WO2023050684A1

WO2023050684A1 - Land leveling assistance system and method, and operation machine

Info

Publication number: WO2023050684A1
Application number: PCT/CN2022/076590
Authority: WO
Inventors: 娄培松; 李飞
Original assignee: 上海三一重机股份有限公司
Priority date: 2021-09-28
Filing date: 2022-02-17
Publication date: 2023-04-06
Also published as: CN113944197B; CN113944197A

Abstract

The present application provides a land leveling assistance system and method, and an operation machine. The system comprises: an acquisition unit and an analysis unit, wherein the acquisition unit is configured to acquire a current posture of an operation machine, and the analysis unit is configured to receive a land leveling operation request carrying a land leveling operation direction, determine the next posture of the operation machine on the basis of the land leveling operation direction and the current posture, and generate a current land leveling operation instruction on the basis of the next posture, so that a vehicle control unit of the operation machine performs land leveling operation on the basis of the current land leveling operation instruction. The present application can prevent problems of low efficiency and poor practicability caused by the need to frequently enable and set a land leveling assistance function in traditional methods.

Description

Leveling assistance system, method and working machine

Cross References to Related Applications

This application claims the priority of the Chinese patent application with application number 202111145794.7 filed on September 28, 2021, entitled "Graduate Assistance System, Method and Operating Machinery", which is incorporated herein by reference in its entirety.

technical field

The present application relates to the technical field of leveling operations, in particular to a leveling auxiliary system, method and operating machine.

Background technique

In the actual construction process of the operating machine, there are a large number of scenes that require leveling operations. The auxiliary function of leveling can not only improve the operation efficiency, but also improve the accuracy of leveling operations.

However, the opening and setting of the existing leveling auxiliary functions are very cumbersome. For example, it is necessary to turn on and off the auxiliary functions through the touch screen, set the reference point, trigger the auxiliary leveling function, etc. The process is very cumbersome. The operator continues to control the opening of the handle, which cannot reduce the workload of the operator, and if the working plane changes, a round of tedious settings needs to be performed again, which is inefficient.

Contents of the invention

The present application provides a leveling assistance system, method and operating machine to solve the defect of low leveling assistance efficiency in the prior art.

This application provides a leveling assistance system, including:

an acquisition unit, configured to acquire the current pose of the working machine;

an analysis unit, configured to receive a leveling operation request carrying a leveling operation direction, and determine a next posture of the working machine based on the leveling operation direction and the current posture, and based on the next posture, A current leveling operation instruction is generated, so that the vehicle controller of the working machine performs leveling operation based on the current leveling operation instruction.

According to a leveling assistance system provided in the present application, the current leveling operation command includes a current boom handle command, a current arm handle command, and a current bucket handle command, and the analysis unit includes a boom analysis module and a stick analysis module And a bucket analysis module, the current pose includes a current boom angle, a current stick angle, and a current bucket angle;

The boom analysis module is used to determine the boom pose in the next pose based on the current boom angle, the current arm angle and the current bucket angle, and determine the boom pose in the next pose based on the boom in the next pose. Pose generates the current boom handle command;

The stick analysis module is used to determine the stick pose of the next pose from the target spline curve based on the current stick angle, and generate the stick pose of the next pose based on the stick pose of the next pose. Describe the current stick handle command;

The bucket analysis module is used to determine the bucket pose of the next pose based on the current bucket angle, and generate the current bucket handle command based on the bucket pose of the next pose .

According to a leveling assistance system provided by the present application, the boom analysis module includes a first sub-analysis module, a second sub-analysis module, and an instruction generation module;

The first sub-analysis module is used to determine the current tooth tip height of the working machine based on the current boom angle, the current stick angle and the current bucket angle; the second sub-analysis module is used to determine the current tooth tip height based on the The current tooth tip height and the target tooth tip height determine the boom pose of the next pose; the instruction generation module is used to generate the current boom handle instruction based on the boom pose of the next pose .

According to a leveling assistance system provided by the present application, the second sub-analysis module includes a calculation module and a determination module;

The calculation module is used to determine the boom handle increment based on the current tooth tip height and the target tooth tip height; the determination module is used to determine the boom handle increment based on the last boom handle command and the boom handle increment. The boom pose for the next pose.

