Working machine working surface construction method, device, equipment and working machine

Abstract

The present invention provides a method, device, equipment and working machine for constructing a working surface of a working machine, and belongs to the technical field of intelligent working machines. The method obtains the laser radar position coordinates of point cloud data; based on an engineering coordinate system, converts the laser radar position coordinates of the point cloud data into engineering position coordinates; obtains the motion parameters of the working machine during operation, updates the engineering position coordinates into modeling position coordinates according to the motion parameters, and obtains updated point cloud data; constructs the working surface of the working machine according to the updated point cloud data, and by placing the point cloud data in an engineering coordinate system, the collaborative operation of multiple working machines can be achieved, and the point cloud data is updated in real time through changes in the motion parameters of the working machine itself, and the working machine is no longer regarded as a whole, so that the constructed working surface of the working machine is more accurate, which helps to improve the operating efficiency of the working machine.

Description

Technical Field

[0001] The present invention relates to the technical field of intelligent working machinery, and in particular to a method, device, equipment and working machinery for constructing a working surface of a working machinery. Background Art

[0002] Working machinery is a widely used working machinery. In order to improve the working efficiency and working accuracy of working machinery and reduce the dependence on manual operation experience, working machinery is used in working areas that are not suitable for human entry. Actual needs have prompted working machinery to develop in the direction of intelligence, autonomy and robotization. The autonomous operation of working machinery depends on the perception of working conditions and the reconstruction of the three-dimensional contour surface of the working surface, which can be used for the planning and decomposition of subsequent working tasks, excavation trajectory planning and control, etc.

[0003] At present, the three-dimensional model of the working surface of the working machinery is mostly established by installing the laser radar on the top of the working machinery's cab or on the mechanical arm, and then converting the data obtained by the sensor into the working machinery's coordinate system for point cloud data processing to fit the three-dimensional model of the working surface.

[0004] However, the accuracy of the working surface of the working machine constructed in the working machine coordinate system is relatively low, resulting in relatively low working efficiency of the working machine. Summary of the invention

[0005] The present invention provides a method, device, equipment and working machine for constructing a working surface of a working machine, so as to solve the defect of low precision of the working surface of the working machine in the prior art, realize the construction of a working surface of the working machine with higher precision, and improve the working efficiency of the working machine.

[0006] The present invention provides a method for constructing a working surface of a working machine, comprising:

[0007] Get the laser radar position coordinates of point cloud data;

[0008] Based on the engineering coordinate system, convert the laser radar position coordinates of the point cloud data into engineering position coordinates;

[0009] Acquiring motion parameters of the working machine during operation, updating the engineering position coordinates to modeling position coordinates according to the motion parameters, and obtaining updated point cloud data;

[0010] The working surface of the working machine is constructed based on the updated point cloud data.

[0011] According to a method for constructing a working surface of a working machine provided by the present invention, constructing a working surface of the working machine according to the updated point cloud data comprises:

[0012] Establishing a grid map based on the engineering coordinate system;

[0013] According to the modeling position coordinates, determining in the grid map the grid where the updated point cloud data is located and the real-time grid height corresponding to the grid;

[0014] The working surface of the working machinery is constructed according to each real-time grid height and the previous grid height of the grid.

[0015] According to a method for constructing a working surface of a working machine provided by the present invention, the working surface of the working machine is constructed according to each real-time grid height and the previous grid height of the grid, including:

[0016] Determine the height difference between the real-time grid height and the previous grid height;

[0017] According to the relationship between the height difference and the preset height difference threshold, the updated grid height is determined to construct the working surface of the working machinery.

[0018] According to a method for constructing a working surface of a working machine provided by the present invention, determining the updated grid height according to the relationship between the height difference and a preset height difference threshold comprises:

[0019] When the height difference is less than or equal to a preset height difference threshold, calculating an average value of the previous grid height and the real-time grid height as an updated grid height;

[0020] When the height difference is greater than the preset height difference threshold, the real-time grid height is determined as the updated grid height.

