex, a mechanical gap exists between the scraper knife and the oil cylinders, the error is large, and the accuracy of the slope scraping angle is difficult to ensure. Therefore, a new solution for determining the grade angle is needed.

Disclosure of Invention

In view of the above, it is an object of the present invention to provide a method and apparatus for determining a blade slope angle of a grader, a grader blade control system, and a storage medium.

According to one aspect of the present disclosure, there is provided a method of determining a grader blade slope angle, comprising: establishing a reference coordinate system based on the running direction of the land leveler and the moving direction of the scraper knife; acquiring spatial attitude angle information which is acquired by an attitude detection device and corresponds to the operation of a scraper knife; wherein the spatial attitude angle comprises: the attitude angle of the scraper knife rotating around each coordinate axis of the reference coordinate system; acquiring the rotation action sequence of the scraper knife around each coordinate axis of the reference coordinate system; and calculating a slope scraping angle corresponding to the scraper knife by using a preset slope scraping angle calculation rule according to the spatial attitude angle information and the rotation action sequence.

Optionally, the establishing a reference coordinate system based on the travel direction of the grader and the moving direction of the blade includes: setting the projection of the intersection point of the transverse center line of the cutting blade of the land scraper and the longitudinal center line of the land scraper on a horizontal plane as an origin, and setting the horizontal plane as an XOY plane for establishing the reference coordinate system; the X-axis direction of the reference coordinate system is the running direction of the land leveler, the Y-axis direction is the transverse moving direction of the scraper knife, and the Z-axis direction is the vertical upward direction perpendicular to the horizontal plane.

Optionally, the attitude angles include a first attitude angle α for the blade to rotate about the X-axis, a second attitude angle β for the blade to rotate about the Y-axis, and a third attitude angle γ for the blade to rotate about the Z-axis.

Optionally, the calculating the slope scraping angle corresponding to the blade using a preset slope scraping angle calculation rule according to the spatial attitude angle information and the rotation action sequence includes selecting at least two attitude angles from the first attitude angle α, the second attitude angle β, and the third attitude angle γ according to the rotation action sequence, and calculating the slope scraping angle.

Alternatively, if the sequence of the rotation actions is determined to be a first sequence, a third sequence, a fifth sequence or a sixth sequence, the first attitude angle α and the second attitude angle β are selected to calculate the slope scraping angle, wherein the first sequence is that the blade sequentially performs a first attitude angle α rotation around the X axis, a second attitude angle β rotation around the Y axis and a third attitude angle γ rotation around the Z axis, the third sequence is that the blade sequentially performs a second attitude angle β rotation around the Y axis, a first attitude angle α rotation around the X axis and a third attitude angle γ rotation around the Z axis, the fifth sequence is that the blade sequentially performs a third attitude angle γ rotation around the Z axis, a first attitude angle α rotation around the X axis and a second attitude angle β rotation around the Y axis, and the sixth sequence is that the blade sequentially performs a third attitude angle γ rotation around the Z axis, a second attitude angle β rotation around the Y axis and a first attitude angle α rotation around the X axis.

Optionally, the slope scraping angle θ is 180-arc (cos (α) cos (β)).

Optionally, if the sequence of the rotation actions is determined to be a second sequence, the first attitude angle α, the second attitude angle β and a third attitude angle γ are selected to calculate the slope scraping angle, wherein the second sequence is that the blade sequentially performs the rotation of the first attitude angle α around the X axis, the rotation of the third attitude angle γ around the Z axis and the rotation of the second attitude angle β around the Y axis.

Optionally, the slope angle θ is 180-arc (-sin (α) sin (γ) sin (β) + cos (α) cos (β)).

Optionally, if the rotation motion sequence is determined to be a fourth sequence, the first attitude angle α, the second attitude angle β and a third attitude angle γ are selected to calculate the slope scraping angle, wherein the fourth sequence is that the blade sequentially performs rotation of the second attitude angle β around the Y axis, rotation of the first attitude angle α around the X axis and rotation of the third attitude angle γ around the Z axis.