According to a leveling assistance system provided by the present application, the calculation module includes a first calculation sub-module and a second calculation sub-module;

The first calculation submodule is used to calculate the difference between the current tooth tip height and the target tooth tip height; the second calculation submodule is used to calculate the difference based on the difference and the derivative of the difference , to determine the boom arm increment.

According to a leveling assistance system provided by the present application, the system further includes an auxiliary unit, configured to generate an inner leveling operation command when it is detected that both the left and right handles are in the pull-down state, so that the vehicle controller based on The inner pulling and leveling operation instruction performs inner pulling and leveling operations, or when it is detected that the left and right handles are in the push-up state, an outer pushing and leveling operation instruction is generated, so that the vehicle controller can perform the outer pushing and leveling operations based on the outer pushing and leveling operations. Command to carry out extrapolation leveling operations.

The application also provides a leveling assistance method, including:

Obtain the current pose of the operating machine;

receiving a leveling operation request carrying a leveling operation direction, and based on the leveling operation direction and the current pose, determining the next posture of the working machine, and generating a current leveling operation instruction based on the next posture , so that the vehicle controller of the working machine performs leveling operations based on the current leveling operation instruction.

The present application also provides a working machine, including: the above-mentioned ground leveling assisting system.

The present application also provides an electronic device, including a memory, a processor, and a computer program stored on the memory and operable on the processor. When the processor executes the computer program, any of the above-mentioned The steps of the Level Assist method.

The present application also provides a non-transitory computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, the steps of any one of the leveling assistance methods described above are implemented.

The present application also provides a computer program product, including a computer program, and when the computer program is executed by a processor, the steps of any one of the ground leveling assistance methods described above are implemented.

The leveling assistance system, method, and operating machine provided by this application can automatically determine the next position of the operating machine based on the leveling operation direction and the current position and posture in the leveling operation request, and automatically generate the current leveling operation based on the next position Instructions, so that the vehicle controller of the operating machine can perform leveling operations based on the current leveling operation instructions, so as to avoid the problems of low efficiency and poor practicability caused by the need to frequently turn on and set the leveling auxiliary functions in the traditional method.

Description of drawings

In order to more clearly illustrate the technical solutions in this application or the prior art, the accompanying drawings that need to be used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the accompanying drawings in the following description are the present For some embodiments of the application, those skilled in the art can also obtain other drawings based on these drawings without creative work.

Fig. 1 is a schematic structural diagram of the leveling assistance system provided by the present application;

Fig. 2 is the schematic diagram of the internal leveling operation provided by the application;

Fig. 3 is the schematic diagram of extrapolation leveling operation provided by the present application;

Fig. 4 is a schematic structural diagram of another leveling assistance system provided by the present application;

Fig. 5 is a schematic diagram of the installation of the leveling auxiliary system provided by the present application;

Fig. 6 is one of the schematic flow charts of the leveling operation method based on the leveling auxiliary system provided by the present application;

Fig. 7 is the second schematic flow diagram of the leveling operation method based on the leveling auxiliary system provided by the present application;

Fig. 8 is a schematic flow chart of the leveling assistance method provided by the present application;

FIG. 9 is a schematic structural diagram of an electronic device provided by the present application.

Detailed ways

In order to make the purpose, technical solutions and advantages of this application clearer, the technical solutions in this application will be clearly and completely described below in conjunction with the accompanying drawings in this application. Obviously, the described embodiments are part of the embodiments of this application , but not all examples. Based on the embodiments in this application, all other embodiments obtained by persons of ordinary skill in the art without creative efforts fall within the protection scope of this application.

After the operator turns on the leveling function, he controls the boom, arm and bucket, places the tip of the tooth at the starting position of the leveling work surface, and after passing certain settings, he only needs to trigger the auxiliary function of leveling through the stick or the operating handle of the boom , The tip of the tooth of the working machine (such as an excavator) will automatically move in a straight line.

However, the opening and setting of the existing leveling auxiliary functions are very cumbersome. For example, it is necessary to turn on and off the auxiliary functions through the touch screen, set the reference point, trigger the auxiliary leveling function, etc. The process is very cumbersome. The operator continues to control the opening of the handle, which cannot reduce the workload of the operator, and if the working plane changes, a round of tedious settings needs to be performed again, which is less efficient and practical.