[0021] According to a method for constructing a working surface of a working machine provided by the present invention, the step of converting the laser radar position coordinates of the point cloud data into an engineering coordinate system to obtain the engineering position coordinates includes:

[0022] Converting the laser radar position coordinates of the point cloud data into the working machine coordinate system to obtain the working machine position coordinates;

[0023] Based on the positional relationship between the working machine coordinate system and the engineering coordinate system in the world coordinate system, the working machine position coordinates are converted into the engineering coordinate system to obtain the engineering position coordinates.

[0024] According to a method for constructing a working surface of a working machine provided by the present invention, the step of converting the working machine coordinates into an engineering coordinate system to obtain engineering position coordinates includes:

[0025] Converting the working machine position coordinates into a world coordinate system to obtain world position coordinates;

[0026] The world position coordinates are converted into an engineering coordinate system to obtain engineering position coordinates.

[0027] According to a method for constructing a working surface of a working machine provided by the present invention, the motion parameters include: at least one of a vibration parameter, a rotation parameter, a straight-moving parameter and a turning parameter;

[0028] Correspondingly, updating the engineering position coordinates to modeling position coordinates according to the action parameters includes:

[0029] Based on a preset conversion relationship, the engineering position coordinates are updated to modeling position coordinates according to the vibration parameters, rotation parameters, straight-moving parameters and turning parameters.

[0030] The present invention also provides a working surface construction device for a working machine, comprising:

[0031] The acquisition module is used to obtain the laser radar position coordinates of the point cloud data;

[0032] A conversion module, used for converting the laser radar position coordinates of the point cloud data into engineering position coordinates based on an engineering coordinate system;

[0033] An updating module, used for acquiring the motion parameters of the working machine during operation, and updating the engineering position coordinates to the modeling position coordinates according to the motion parameters to obtain updated point cloud data;

[0034] A construction module is used to construct a working surface of the working machinery according to the updated point cloud data.

[0035] The present invention also provides an electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, the steps of any of the above-mentioned methods for constructing a working surface of an operating machine are implemented.

[0036] The present invention also provides a non-transitory computer-readable storage medium on which a computer program is stored. When the computer program is executed by a processor, the steps of the method for constructing a working surface of a working machine as described in any one of the above are implemented.

[0037] The present invention also provides a computer program product, comprising a computer program, which, when executed by a processor, implements the steps of any of the above-mentioned methods for constructing a working surface of a working machine.

[0038] The present invention also provides a working machine, comprising a working machine body and a control system;

[0039] The control system controls the operation of the working machine body through any of the working machine working surface construction methods described above.

[0040] The present invention provides a method, device, equipment and working machine for constructing a working surface of a working machine. The method obtains the laser radar position coordinates of point cloud data; based on the engineering coordinate system, converts the laser radar position coordinates of the point cloud data into engineering position coordinates; obtains the motion parameters of the working machine during operation, updates the engineering position coordinates into modeling position coordinates according to the motion parameters, and obtains updated point cloud data; constructs the working surface of the working machine according to the updated point cloud data, and by placing the point cloud data in the engineering coordinate system, the collaborative operation of multiple working machines can be achieved, and the point cloud data is updated in real time through the changes in the motion parameters of the working machine itself. The working machine is no longer regarded as a whole, so that the constructed working surface of the working machine is more accurate, which helps to improve the working efficiency of the working machine. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0042] Figure 1 It is a schematic flow chart of a method for constructing a working surface of a working machine provided in an embodiment of the present invention;

[0043] Figure 2 It is a structural schematic diagram of a working surface construction device for a working machine provided in an embodiment of the present invention;

[0044] Figure 3 It is a schematic diagram of the structure of an electronic device provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0045] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the drawings of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0046] The working surface refers to the space that a certain type of professional must have when processing construction products. During foundation construction, due to the needs of certain projects or to ensure the convenience of construction workers, some area must be added on both sides of the cushion layer when digging. This area is called the working surface.

