Work machine, and auxiliary control method, controller, and medium for automatic work thereof

Abstract

The application discloses a working machine and an auxiliary control method, a controller and a medium for automatic working of the working machine, and comprises the following steps: in the process that the working machine goes back and forth between multiple working positions, real-time acquisition of relative position information between the working machine and a target working position, driving condition parameters of the working machine and load state parameters of a hydraulic system; determination of an arrival time when the working machine reaches the target working position according to the relative position information and the driving condition parameters; determination of an execution time required for a working device to perform a target action according to the load state parameters; determination of a triggering time of the target action according to the arrival time and the execution time; in the case that the current time reaches the triggering time, control of the hydraulic system to drive the working device to perform the target action, so that the time when the target action is performed is matched with the time when the working machine reaches the target working position. The application realizes timing coordination of walking and hydraulic action, improves working efficiency and reduces energy consumption.

Description

Technical Field

[0001] This application relates to the field of construction machinery technology, specifically to a construction machine and its automatic operation auxiliary control method, controller and medium. Background Technology

[0002] Operating machinery is widely used in material loading and unloading operations in scenarios such as mines, ports, and construction sites. In typical loading operations, the equipment needs to repeatedly perform the entire process of "picking up materials - heavy-load travel - unloading - empty return", which involves complex coordinated control of the traveling mechanism and working devices (such as booms and working tools).

[0003] Currently, the machinery mainly relies on manual operation by the driver. The operator needs to control the driving speed in real time according to the site conditions, while manually operating the hydraulic handle to control the lifting of the working device and the tilting of the working tools, completing the entire cycle from picking up material from the stockpile to unloading from the truck. This process requires extremely high skills from the driver and requires long-term experience to achieve high efficiency.

[0004] Furthermore, existing automation technologies primarily focus on single operational scenarios. For example, they may use lidar or visual sensing to achieve automatic material handling control, or develop auxiliary functions such as automatic lifting and leveling. These technologies only provide assistance at a certain point in the work cycle and fail to form a complete automated work cycle.

[0005] Therefore, the existing automated control methods for operating machinery suffer from low operating efficiency and high energy consumption. Summary of the Invention

[0006] The purpose of this application is to provide an auxiliary control method, controller, and machine-readable storage medium for operating machinery and its automatic operation, so as to solve the problems of low operating efficiency and high energy consumption in the existing automated control methods for operating machinery.

[0007] To achieve the above objectives, the first aspect of this application provides an auxiliary control method for the automatic operation of a machine. The machine includes a working device and a hydraulic system. The working device is driven by the hydraulic system to perform operating actions. The auxiliary control method includes: During the process of the operating machinery moving back and forth between multiple operating positions, the relative position information between the operating machinery and the target operating position, the operating condition parameters of the operating machinery, and the load status parameters of the hydraulic system are acquired in real time. Based on relative position information and driving condition parameters, determine the arrival time of the operating machinery to the target operating position; Determine the execution time required for the working device to perform the target action corresponding to the target work position based on the load status parameters; Determine the trigger time of the target action based on the arrival time and execution time; When the trigger time is reached at the current moment, the hydraulic system is controlled to drive the working device to perform the target action, so that the time when the target action is completed matches the time when the working machinery arrives at the target working position.

[0008] In this embodiment of the application, the operating parameters of the operating machinery may include at least one of the following: driving speed, acceleration, and road gradient.

[0009] In this embodiment of the application, multiple operating locations include unloading locations; when the target operating location is the unloading location, determining the arrival time of the operating machinery at the target operating location based on relative position information and driving condition parameters may include: Determine the first travel distance from the working device to the unloading position based on the relative position information; The effective travel distance of the operating machinery is determined based on the first travel distance and the preset safety buffer distance. The driving speed is compensated based on the acceleration and the preset acceleration compensation coefficient to obtain the first compensated speed; The slope compensation item is determined based on the road gradient and the preset slope compensation coefficient. The arrival time is determined based on the effective driving distance, the first compensation speed, and the slope compensation.

[0010] In this embodiment of the application, multiple working locations include material picking locations; when the target working location is a material picking location, determining the arrival time of the working machinery at the target working location based on relative position information and driving condition parameters may include: The second travel distance from the working device to the material picking position is determined based on the relative position information; The second compensated speed is obtained by compensating the preset maximum allowable speed based on the acceleration and preset deceleration compensation coefficient; The slope compensation item is determined based on the road gradient and the preset slope compensation coefficient; the arrival time is determined based on the second driving distance, the second compensation speed, and the slope compensation item.

[0011] In this embodiment of the application, the working device includes a boom, and multiple working positions include an unloading position. The target action corresponding to the unloading position is a boom lifting action. When the target operating position is the unloading position, the load state parameters include the actual pressure of the hydraulic system. Based on these load state parameters, the execution time required for the working device to perform the target action corresponding to the target operating position can be determined, and may include: Determine the pressure difference between the actual pressure and the preset reference pressure; The pressure compensation time is determined based on the pressure difference and the preset pressure compensation coefficient. The execution time of the boom lifting action is determined based on the preset reference lifting time and pressure compensation time of the boom under no-load conditions.