In this regard, the present application provides a leveling assistance system provided in the present application as shown in FIG. 1 . FIG. 1 is a schematic structural diagram of the leveling assistance system provided by the present application. As shown in FIG. 1 , the system includes an acquisition unit 110 and an analysis unit 120 .

Wherein, the acquiring unit 110 may be provided with an inertial navigation sensor IMU for acquiring the current pose of the working machine, such as the current boom angle, the current arm angle, the current bucket angle, etc. of the working machine. Here, the operating machine refers to the construction machine that needs to perform leveling operations, such as an excavator.

After acquiring the current pose of the work machine, the acquisition unit 110 sends the current pose to the analysis unit 120, so that the analysis unit 120 determines the next pose of the work machine based on the leveling operation direction and the current pose in the leveling operation request , and based on the next posture, generate the current leveling operation command, so that the vehicle controller of the working machine performs leveling operation based on the current leveling operation command.

Here, the ground leveling operation request can be generated when the driver pulls the handle, as shown in Figure 2, when the handle is pulled inward, it indicates that the tooth tip of the working machine needs to be close to the vehicle body to complete the ground leveling operation, that is, the leveling operation direction is tooth The sharp edge works close to the body. As shown in Figure 3, when the handle is pushed outward, it indicates that the tooth tip of the operating machine needs to be kept away from the vehicle body to complete the leveling operation, that is, the leveling operation direction is that the tooth tip is away from the vehicle body to perform operations.

It should be noted that the analysis unit 120 is connected to the vehicle controller VCU of the working machine, and can input the current leveling operation command to the vehicle controller VCU through the CAN bus, so that the vehicle controller VCU completes the leveling operation. That is to say, the leveling assistance system provided by the embodiment of the present application adds an acquisition unit and an analysis unit on the basis of the original system of the working machine, without the need to modify the original structure of the working machine, and the cost is relatively low.

In addition, the leveling assistance system provided by the embodiment of the present application can obtain the next position based on the current position and posture, and automatically generate the current leveling operation command, so that the vehicle controller of the working machine can perform leveling work based on the current leveling operation command without The need to frequently turn on and set the leveling assistance function as in the traditional method causes the problems of low efficiency and poor practicability.

The leveling assistance system provided in the embodiment of the present application can automatically determine the next posture of the working machine based on the leveling operation direction and the current posture in the leveling operation request, and automatically generate the current leveling operation instruction based on the next posture, so as to The vehicle controller of the operating machine is used to perform leveling operations based on the current leveling operation instructions, thereby avoiding the problems of low efficiency and poor practicability caused by frequently opening and setting leveling auxiliary functions in the traditional method.

As shown in Figure 4 and Figure 5, the leveling assistance system provided by the embodiment of the present application adds an acquisition unit (including the inertial navigation sensor IMU) and an analysis unit (ACU) to the existing traditional leveling assistance system, and the IMU acquires the , stick and bucket angles to the ACU, and the ACU accurately calculates the next position of the operating machine through the angle returned by the IMU, and then analyzes the operator’s operation intention through the handle operation instructions generated by the operator operating the handle (such as flat ground working direction), calculate the handle lever opening command of the boom, arm and bucket, and finally output the control command to the vehicle controller (VCU) through CAN for auxiliary leveling operations. Wherein, the acquisition unit may be provided with an inertial navigation sensor IMU and an analysis unit (the ACU is provided on the body of the working machine) on the bucket, arm and boom respectively.

Based on the above-mentioned embodiment, the current leveling operation command includes the current boom handle command, the current arm handle command and the current bucket handle command, the analysis unit includes the boom analysis module, the stick analysis module and the bucket analysis module, and the current pose includes Current boom angle, current stick angle, and current bucket angle;

The boom analysis module is used to determine the boom pose of the next pose based on the current boom angle, the current stick angle and the current bucket angle, and generate the current boom handle command based on the boom pose of the next pose ;

The stick analysis module is used to determine the stick pose of the next pose from the target spline curve based on the current stick angle, and generate the current stick handle command based on the stick pose of the next pose;

The bucket analysis module is used to determine the next bucket pose based on the current bucket angle, and generate the current bucket handle command based on the next bucket pose.