[0047] Combine the following Figures 1 to 3The present invention describes a method, device, equipment and working machine for constructing a working surface of a working machine.

[0048] Figure 1 It is a flow chart of a method for constructing a working surface of a working machine provided in an embodiment of the present invention.

[0049] like Figure 1 As shown, a method for constructing a working surface of a working machine provided by an embodiment of the present invention comprises the following steps:

[0050] 101. Obtain the laser radar position coordinates of the point cloud data.

[0051] Specifically, first install the laser radar on the working machine, calibrate it, and get the external parameters of the laser radar coordinate system relative to the working machine coordinate system. The rotation is recorded as R1 and the translation is recorded as t1. The laser radar coordinate system takes the laser radar as the coordinate origin, and the working machine coordinate system takes the working machine as a whole as the coordinate origin. Obtain point cloud data through laser radar. For example, set the position a of the point cloud data in the laser radar coordinate system. i =(x i ,y i ,z i )(i represents the i-th lidar point).

[0052] 102. Based on the engineering coordinate system, convert the laser radar position coordinates of the point cloud data into engineering position coordinates.

[0053] Specifically, based on the engineering coordinate system, the laser radar position coordinates of the point cloud data are converted into the engineering position coordinates, including: converting the laser radar position coordinates of the point cloud data into the working machine coordinate system to obtain the working machine position coordinates, which can be recorded as a i =R1*ai+t1. Then, based on the positional relationship between the working machine coordinate system and the engineering coordinate system in the world coordinate system, the working machine position coordinates are converted to the engineering coordinate system to obtain the engineering position coordinates, and the working machine coordinates are converted to the engineering coordinate system to obtain the engineering position coordinates, including: converting the working machine position coordinates to the world coordinate system to obtain the world position coordinates; converting the world position coordinates to the engineering coordinate system to obtain the engineering position coordinates, and calculating the rotation amount R0 and the translation amount t0 of the working machine coordinate system relative to the engineering coordinate system at the initial moment, and knowing the position a of the point cloud data in the engineering coordinate system. i=R0*(R1*ai+t1)+t0. The position of the engineering coordinate system in the world coordinate system is known, and the real-time kinematic (RTK) navigation equipment and sensors (such as lidar, camera, etc.) are integrated to measure the position of the operating machinery in the world coordinate system. Finally, the point cloud data is converted to the engineering coordinate system, which can also be used as a reference to reconstruct the point cloud data of the working surface in the future without considering their data sources.

[0054] 103. Obtain the motion parameters of the operating machine during operation, update the engineering position coordinates to the modeling position coordinates according to the motion parameters, and obtain updated point cloud data.

[0055] Specifically, when the operating machinery is performing real-time operations, the amplitude of its own movements is generally large, including vibration, body rotation, etc. Therefore, in order to ensure the accuracy of the established working surface, when establishing the working surface or reconstructing the working surface, it is necessary to obtain the motion parameters of the operating machinery during operation, including: at least one of vibration parameters, rotation parameters, straight-ahead parameters and turning parameters. Taking the excavator as an example, the rotation parameters can be the upper body rotation parameters, and the straight-ahead parameters and turning parameters can be the lower body straight-ahead parameters and lower body turning parameters. The point cloud data is then updated in combination with the working parameters of the operating machinery itself, making the data more accurate, and the final constructed working surface is also more accurate.

