US 11,965,309 B2
Leveling control method, device and system, and motor grader
Zhiqiang Hou, Xuzhou (CN); Bin Zhao, Xuzhou (CN); Hao Liu, Xuzhou (CN); and Shengli Lu, Xuzhou (CN)
Assigned to JIANGSU XCMG CONSTRUCTION MACHINERY RESEARCH INSTITUTE LTD., Jaingsu (CN)
Filed by JIANGSU XCMG CONSTRUCTION MACHINERY RESEARCH INSTITUTE LTD., Jiangsu (CN)
Filed on Jul. 29, 2020, as Appl. No. 16/941,783.
Claims priority of application No. 202010468500.3 (CN), filed on May 28, 2020.
Prior Publication US 2021/0372081 A1, Dec. 2, 2021
Int. Cl. E02F 3/84 (2006.01); E02F 3/76 (2006.01)
CPC E02F 3/842 (2013.01) [E02F 3/764 (2013.01); E02F 3/847 (2013.01)] 17 Claims
OG exemplary drawing
 
1. A leveling control method, performed via a leveling control device, comprising:
respectively acquiring an elevation of a current position of a blade of a motor grader, an elevation of a target position, and a movement speed of the motor grader, wherein the target position is on the ground with a certain horizontal distance from the current position along a movement direction of the motor grader;
determining a movement time of the blade from the current position to the target position according to the horizontal distance and the movement speed;
determining a lifting speed of a lifting cylinder according to an elevation difference between the elevation of the target position and the elevation of the current position and the movement time; and
controlling the lifting cylinder to adjust the blade to move from the current position to the target position according to the lifting speed,
wherein the acquiring an elevation of a target position comprises: respectively acquiring an elevation of a Global Positioning System (GPS) and a vertical distance between the GPS and the target position, wherein the GPS is fixedly arranged relative to a frame of the motor grader, and acquiring the elevation of the target position according to the elevation of the GPS and the vertical distance between the GPS and the target position.