Specifically, during leveling operations, the boom analysis module can determine the current tooth tip height based on the current boom angle, current stick angle, and current bucket angle, and then determine the next posture based on the current tooth tip height and the target height The boom pose of the next pose, and generate the current boom handle command based on the boom pose of the next pose.

The stick analysis module can determine the stick pose of the next pose from the target spline curve based on the current stick angle, and generate the current stick boom command based on the stick pose of the next pose. For example, the target spline curve can be used to characterize the relationship between the current stick angle and the next stick angle, and the next stick angle can be determined according to the target spline curve, and then the stick pose of the next pose can be obtained, so that Generate the current stick boom command based on the stick pose. Wherein, the target spline curve may be a curve set by the user according to the actual situation.

The bucket analysis module can determine the next bucket pose based on the current bucket angle, and generate the current bucket boom command based on the next bucket pose. It should be noted that, usually during leveling operations, the bucket angle remains unchanged, that is, the bucket handle command is 0, and the bucket remains stationary.

After obtaining the current boom handle command, the current stick boom command and the current stick boom command, the above commands are sent to the vehicle controller, so that the vehicle controller controls the boom, stick and shovel based on the above commands Bucket cooperation makes the position of the tip of the tooth move linearly to complete the leveling operation.

Based on any of the above embodiments, the boom analysis module includes a first sub-analysis module, a second sub-analysis module and an instruction generation module;

The first sub-analysis module is used to determine the current tooth tip height of the working machine based on the current boom angle, the current arm angle and the current bucket angle; the second sub-analysis module is used to determine the current tooth tip height based on the current tooth tip height and the target tooth tip height. The boom pose of the next pose is determined; the instruction generation module is used to generate the current boom handle instruction based on the boom pose of the next pose.

Specifically, according to the current boom angle, the current stick angle and the current bucket angle, the current tooth tip height of the working machine can be calculated, and combined with the target tooth tip height, the boom pose of the next posture can be obtained, so that Generate the current boom handle commands based on the boom pose for the next pose. Wherein, the target tooth tip height refers to the height that the tooth tip of the working machine needs to reach during leveling operations.

It should be noted that, in order to ensure smooth ground leveling, it is necessary to slowly adjust the height of the tooth tip to the target tooth tip height instead of directly adjusting the tooth tip height to the target tooth tip height.

Based on any of the above embodiments, the second sub-analysis module includes a calculation module and a determination module;

The calculation module is used to determine the boom handle increment based on the current tooth tip height and the target tooth tip height; the determination module is used to determine the boom pose of the next posture based on the previous boom handle instruction and the boom handle increment.

Specifically, the boom handle increment is used to represent the increment of the boom pose of the next pose compared to the current boom pose. Based on the last boom handle instruction and the boom handle increment, the next bit can be determined position of the arm.

To enable the boom to reach the boom pose of the next pose at the next moment, it is necessary to combine the last boom handle command to generate the current boom handle command, so that the vehicle controller can control the boom based on the current boom handle command .

Based on any of the above embodiments, the calculation module includes a first calculation submodule and a second calculation submodule;

The first calculation submodule is used to calculate the difference between the current tooth tip height and the target tooth tip height; the second calculation submodule is used to determine the boom arm increment based on the difference and the derivative of the difference.

Specifically, after obtaining the current tooth tip height and the target tooth tip height, the difference between the two can be determined, and then the difference and the derivative of the difference are used as input to calculate the arm increment of the boom. Wherein, a fuzzy algorithm, a PID algorithm, etc. may be used to calculate the arm increment of the boom, which is not specifically limited in this embodiment of the present application.

As shown in Figure 6, the IMU collects the current boom angle, the current arm angle and the current bucket angle, and the ACU performs pose calculation based on the above angles, and the current tooth tip height can be determined according to the tooth tip trajectory curve, combined with the current tooth tip height and The target tooth tip height determines the tooth tip difference E, and the tooth tip difference E and the imported EC of the tooth tip difference E are used as the input of the fuzzy controller to obtain the boom handle increment, and combined with the last boom handle command to obtain the current dynamic Arm handle commands. In addition, during the leveling operation, the bucket remains stationary, that is, the current bucket handle command is a constant 0; the current bucket handle command can be determined based on the target spline curve. Send the above-mentioned current boom handle command, current arm handle command and current bucket handle command to the VCU, so that the three working devices of the boom, stick and bucket can move in coordination with each other, so that the position of the tooth tip can be moved to realize leveling operations . Among them, the target spline curve can be a curve set by the user according to the actual situation,

Based on any of the above embodiments, the system further includes an abnormality detection unit, configured to generate a standby instruction when an abnormal signal is detected, so that the system enters the debugging state after maintaining the standby state for a preset period of time.