[0056] Taking the crushing operation as an example, the engineering position coordinates are updated to the modeling position coordinates according to the action parameters, including: based on the preset conversion relationship, the engineering position coordinates are updated to the modeling position coordinates according to the vibration parameters, rotation parameters, straight parameters and turning parameters. First, it is necessary to use a sensor (such as a high-precision imu) to measure the vibration of the operating machinery during operation, and the corresponding rotation amount R2 and translation amount t2 are measured. The position coordinates of the point cloud data under vibration can be recorded as a i = R0*(R2*(R1*ai+t1)+t2)+t0. If the operation requires rotation, such as throwing, the rotation amount R3 measured by the angle sensor, the position coordinate a of the point cloud at this time i =R0*(R2*(R3*(R1*ai+t1))+t2)+t0. When the machine is moving straight or turning, the rotation R4 and translation t4 measured by the sensor are the position coordinates a of the point cloud in the engineering coordinate system. i=R0*(R2*(R4*(R3*(R1*ai+t1))+t4)+t2)+t0, the preset conversion relationship is the corresponding multiple calculation formulas. Thus, the modeling position coordinates of the point cloud data combined with the operating machine's own motion parameters in the engineering coordinate system are obtained, thereby updating the point cloud data to obtain updated point cloud data. In the working process of the operating machine, as the work continues, the working environment of the operating machine changes. By updating the point cloud data in real time, a working surface that is more conducive to the operation of the operating machine can be constructed.

[0057] 104. Construct the working surface of the operating machinery based on the updated point cloud data.

[0058] After obtaining the point cloud data, the working surface of the operating machinery can be constructed based on the latest point cloud data. Specifically, it includes first establishing a grid map based on the engineering coordinate system; the setting of the grid side length must take into account both the computing power of the operating machinery and meet the target requirements. Then, according to the modeling position coordinates, the updated point cloud data (x i ,y i ) and the real-time grid height z corresponding to the grid i ; According to each real-time grid height and the previous grid height of the grid, the working surface of the working machinery is constructed. Among them, according to each real-time grid height and the previous grid height of the grid, the working surface of the working machinery is constructed, including: assuming that there are already point clouds n (n ≥ 0) in a grid, the corresponding grid height when the working surface is not reconstructed is the previous grid height z o , and the updated point cloud data falls into the grid, and the updated grid height is recorded as the real-time grid height z n , determine the real-time grid height z n The same as the previous grid height z o The height difference Δz=|z o -z n |; According to the relationship between the height difference and the preset height difference threshold, the updated grid height is determined to construct the working surface of the working machinery. Δ The relationship between , determines the updated grid height, including: when the height difference is less than or equal to the preset height difference threshold, that is, Δz≤z Δ When the grid height is updated, the average value of the last grid height and the real-time grid height is calculated as the updated grid height. The calculation process is z = (n*z o +z n ) / (n+1), n ​​represents the number of point clouds, when the height difference is greater than the preset height difference threshold, that is, Δz>z ΔWhen the real-time grid height is determined as the updated grid height, the grid height update is completed. During the real-time working process of the operating machinery, the working surface is reconstructed and updated in real time, ensuring that the working surface is closer to the actual working condition. At the same time, when reconstructing the model, the previous data is used and combined with the real-time updated data, which better improves the accuracy of the working surface of the operating machinery.

[0059] By using high-precision sensors to measure the motion parameters of the operating machinery, including the rotation and translation of vibration, the rotation of the slewing, the translation of the straight line, the rotation and translation of the turning, and then adding all of them to the point cloud data, the position of the point cloud data in the engineering coordinate system can be accurately calculated, and then a more accurate operating surface of the operating machinery can be reconstructed. When reconstructing the operating surface in real time, both the last point cloud data and the current point cloud data must be retained. Based on the last point cloud data, if the operating surface changes, the current point cloud data is used to replace the last point cloud data for reconstruction, otherwise the current point cloud data is added to the last point cloud data for reconstruction, which can further improve the accuracy of the operating surface of the operating machinery.

[0060] A method for constructing a working surface of a working machine provided by an embodiment of the present invention comprises the following steps: obtaining the laser radar position coordinates of point cloud data; converting the laser radar position coordinates of the point cloud data into engineering position coordinates based on an engineering coordinate system; obtaining the motion parameters of the working machine during operation, updating the engineering position coordinates into modeling position coordinates according to the motion parameters, and obtaining updated point cloud data; constructing the working surface of the working machine according to the updated point cloud data, and realizing collaborative operation of multiple working machines by placing the point cloud data in an engineering coordinate system. The point cloud data is updated in real time through changes in the motion parameters of the working machine itself, and the working machine is no longer regarded as a whole, so that the constructed working surface of the working machine is more accurate, which helps to improve the working efficiency of the working machine.