Optionally, the slope angle θ is 180-arc (cos (α) cos (β) + sin (α) sin (β) sin (γ)).

Optionally, the gesture detection apparatus includes: tilt sensors, magnetometers, or fiber optic gyroscopes.

According to another aspect of the present disclosure, there is provided a device for determining a cutting edge slope angle of a grader blade, including: the coordinate system establishing module is used for establishing a reference coordinate system based on the running direction of the land leveler and the moving direction of the scraper knife; the space attitude acquisition module is used for acquiring space attitude angle information which is acquired by the attitude detection device and corresponds to the operation of the scraper knife; wherein the spatial attitude angle comprises: the attitude angle of the scraper knife rotating around each coordinate axis of the reference coordinate system; the action sequence acquisition module is used for acquiring the rotation action sequence of the scraper knife around each coordinate axis of the reference coordinate system; and the slope scraping angle calculation module is used for calculating the slope scraping angle corresponding to the scraper knife by using a preset slope scraping angle calculation rule according to the space attitude angle information and the rotation action sequence.

Optionally, the establishing a reference coordinate system based on the travel direction of the grader and the moving direction of the blade includes: the coordinate system establishing module is used for setting the projection of the intersection point of the transverse center line of the cutting blade of the land scraper and the longitudinal center line of the land scraper on a horizontal plane as an origin, and setting the horizontal plane as an XOY plane for establishing the reference coordinate system; the X-axis direction of the reference coordinate system is the running direction of the land leveler, the Y-axis direction is the transverse moving direction of the scraper knife, and the Z-axis direction is the vertical upward direction perpendicular to the horizontal plane.

Optionally, the attitude angles include a first attitude angle α for the blade to rotate about the X-axis, a second attitude angle β for the blade to rotate about the Y-axis, and a third attitude angle γ for the blade to rotate about the Z-axis.

Optionally, the calculating the slope scraping angle corresponding to the blade by using a preset slope scraping angle calculation rule according to the spatial attitude angle information and the rotation action sequence comprises a slope scraping angle calculation module for selecting at least two attitude angles from the first attitude angle α, the second attitude angle β and the third attitude angle γ according to the rotation action sequence and calculating the slope scraping angle.

Optionally, the slope scraping angle calculating module is configured to select the first attitude angle α and the second attitude angle β to calculate the slope scraping angle if it is determined that the sequence of the rotational actions is a first sequence, a third sequence, a fifth sequence or a sixth sequence, where the first sequence is that the blade sequentially performs rotation of the first attitude angle α around the X axis, rotation of the second attitude angle β around the Y axis and rotation of the third attitude angle γ around the Z axis, the third sequence is that the blade sequentially performs rotation of the second attitude angle β around the Y axis, rotation of the first attitude angle α around the X axis and rotation of the third attitude angle γ around the Z axis, the fifth sequence is that the blade sequentially performs rotation of the third attitude angle γ around the Z axis, rotation of the first attitude angle α around the X axis and rotation of the second attitude angle β around the Y axis, and the sixth sequence is that the blade sequentially performs rotation of the third attitude angle γ around the Z axis, rotation of the second attitude angle β around the Y axis and rotation of the first attitude angle α around the Z axis.

Optionally, the slope scraping angle θ is 180-arc (cos (α) cos (β)).

Optionally, the slope scraping angle calculating module is configured to select the first attitude angle α, the second attitude angle β, and a third attitude angle γ to calculate the slope scraping angle if it is determined that the sequence of the rotational actions is a second sequence, where the second sequence is that the blade sequentially performs rotation of the first attitude angle α around the X axis, rotation of the third attitude angle γ around the Z axis, and rotation of the second attitude angle β around the Y axis.

Optionally, the slope angle θ is 180-arc (-sin (α) sin (γ) sin (β) + cos (α) cos (β)).