Specifically, if an abnormal situation occurs during leveling operations, the abnormality detection unit will generate a standby command, so that the system will enter the debugging state after maintaining the standby state for a preset period of time. For example, when steel bars are encountered during leveling operations, the tip of the tooth cannot move at this time, but there will be a loading force on the tip of the tooth that will cause excessive torque. At this time, in order to avoid damage to the operating machinery caused by excessive torque, the system can be kept in standby mode After the preset time period, the abnormality is resolved at this time, and you can enter the debugging state to continue the leveling operation.

As shown in Figure 7, the leveling assist function is initially in the OFF state. When the driver turns on the leveling assist function, the system enters the debugging state (IDLE state); when the pose calculation is completed and the system is normal, it enters the work preparation (READY state). ), waiting for the driver to operate.

Based on any of the above-mentioned embodiments, the system further includes an auxiliary unit, which is used to generate an inner leveling operation command when it is detected that both the left and right handles are in the pull-down state, so that the vehicle controller performs inner pulling based on the inner leveling operation command. Leveling operations, or when it is detected that both the left and right handles are in the push-up state, an extrapolation leveling operation instruction is generated, so that the vehicle controller performs extrapolation leveling operation based on the extrapolation leveling operation instruction.

Specifically, the auxiliary unit is used to detect the state of the left and right handles. When the driver pulls down the left and right handles at the same time, the left and right handles are both in the pull-down state, and the system enters the state of pulling in the auxiliary level. Pose, generate the current boom handle command, the current arm handle command and the current bucket handle command and send them to the VCU, perform the inner pull leveling action, complete the leveling action or release any handle, the system returns to the READY state, and the driver Take manual control.

When the driver pushes up the left and right handles at the same time, and both the left and right handles are in the push-up state, the system enters the extrapolation auxiliary leveling state. At this time, an extrapolation leveling operation command is generated, and the ACU obtains the current pose through the IMU to generate the current boom handle command, current The stick handle command and the current bucket handle command are sent to the VCU to perform the push-out leveling action. After the leveling action is completed or any handle is released, the system returns to the READY state and is manually controlled by the driver.

When any abnormality occurs during the auxiliary leveling operation, the system enters the standby state (ABNORMAL state), and returns to the debugging state (IDLE state) after waiting for a certain period of time. When the driver turns off the level assist function, the system enters the shutdown state (OFF state).

It can be seen that the embodiment of the present invention adopts the human-computer interaction scheme to creatively use the combined operation of the handle to replace the complicated touch screen or button setting scheme. For example, pulling down the left and right handles at the same time can quickly trigger the internal leveling operation, and pushing the handle up at the same time can quickly trigger the operation. Extrapolation for leveling operations allows the operator to quickly and flexibly switch between semi-automatic auxiliary operations and manual operations. It is suitable for operations that frequently switch working modes and greatly improves operating efficiency.

The leveling assisting method provided in the present application is described below, and the leveling assisting method described below and the leveling assisting device described above can be referred to in correspondence.

Based on any of the above embodiments, the present application provides a leveling assistance method based on the leveling assistance system described in any of the above embodiments, as shown in FIG. 8 , the method includes:

Step 810, obtaining the current pose of the working machine;

Step 820: Receive the leveling operation request carrying the leveling operation direction, determine the next posture of the working machine based on the leveling operation direction and the current posture, and generate the current leveling operation instruction based on the next posture, so that the working machine The vehicle controller performs leveling operations based on the current leveling operation command.

Specifically, in the embodiment of the present application, an inertial navigation sensor IMU can be respectively installed on the boom, stick, and bucket to obtain the current pose of the work machine, such as the current boom angle, current stick angle, and current position of the work machine. bucket angle etc. Here, the operating machine refers to the construction machine that needs to perform leveling operations, such as an excavator.