[0061] Furthermore, based on the above embodiment, in this embodiment, a depth camera can be used instead of a solid-state laser radar to obtain point cloud data, and the reconstruction of the working surface of the working machine can also be completed. At the same time, the operating efficiency of the working machine when the working surface construction method of the working machine in this embodiment is used can also be statistically obtained, and the frequency of the laser radar or the depth camera for collecting point cloud data can be set according to the actual working requirements of the working machine, so as to ensure both the working efficiency and the service life of the laser radar or the depth camera.

[0062] Based on the same general inventive concept, the present application also protects a working surface construction device for a working machine. The working surface construction device for the working machine provided by the present invention is described below. The working surface construction device for the working machine described below and the working surface construction method for the working machine described above can be referenced to each other.

[0063] Figure 2 It is a schematic structural diagram of a working surface construction device for a working machine provided in an embodiment of the present invention.

[0064] like Figure 2 As shown, an embodiment of the present invention provides a working surface construction device for a working machine, comprising:

[0065] An acquisition module 21 is used to acquire the laser radar position coordinates of the point cloud data;

[0066] A conversion module 22, for converting the laser radar position coordinates of the point cloud data into engineering position coordinates based on an engineering coordinate system;

[0067] An updating module 23, used for obtaining the action parameters of the working machine during operation, and updating the engineering position coordinates to the modeling position coordinates according to the action parameters to obtain updated point cloud data;

[0068] The construction module 24 is used to construct the working surface of the working machine according to the updated point cloud data.

[0069] An embodiment of the present invention provides a device for constructing a working surface of a working machine, which obtains the laser radar position coordinates of point cloud data; based on an engineering coordinate system, converts the laser radar position coordinates of the point cloud data into engineering position coordinates; obtains the motion parameters of the working machine during operation, updates the engineering position coordinates into modeling position coordinates according to the motion parameters, and obtains updated point cloud data; constructs the working surface of the working machine according to the updated point cloud data, and by placing the point cloud data in an engineering coordinate system, it is possible to achieve collaborative operation of multiple working machines, and the point cloud data is updated in real time through changes in the motion parameters of the working machine itself. The working machine is no longer regarded as a whole, so that the constructed working surface of the working machine is more accurate, which helps to improve the working efficiency of the working machine.

[0070] Furthermore, the construction module 24 in this embodiment is specifically used for:

[0071] Establishing a grid map based on the engineering coordinate system;

[0072] According to the modeling position coordinates, determining in the grid map the grid where the updated point cloud data is located and the real-time grid height corresponding to the grid;

[0073] The working surface of the working machinery is constructed according to each real-time grid height and the previous grid height of the grid.

[0074] Furthermore, the construction module 24 in this embodiment is also specifically used for:

[0075] Determine the height difference between the real-time grid height and the previous grid height;

[0076] According to the relationship between the height difference and the preset height difference threshold, the updated grid height is determined to construct the working surface of the working machinery.

[0077] Furthermore, the construction module 24 in this embodiment is also specifically used for:

[0078] When the height difference is less than or equal to a preset height difference threshold, calculating an average value of the previous grid height and the real-time grid height as an updated grid height;

[0079] When the height difference is greater than the preset height difference threshold, the real-time grid height is determined as the updated grid height.

[0080] Furthermore, the conversion module 22 in this embodiment is specifically used for:

[0081] Converting the laser radar position coordinates of the point cloud data into the working machine coordinate system to obtain the working machine position coordinates;

[0082] Based on the positional relationship between the working machine coordinate system and the engineering coordinate system in the world coordinate system, the working machine position coordinates are converted into the engineering coordinate system to obtain the engineering position coordinates.