Optionally, the slope scraping angle calculating module is configured to select the first attitude angle α, the second attitude angle β, and the third attitude angle γ to calculate the slope scraping angle if it is determined that the sequence of the rotational actions is a fourth sequence, where the fourth sequence is that the blade sequentially performs rotation of the second attitude angle β around the Y axis, rotation of the first attitude angle α around the X axis, and rotation of the third attitude angle γ around the Z axis.

Optionally, the slope angle θ is 180-arc (cos (α) cos (β) + sin (α) sin (β) sin (γ)).

Optionally, the gesture detection apparatus includes: tilt sensors, magnetometers, or fiber optic gyroscopes.

According to yet another aspect of the present disclosure, there is provided a device for determining a cutting edge slope angle of a grader blade, including: a memory; and a processor coupled to the memory, the processor configured to perform the method as described above based on instructions stored in the memory.

According to yet another aspect of the present disclosure, there is provided a grader blade control system comprising: the device for determining the slope scraping angle of the grader blade.

Optionally, the system further comprises: and the display module and the storage module are connected with the device for determining the slope scraping angle of the cutting blade of the land leveler.

According to yet another aspect of the present disclosure, a computer-readable storage medium is provided, which stores computer instructions for execution by a processor to perform the method as described above.

According to the method and the device for determining the slope scraping angle of the grader blade, the grader blade control system and the storage medium, aiming at the problem that the slope scraping angle of the grader blade is measured due to the lack of a sensor, the slope scraping angle can be accurately determined by detecting the attitude angle of the blade in a space state and calculating the slope scraping angle according to the attitude angle and a rotation action sequence, the dependence on the experience of an operator is reduced, and the operation efficiency is improved.

Drawings

In order to more clearly illustrate the embodiments of the present disclosure or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present disclosure, and other drawings can be obtained by those skilled in the art without inventive exercise.

FIG. 1 is a schematic flow chart diagram of one embodiment of a method of determining a grader blade slope angle according to the present disclosure;

FIG. 2 is a schematic view of an embodiment of a grader blade control mechanism;

FIG. 3 is a schematic illustration of a reference coordinate system in one embodiment of a method of determining a grader blade slope angle according to the present disclosure;

FIG. 4A is a schematic diagram of a slope scraping angle, FIG. 4B is a schematic diagram of a slope scraping angle in a coordinate system, FIG. 4C is a schematic diagram of sensor installation, and FIG. 4D is a schematic diagram of slope scraping angle calculation;

FIG. 5 is a block diagram view of one embodiment of a grader blade slope angle determination apparatus according to the present disclosure;

FIG. 6 is a block schematic diagram of one embodiment of a grader blade control system according to the present disclosure;

FIG. 7 is a block diagram view of another embodiment of a grader blade slope angle determination apparatus according to the present disclosure.

Detailed Description

The present disclosure now will be described more fully hereinafter with reference to the accompanying drawings, in which exemplary embodiments of the disclosure are shown. The technical solutions in the embodiments of the present disclosure will be clearly and completely described below with reference to the drawings in the embodiments of the present disclosure, and it is obvious that the described embodiments are only a part of the embodiments of the present disclosure, and not all of the embodiments. All other embodiments, which can be derived by one of ordinary skill in the art from the embodiments disclosed herein without making any creative effort, shall fall within the scope of protection of the present disclosure. The technical solution of the present disclosure is described in various aspects below with reference to various figures and embodiments.

The terms "first", "second", and the like are used hereinafter only for descriptive distinction and not for other specific meanings.

The land leveler is an operation machine used for working conditions such as large-area land leveling, road repairing, slope scraping, ditching, edge repairing ditch, drainage ditch, snow removing, soil loosening, soil pushing and waste digging, and the like.

At present, in actual operation, the control of the slope scraping angle of the scraper knife mainly depends on the experience of an operator for visual judgment, the slope angle is often greatly different from the actual slope angle, the scraper knife needs to be reworked for trimming for many times, the operation time is long, and the cost is high. The reason for this is that when the blade of the grader scrapes a slope, the blade needs to be moved out of the vehicle body, the slope angle of the blade operation depends on the spatial state of the blade, and no direct sensor is available for measurement, so that the direct detection of the slope angle cannot be realized.