After obtaining the current pose of the work machine, determine the next pose of the work machine based on the leveling direction and the current pose in the leveling request, and generate the current leveling command based on the next pose, so that the work machine The vehicle controller performs leveling operations based on the current leveling operation command.

Here, the leveling operation request can be generated when the driver pulls the handle. When the handle is pulled inward, it indicates that the tooth tip of the working machine needs to be close to the vehicle body to complete the leveling operation, that is, the leveling operation direction is that the tooth tip is close to the vehicle body to perform operations. . When the handle is pushed outward, it indicates that the tooth tip of the operating machine needs to be kept away from the vehicle body to complete the leveling operation, that is, the leveling operation direction is that the tooth tip is away from the vehicle body for operation.

The leveling assistance system provided by the embodiment of the present application can obtain the next position based on the current position and posture, and automatically generate the current leveling operation command, so that the vehicle controller of the working machine can perform the leveling operation based on the current leveling operation command, without the need for In the traditional method, it is necessary to frequently turn on and set the leveling auxiliary function, resulting in problems of low efficiency and poor practicability.

Based on any one of the above embodiments, the present application provides a work machine, including: the ground leveling assisting system as described in any one of the above embodiments.

Specifically, the leveling assistance system can automatically determine the next posture of the operation machine based on the leveling operation direction and the current posture in the leveling operation request, and automatically generate the current leveling operation instruction based on the next posture, so that the operation machine The vehicle controller performs leveling operations based on the current leveling operation instructions, so as to avoid the problems of low efficiency and poor practicability caused by the need to frequently turn on and set leveling auxiliary functions in the traditional method.

Fig. 9 is a schematic structural diagram of an electronic device provided by the present application. As shown in Fig. 9, the electronic device may include: a processor (processor) 910, a communication interface (Communications Interface) 920, a memory (memory) 930 and a communication bus 940, Wherein, the processor 910 , the communication interface 920 , and the memory 930 communicate with each other through the communication bus 940 . The processor 910 can call the logic instructions in the memory 930 to execute the leveling assistance method, the method includes: obtaining the current pose of the working machine; receiving a leveling operation request carrying a leveling operation direction, and based on the leveling operation direction and the obtained Based on the current pose, determine the next pose of the work machine, and based on the next pose, generate a current leveling operation command, so that the vehicle controller of the work machine performs the operation based on the current leveling operation command Work on flat ground.

In addition, the above-mentioned logic instructions in the memory 930 may be implemented in the form of software function units and be stored in a computer-readable storage medium when sold or used as an independent product. Based on this understanding, the technical solution of the present application is essentially or the part that contributes to the prior art or the part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including Several instructions are used to make a computer device (which may be a personal computer, a server, or a network device, etc.) execute all or part of the steps of the methods described in the various embodiments of the present application. The aforementioned storage media include: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), magnetic disk or optical disc, etc., which can store program codes. .

On the other hand, the present application also provides a computer program product, the computer program product includes a computer program stored on a non-transitory computer-readable storage medium, the computer program includes program instructions, and when the program instructions are executed by a computer During execution, the computer can execute the leveling assistance method provided by the above methods, the method includes: obtaining the current pose of the working machine; receiving a leveling operation request carrying a leveling operation direction, and based on the leveling operation direction and the current pose, determining a next pose of the working machine, and generating a current leveling operation instruction based on the next posture, so that the vehicle controller of the working machine performs leveling operations based on the current leveling operation instruction .

In yet another aspect, the present application also provides a non-transitory computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, it is implemented to perform the above-mentioned leveling assistance methods provided above, the method includes: obtaining The current pose of the work machine; receiving a leveling operation request carrying a leveling operation direction, and based on the leveling work direction and the current pose, determining the next pose of the work machine, and based on the next position to generate a current leveling operation instruction, so that the vehicle controller of the working machine performs leveling operation based on the current leveling operation instruction.

The device embodiments described above are only illustrative, and the units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in One place, or it can be distributed to multiple network elements. Part or all of the modules can be selected according to actual needs to achieve the purpose of the solution of this embodiment. It can be understood and implemented by those skilled in the art without any creative effort.