[0083] Furthermore, the conversion module 22 in this embodiment is further configured to:

[0084] Converting the working machine position coordinates into a world coordinate system to obtain world position coordinates;

[0085] The world position coordinates are converted into an engineering coordinate system to obtain engineering position coordinates.

[0086] Further, the motion parameters in this embodiment include: at least one of a vibration parameter, a rotation parameter, a straight-moving parameter, and a turning parameter;

[0087] Correspondingly, the updating module 23 is specifically used for:

[0088] Based on a preset conversion relationship, the engineering position coordinates are updated to modeling position coordinates according to the vibration parameters, rotation parameters, straight-moving parameters and turning parameters.

[0089] Figure 3 It is a schematic diagram of the structure of an electronic device provided by an embodiment of the present invention.

[0090] like Figure 3As shown, the electronic device may include: a processor 310, a communication interface 320, a memory 330 and a communication bus 340, wherein the processor 310, the communication interface 320 and the memory 330 communicate with each other through the communication bus 340. The processor 310 may call the logic instructions in the memory 330 to execute the method for constructing the working surface of the working machine, the method comprising: obtaining the laser radar position coordinates of the point cloud data; based on the engineering coordinate system, converting the laser radar position coordinates of the point cloud data into engineering position coordinates; obtaining the action parameters of the working machine during operation, updating the engineering position coordinates into modeling position coordinates according to the action parameters, and obtaining updated point cloud data; and constructing the working surface of the working machine according to the updated point cloud data.

[0091] The present invention also provides a working machine, comprising a working machine body and a control system;

[0092] The control system controls the operation of the working machine body through the working machine working surface construction method as described in any of the above embodiments.

[0093] In addition, the logic instructions in the above-mentioned memory 330 can be implemented in the form of a software functional unit and can be stored in a computer-readable storage medium when it is sold or used as an independent product. Based on such an understanding, the technical solution of the present invention, in essence, 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 a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk and other media that can store program codes.

[0094] On the other hand, the present invention also provides a computer program product, which includes a computer program stored on a non-transitory computer-readable storage medium, and the computer program includes program instructions. When the program instructions are executed by a computer, the computer can execute the working surface construction method of the working machinery provided by the above-mentioned methods, and the method includes: obtaining the laser radar position coordinates of the point cloud data; based on the engineering coordinate system, converting the laser radar position coordinates of the point cloud data into engineering position coordinates; obtaining the action parameters of the working machinery during operation, updating the engineering position coordinates to modeling position coordinates according to the action parameters, and obtaining updated point cloud data; and constructing the working surface of the working machinery according to the updated point cloud data.

[0095] On the other hand, the present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a processor, it is implemented to execute the above-mentioned methods for constructing a working surface of an operating machine, the method comprising: obtaining the laser radar position coordinates of the point cloud data; based on the engineering coordinate system, converting the laser radar position coordinates of the point cloud data into engineering position coordinates; obtaining the motion parameters of the operating machine during operation, updating the engineering position coordinates into modeling position coordinates according to the motion parameters, and obtaining updated point cloud data; and constructing the working surface of the operating machine according to the updated point cloud data.

[0096] The device embodiments described above are merely illustrative, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. Ordinary technicians in this field can understand and implement it without paying creative labor.

[0097] Through the description of the above implementation methods, those skilled in the art can clearly understand that each implementation method can be implemented by means of software plus a necessary general hardware platform, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solution is essentially or the part that contributes to the prior art can be embodied in the form of a software product, and the computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, a disk, an optical disk, etc., including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or some parts of the embodiments.