The method can be used for carrying out indirect angle monitoring based on an oil cylinder position sensor technology, designing the shovel angle of the shovel blade and the stroke of the shovel angle telescopic oil cylinder into a certain functional relation, configuring a position sensor on the shovel angle telescopic oil cylinder, transmitting the acquired oil cylinder stroke value to a controller, and then indirectly controlling the shovel angle of the shovel blade by controlling a displacement signal; because the slope scraping angle is determined by the states of the control oil cylinders during slope scraping operation, the algorithm is complex, a mechanical gap exists between the scraper knife and the oil cylinders, the error is large, and the slope scraping angle is difficult to ensure.

FIG. 1 is a schematic flow diagram of one embodiment of a method of determining a grader blade slope angle according to the present disclosure, as shown in FIG. 1:

step 101, establishing a reference coordinate system based on the running direction of the grader and the moving direction of the cutting blade.

In one embodiment, the grader may be a work grader, an agricultural grader, or the like; the running direction of the land leveler is the running direction of the land leveler and the like, the moving direction of the blade is the transverse moving direction of the blade and the like, and the transverse moving direction of the blade is vertical to the running direction of the land leveler; the reference coordinate system is a three-dimensional coordinate system.

And 102, acquiring spatial attitude angle information which is acquired by an attitude detection device and corresponds to the operation of the scraper knife, wherein the spatial attitude angle comprises the attitude angle of the scraper knife rotating around each coordinate axis of a reference coordinate system.

And 103, acquiring the rotation action sequence of the shovel blade around each coordinate axis of the reference coordinate system.

And 104, calculating a slope scraping angle corresponding to the scraper knife by using a preset slope scraping angle calculation rule according to the spatial attitude angle information and the rotation action sequence.

In the method for determining the slope scraping angle of the grader blade in the above embodiment, the slope scraping angle of the grader blade can be accurately determined by detecting the attitude angle of the blade in a space state and calculating the slope scraping angle according to the attitude angle and the rotation action sequence.

As shown in fig. 2, the control mechanism of the grader blade comprises a traction frame 1, a rotary ring 2, an angle positioner 3, a blade body 4 and a soil shoveling angle telescopic oil cylinder 5. The lower extreme at traction frame 1 is passed through the bolt fastening to gyration circle 2, the side welding has the journal stirrup about gyration circle 2, the welding has the spindle nose at the lower extreme of gyration circle 2, the one end of the flexible hydro-cylinder in shovel soil angle 5 is installed in the journal stirrup department of gyration circle 2 and is fixed, the other end passes through the round pin axle assembly with the last mounting hole of angle position ware 3, be equipped with joint bearing and sealing washer in the mounting hole on the angle position ware 3, the middle part of angle position ware 3 is equipped with the slide, through the check lock lever, lock nut, the packing ring is fixed with gyration circle 2.

The lower mounting hole end of the angle positioner 3 is assembled on the shaft head of the rotary ring 2 and fixed through a slotted nut, the upper guide rail and the lower guide rail of the scraper knife body 4 are arranged in the guide grooves matched with the angle positioner 3, and the scraper knife body 4 slides in the axial direction of the lower shaft head. A detection device can be configured on the soil shoveling angle telescopic oil cylinder 5, and the acquired oil cylinder stroke value is transmitted to the controller.

In one embodiment, a projection of a cross point of a transverse centerline of a blade of a grader and a longitudinal centerline of the grader on a horizontal plane is set as an origin, and the horizontal plane is set as an XOY plane to establish a reference coordinate system, wherein an X-axis direction of the reference coordinate system is a running direction of the grader, a Y-axis direction is a transverse moving direction of the blade, and a Z-axis direction is a direction perpendicular to the horizontal plane and vertically upward.