Through the above description of the implementations, those skilled in the art can clearly understand that each implementation can be implemented by means of software plus a necessary general hardware platform, and of course also by hardware. Based on this understanding, the essence of the above technical solution or the part that contributes to the prior art can be embodied in the form of software products, and the computer software products can be stored in computer-readable storage media, such as ROM/RAM, magnetic discs, optical discs, etc., including several instructions to make a computer device (which may be a personal computer, server, or network device, etc.) execute the methods described in various embodiments or some parts of the embodiments.

Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present application, rather than limiting them; although the present application has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: it can still Modifications are made to the technical solutions described in the foregoing embodiments, or equivalent replacements are made to some of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the various embodiments of the present application.

Claims

A ground assist system, characterized by comprising:

an acquisition unit, configured to acquire the current pose of the working machine;

an analysis unit, configured to receive a leveling operation request carrying a leveling operation direction, and determine a next posture of the working machine based on the leveling operation direction and the current posture, and based on the next posture, A current leveling operation instruction is generated, so that the vehicle controller of the working machine performs leveling operation based on the current leveling operation instruction.
The ground leveling assistance system according to claim 1, wherein the current leveling operation command includes a current boom handle command, a current stick handle command and a current bucket handle command, and the analysis unit includes a boom analysis module, A stick analysis module and a bucket analysis module, the current pose includes a current boom angle, a current stick angle, and a current bucket angle;

The boom analysis module is used to determine the boom pose in the next pose based on the current boom angle, the current arm angle and the current bucket angle, and determine the boom pose in the next pose based on the boom in the next pose. Pose generates the current boom handle command;

The stick analysis module is used to determine the stick pose of the next pose from the target spline curve based on the current stick angle, and generate the stick pose of the next pose based on the stick pose of the next pose. Describe the current stick handle command;

The bucket analysis module is used to determine the bucket pose of the next pose based on the current bucket angle, and generate the current bucket handle command based on the bucket pose of the next pose .
The leveling assistance system according to claim 2, wherein the boom analysis module includes a first sub-analysis module, a second sub-analysis module, and an instruction generation module;

The first sub-analysis module is used to determine the current tooth tip height of the working machine based on the current boom angle, the current stick angle and the current bucket angle; the second sub-analysis module is used to determine the current tooth tip height based on the The current tooth tip height and the target tooth tip height determine the boom pose of the next pose; the instruction generation module is used to generate the current boom handle instruction based on the boom pose of the next pose .
The leveling assistance system according to claim 3, wherein the second sub-analysis module includes a calculation module and a determination module;

The calculation module is used to determine the boom handle increment based on the current tooth tip height and the target tooth tip height; the determination module is used to determine the boom handle increment based on the last boom handle command and the boom handle increment. The boom pose for the next pose.
The leveling assistance system according to claim 4, wherein the calculation module comprises a first calculation submodule and a second calculation submodule;

The first calculation submodule is used to calculate the difference between the current tooth tip height and the target tooth tip height; the second calculation submodule is used to calculate the difference based on the difference and the derivative of the difference , to determine the boom arm increment.
The ground leveling auxiliary system according to any one of claims 1 to 5, characterized in that the system further comprises an auxiliary unit, configured to generate an internal leveling operation command when it is detected that both the left and right handles are in the pull-down state, so that the vehicle controller can perform the internal leveling operation based on the internal leveling operation command, or generate an external push leveling operation command when it detects that both the left and right handles are in the push-up state, so that the entire vehicle The controller performs an extrapolated ground leveling operation based on the extrapolated ground leveling operation instruction.
A leveling assistance method based on the leveling assistance system according to any one of claims 1 to 6, characterized in that it comprises:

Obtain the current pose of the operating machine;

receiving a leveling operation request carrying a leveling operation direction, and based on the leveling operation direction and the current pose, determining the next posture of the working machine, and generating a current leveling operation instruction based on the next posture , so that the vehicle controller of the working machine performs leveling operations based on the current leveling operation instruction.
An operating machine, characterized by comprising: the ground leveling auxiliary system according to any one of claims 1 to 6.
An electronic device, comprising a memory, a processor, and a computer program stored on the memory and operable on the processor, wherein the processor implements the program described in claim 7 when executing the program. Steps of the Level Assist method.
A non-transitory computer-readable storage medium, on which a computer program is stored, characterized in that, when the computer program is executed by a processor, the steps of the leveling assistance method as claimed in claim 7 are realized.