[0098] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for constructing a working surface of a working machine, characterized in that: include: Get the laser radar position coordinates of point cloud data; Based on the engineering coordinate system, convert the laser radar position coordinates of the point cloud data into engineering position coordinates; Acquire the action parameters of the working machine during operation, update the engineering position coordinates to the modeling position coordinates according to the action parameters, and obtain updated point cloud data; constructing a working surface of the working machine according to the updated point cloud data; Wherein, constructing a working surface of the working machine according to the updated point cloud data includes: Establishing a grid map based on the engineering coordinate system; According to the modeling position coordinates, determining in the grid map the grid where the updated point cloud data is located and the real-time grid height corresponding to the grid; Constructing a working surface of the working machinery according to each of the real-time grid heights and the previous grid height of the grid; The step of constructing a working surface of the working machine according to each real-time grid height and the previous grid height of the grid includes: Determine the height difference between the real-time grid height and the previous grid height; According to the relationship between the height difference and the preset height difference threshold, the grid height is determined to be updated and the working surface of the working machinery is constructed; The step of determining the updated grid height according to the relationship between the height difference and a preset height difference threshold comprises: When the height difference is less than or equal to a preset height difference threshold, calculating an average value of the previous grid height and the real-time grid height as an updated grid height; When the height difference is greater than the preset height difference threshold, the real-time grid height is determined as the updated grid height.

2. The method for constructing a working surface of a working machine according to claim 1, characterized in that: The step of converting the laser radar position coordinates of the point cloud data into an engineering coordinate system to obtain the engineering position coordinates includes: Converting the laser radar position coordinates of the point cloud data into the working machine coordinate system to obtain the working machine position coordinates; Based on the positional relationship between the working machine coordinate system and the engineering coordinate system in the world coordinate system, the working machine position coordinates are converted into the engineering coordinate system to obtain the engineering position coordinates.

3. The method for constructing a working surface of a working machine according to claim 2, characterized in that: The step of converting the working machine coordinates into an engineering coordinate system to obtain engineering position coordinates includes: Converting the working machine position coordinates into a world coordinate system to obtain world position coordinates; The world position coordinates are converted into an engineering coordinate system to obtain engineering position coordinates.

4. The method for constructing a working surface of a working machine according to claim 1, characterized in that: The motion parameters include: at least one of a vibration parameter, a rotation parameter, a straight-moving parameter, and a turning parameter; Correspondingly, updating the engineering position coordinates to modeling position coordinates according to the action parameters includes: Based on a preset conversion relationship, the engineering position coordinates are updated to modeling position coordinates according to the vibration parameters, rotation parameters, straight-moving parameters and turning parameters.

5. A working surface construction device for a working machine, characterized in that: include: The acquisition module is used to obtain the laser radar position coordinates of the point cloud data; A conversion module, used for converting the laser radar position coordinates of the point cloud data into engineering position coordinates based on an engineering coordinate system; An updating module, used for acquiring the motion parameters of the working machine during operation, and updating the engineering position coordinates to the modeling position coordinates according to the motion parameters to obtain updated point cloud data; A construction module, used to construct a working surface of the working machine according to the updated point cloud data; The construction module is specifically used to construct a working surface of the working machine according to the updated point cloud data, including: Establishing a grid map based on the engineering coordinate system; According to the modeling position coordinates, determining in the grid map the grid where the updated point cloud data is located and the real-time grid height corresponding to the grid; Constructing a working surface of the working machinery according to each of the real-time grid heights and the previous grid height of the grid; The construction module is specifically used to construct a working surface of the working machine according to each real-time grid height and the previous grid height of the grid, including: Determine the height difference between the real-time grid height and the previous grid height; According to the relationship between the height difference and the preset height difference threshold, the grid height is determined to be updated and the working surface of the working machinery is constructed; The construction module is specifically used to determine the updated grid height according to the relationship between the height difference and the preset height difference threshold, including: When the height difference is less than or equal to a preset height difference threshold, calculating an average value of the previous grid height and the real-time grid height as an updated grid height; When the height difference is greater than the preset height difference threshold, the real-time grid height is determined as the updated grid height.

6. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the program, the steps of the method for constructing a working surface of a working machine as described in any one of claims 1 to 4 are implemented.

7. A working machine, characterized in that: Including operating machinery body and control system; The control system controls the operation of the working machine body through the working machine working surface construction method according to any one of claims 1 to 4.

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