As shown in FIG. 3, a horizontal plane is taken as a reference plane, a projection of a cross point of a transverse center line of a cutting blade of a grader and a longitudinal center line of the grader on the horizontal plane is taken as an origin, a reference coordinate system is established, an X-axis direction of the reference coordinate system is a running direction of a grader vehicle, a Y-axis direction of the reference coordinate system is a transverse moving direction of the cutting blade, and a Z-axis direction of the reference coordinate system is a vertical upward direction perpendicular to the horizontal plane.

For example, the slope scraping angle is calculated by selecting at least two attitude angles from the first attitude angle α, the second attitude angle β, and the third attitude angle γ according to the sequence of rotational actions.

The first sequence is for the blade to sequentially perform a first attitude angle α about the X-axis, a second attitude angle β about the Y-axis, and a third attitude angle γ about the Z-axis, the second sequence is for the blade to sequentially perform a first attitude angle α about the X-axis, a third attitude angle γ about the Z-axis, and a second attitude angle β about the Y-axis, and the third sequence is for the blade to sequentially perform a second attitude angle β about the Y-axis, a first attitude angle α about the X-axis, and a third attitude angle γ about the Z-axis.

The fourth sequence is that the blade performs rotation of the second attitude angle β around the Y axis, the first attitude angle α around the X axis, and the third attitude angle γ around the Z axis in sequence, the fifth sequence is that the blade performs rotation of the third attitude angle γ around the Z axis, the first attitude angle α around the X axis, and the second attitude angle β around the Y axis in sequence, and the sixth sequence is that the blade performs rotation of the third attitude angle γ around the Z axis, the second attitude angle β around the Y axis, and the first attitude angle α around the X axis in sequence.

If the sequence of rotational movements is determined to be the first, third, fifth or sixth sequence, the slope scraping angle is calculated by selecting the first attitude angle α and the second attitude angle β.

If the rotation motion sequence is determined to be the second sequence, the slope scraping angle is calculated by selecting the first attitude angle α, the second attitude angle β and the third attitude angle gamma.

If the rotation motion sequence is determined to be the fourth sequence, the slope scraping angle is calculated by selecting the first attitude angle α, the second attitude angle β and the third attitude angle gamma.

In one embodiment, as shown in fig. 4A and 4B, the slope scraping angle θ of the blade refers to an angle between a slope formed by the blade after the blade performs slope scraping operation and a horizontal plane, and for convenience of understanding, assuming that the lower edge of the blade is AB, the point a is translated to the origin O of the coordinate system (translating AB does not affect the slope scraping angle of the blade), the projection of the point B on the XOY plane is B1, and the projection of the point B1 on the XOZ plane is B2, so the slope scraping angle θ is ∠ BB₂B₁. As shown in fig. 4C, the attitude sensor 42 is disposed at the upper portion of the blade, and is disposed in parallel with the lower edge AB of the blade and the horizontal plane in the initial state, and the attitude sensor 42 is rigidly connected to the blade body and moves as the blade moves.

As shown in FIG. 4D, the blade's slope angle θ can be defined as the complement of the angle between normal vector n1 for the plane of the attitude sensor and the vertically oriented normal vector n2 for the first sequence α - β - γ ((blade rotated α degrees about the X-axis, β degrees about the Y-axis, and finally γ degrees about the Z-axis):

the initial vector (x y z) of n1 is defined as (001), the vector after actions α - β - γ is:

wherein, the n2 vector is defined as (001), then the slope scraping angle is:

θ＝180-arc(cos(α)cos(β))。

for the second sequence α - γ - β (blade rotated α degrees about the X axis, then γ degrees about the Y axis, and finally β degrees about the Z axis):

the initial vector (xyz) of n1 is defined as (001), and the vector after action α - γ - β is

Wherein, the n2 vector is defined as (001), then the slope scraping angle is:

θ＝180-arc(-sin(α)sin(γ)sin(β)+cos(α)cos(β))。

for the third sequence β - α - γ (blade rotated β degrees about the X-axis, then α degrees about the Y-axis, and finally γ degrees about the Z-axis):

the initial vector (xyz) of n1 is defined as (001), and the vector after actions β - α -gamma is

Wherein, the n2 vector is defined as (001), then the slope scraping angle is:

θ＝180-arc(cos(α)cos(β))。

for the fourth sequence β - γ - α (blade rotated β degrees about the X axis, then γ degrees about the Y axis, and finally α degrees about the Z axis):

the initial vector (xyz) of n1 is defined as (001), and the vector after action β - γ - α is

Wherein, the n2 vector is defined as (001), then the slope scraping angle is:

θ＝180-arc(cos(α)cos(β)+sin(α)sin(β)sin(γ))。

for the fifth sequence γ - α - β (blade rotated first about the X axis by γ degrees, then about the Y axis by α degrees, and finally about the Z axis by β degrees):

the initial vector (xyz) of n1 is defined as (001), and the vector after action γ - α - β is

Wherein, the n2 vector is defined as (001), then the slope scraping angle is:

θ＝180-arc(cos(α)cos(β))。

for the sixth sequence γ - β - α (blade rotated first about the X axis by γ degrees, then about the Y axis by β degrees, and finally about the Z axis by α degrees):

the n1 initial vector (x y z) is defined as (001),the vector after the action γ - β - α is

The n2 vector is defined as (001), then the slope angle is:

θ＝180-arc(cos(α)cos(β))。

in one embodiment, as shown in FIG. 5, the present disclosure provides a grader blade slope angle determination device 50 comprising: a coordinate system establishing module 51, a spatial attitude obtaining module 52, an action sequence obtaining module 53 and a slope scraping angle calculating module 54. The coordinate system establishing module 51 establishes a reference coordinate system based on the direction of travel of the grader and the direction of movement of the blade. The spatial attitude acquisition module 52 acquires spatial attitude angle information corresponding to the operation of the blade, which is acquired by the attitude detection device, and the spatial attitude angle includes: and the attitude angle of the scraper knife rotating around each coordinate axis of the reference coordinate system.

The operation sequence acquisition module 53 acquires the rotation operation sequence of the blade around each coordinate axis of the reference coordinate system. The slope scraping angle calculation module 54 calculates a slope scraping angle corresponding to the blade using a preset slope scraping angle calculation rule according to the spatial attitude angle information and the rotation action sequence.

In one embodiment, the coordinate system establishing module 51 sets a projection of an intersection point of a transverse centerline of the cutting blade of the grader and a longitudinal centerline of the grader on a horizontal plane as an origin, and sets the horizontal plane as an XOY plane for establishing a reference coordinate system; the X-axis direction of the reference coordinate system is the running direction of the land leveler, the Y-axis direction is the transverse moving direction of the scraper knife, and the Z-axis direction is the vertical and upward direction perpendicular to the horizontal plane.

The attitude angles include a first attitude angle α of the blade rotating around the X axis, a second attitude angle β of the blade rotating around the Y axis, and a third attitude angle gamma of the blade rotating around the Z axis the slope scraping angle calculation module 54 selects at least two attitude angles from the first attitude angle α, the second attitude angle β, and the third attitude angle gamma according to the sequence of the rotation actions and calculates the slope scraping angle.

In one embodiment, if the shave angle calculation module 54 determines that the rotational motion sequence is a first, third, fifth, or sixth sequence, the shave angle calculation module 54 selects the first attitude angle α and the second attitude angle β to calculate the shave angle, which may be, for example, 180-arc (cos (α) cos (β)).

If the scrub angle calculation module 54 determines that the rotational movement sequence is the second sequence, the scrub angle calculation module 54 selects the first attitude angle α, the second attitude angle β, and the third attitude angle γ to calculate the scrub angle, for example, the scrub angle θ is 180-arc (-sin (α) sin (γ) sin (β) + cos (α) cos (β)).

If the scrub angle calculation module 54 determines that the sequence of rotational actions is the fourth sequence, the scrub angle calculation module 54 selects the first attitude angle α, the second attitude angle β, and the third attitude angle γ to calculate a scrub angle, for example, the scrub angle θ is 180-arc (cos (α) cos (β) + sin (α) sin (β) sin (γ)).

In one embodiment, FIG. 6 is a block diagram view of another embodiment of a grader blade slope angle determination apparatus according to the present disclosure. As shown in fig. 6, the apparatus may include a memory 61, a processor 62, a communication interface 63, and a bus 64. The memory 61 is for storing instructions, the processor 62 is coupled to the memory 61, and the processor 62 is configured to execute a determination method that implements the blade slope angle of a grader described above based on the instructions stored by the memory 61.

The memory 61 may be a high-speed RAM memory, a non-volatile memory (non-volatile memory), or the like, and the memory 61 may be a memory array. The storage 61 may also be partitioned and the blocks may be combined into virtual volumes according to certain rules. Processor 62 may be a central processing unit CPU, or an application specific integrated circuit asic (application specific integrated circuit), or one or more integrated circuits configured to implement the method of determining a blade rake angle of the present disclosure.

In one embodiment, the present disclosure provides a grader blade control system including the grader blade slope angle determination device 71 as in any of the above embodiments, further including the attitude detection device 72, the display module 73, and the storage module 74, and the grader blade slope angle determination device 71 may be implemented as a controller or the like.

The determination device 71 of the slope scraping angle of the cutting blade of the grader, the posture detection device 72, the display module 73 and the storage module 74 are connected through a communication cable or a communication bus; the grader blade slope scraping angle determining device 71 detects the attitude angle of the blade in a space state by using the attitude detecting device 72, and calls a calculation model (provided with a preset slope scraping angle calculation rule) of the attitude angle and the slope scraping angle in the storage module 74 to calculate the slope scraping angle, so that the precise determination of the grader blade slope scraping angle is realized.

The display module 73 is a display which is responsible for displaying the detected data information (actual spatial attitude angles α, β, gamma) to the operator, and the display is connected with the grader blade slope angle determination device 71 through a communication cable and is used for presenting the measured data and the calculated slope angle data to the operator in a graphical and graphical manner.

The storage module 74 is responsible for storing the logical relationship between the spatial attitude angle and the grader blade slope angle in a storage area of the grader blade slope angle determining device 71 and connecting the storage area with the grader blade slope angle determining device 71 through a communication cable or a communication protocol.

In one embodiment, the present disclosure provides a computer-readable storage medium having stored thereon computer instructions that, when executed by a processor, implement a method of determining a grader blade slope angle as in any of the above embodiments.

According to the method and the device for determining the slope scraping angle of the grader blade, the grader blade control system and the storage medium, aiming at the problem that the slope scraping angle of the grader blade is lack of a sensor for measuring, the slope scraping angle can be accurately determined by detecting the attitude angle of the blade in a space state and calculating the slope scraping angle according to the attitude angle and the rotation action sequence, the dependence on the experience of an operator is reduced, and the operation efficiency is improved.

The method and system of the present disclosure may be implemented in a number of ways. For example, the methods and systems of the present disclosure may be implemented by software, hardware, firmware, or any combination of software, hardware, and firmware. The above-described order for the steps of the method is for illustration only, and the steps of the method of the present disclosure are not limited to the order specifically described above unless specifically stated otherwise. Further, in some embodiments, the present disclosure may also be embodied as programs recorded in a recording medium, the programs including machine-readable instructions for implementing the methods according to the present disclosure. Thus, the present disclosure also covers a recording medium storing a program for executing the method according to the present disclosure.

The description of the present disclosure has been presented for purposes of illustration and description, and is not intended to be exhaustive or limited to the disclosure in the form disclosed. Many modifications and variations will be apparent to practitioners skilled in this art. The embodiment was chosen and described in order to best explain the principles of the disclosure and the practical application, and to enable others of ordinary skill in the art to understand the disclosure for various embodiments with various modifications as are suited to the particular use contemplated.