[0012] In this embodiment of the application, the working device includes a boom, and multiple working positions include a material picking position. The target action corresponding to the material picking position is a boom lowering action. When the target working position is the material picking position, the load state parameters include the actual oil temperature of the hydraulic system. Based on these load state parameters, the execution time required for the working device to perform the target action corresponding to the target working position can be determined, and may include: Determine the temperature difference between the actual oil temperature and the preset reference oil temperature; The oil temperature compensation time is determined based on the oil temperature difference and the preset oil temperature compensation coefficient. The execution time of the boom lowering action is determined based on the preset reference lowering time and oil temperature compensation time of the boom under no-load conditions.

[0013] In this embodiment of the application, the working machinery further includes a traveling mechanism. While controlling the hydraulic system to drive the working device to perform the target action, the auxiliary control method may also include: A speed limit command is sent synchronously to the traveling mechanism to keep the traveling speed of the working machinery below a preset safety threshold.

[0014] A second aspect of this application provides a controller, comprising: The memory is configured to store instructions; and The processor is configured to retrieve instructions from memory and, when executing the instructions, to implement the aforementioned auxiliary control method for automatic operation of the machine.

[0015] A third aspect of this application provides a work machine, comprising: The aforementioned controller; Working device and hydraulic system; A hydraulic system is used to drive a working device to perform operational actions.

[0016] A fourth aspect of this application provides a machine-readable storage medium storing instructions for causing a machine to perform the aforementioned auxiliary control method for automated operation of a work machinery.

[0017] The aforementioned technical solution, during the process of the working machinery traveling to and from multiple work positions, acquires in real time the relative position information between the working machinery and the target work position, the driving condition parameters of the working machinery, and the load status parameters of the hydraulic system. Then, based on the relative position information and driving condition parameters, it determines the arrival time of the working machinery at the target work position. Simultaneously, based on the load status parameters, it determines the execution time required for the working device to perform the target action corresponding to the target work position. Next, based on the arrival time and execution time, it determines the trigger time of the target action. Finally, when the trigger time is reached, it controls the hydraulic system to drive the working device to execute the target action, so that the completion time of the target action matches the arrival time of the working machinery at the target work position. This application, by acquiring position information, driving condition, and load status parameters in real time, predicts the arrival time at the target position and the execution time required for the target action, and then reverse-engineers the action trigger time, achieving time-series coordination between travel and hydraulic action, which is beneficial for improving work efficiency and reducing energy consumption.

[0018] Other features and advantages of the embodiments of this application will be described in detail in the following detailed description section. Attached Figure Description

[0019] The accompanying drawings are provided to further illustrate the embodiments of this application and form part of the specification. They are used together with the following detailed description to explain the embodiments of this application, but do not constitute a limitation on the embodiments of this application. In the drawings: Figure 1 A flowchart illustrating an auxiliary control method for automated operation of machinery provided in this application embodiment; Figure 2 This is a structural block diagram of a controller provided in an embodiment of this application. Detailed Implementation

[0020] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are only for illustration and explanation of the embodiments of this application and are not intended to limit the embodiments of this application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are within the scope of protection of this application.

[0021] It should be noted that the acquisition, transmission, storage, use, and processing of data in the technical solution of this application all comply with relevant laws and regulations. In the embodiments of this application, certain existing industry solutions such as software, components, and models may be mentioned. These should be considered exemplary, intended only to illustrate the feasibility of implementing the technical solution of this application, and do not imply that the applicant has already used or necessarily used such solutions.

[0022] It should be noted that if the embodiments of this application involve directional indicators (such as up, down, left, right, front, back, etc.), the directional indicators are only used to explain the relative positional relationship and movement of each component in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indicators will also change accordingly.

[0023] Furthermore, if the embodiments of this application involve descriptions such as "first" or "second," these descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, features defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the technical solutions of various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. If the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed in this application.

[0024] Figure 1 This is a flowchart illustrating an auxiliary control method for automated operation of machinery, provided in an embodiment of this application. Figure 1 As shown in the figure, this application provides an auxiliary control method for automatic operation of a machine. The machine includes a working device and a hydraulic system. The working device is driven by the hydraulic system to perform the operation. The auxiliary control method may include the following steps.

[0025] Step S101: During the process of the working machine traveling back and forth between multiple working positions, the relative position information between the working machine and the target working position, the driving condition parameters of the working machine, and the load status parameters of the hydraulic system are acquired in real time.

[0026] In this embodiment, multiple work locations refer to the locations that the working machinery needs to repeatedly reach during a complete work cycle, typically including material pick-up locations (such as material piles) and unloading locations (such as truck beds). The target work location refers to the destination that the working machinery is currently heading to in the work cycle, which can be either a material pick-up location or an unloading location. Relative position information is data reflecting the spatial relationship between the current position of the working machinery and the target work location, such as straight-line distance and relative orientation. Driving condition parameters are parameters reflecting the driving state and environmental conditions of the working machinery, including but not limited to driving speed, acceleration, and parameters reflecting road slope. Load state parameters are state quantities reflecting the current working load of the hydraulic system, including hydraulic system pressure and hydraulic oil temperature.

[0027] In one example, the relative position information between the operating machinery and the target working location can be obtained using radar sensors. A millimeter-wave radar is installed on the top of the operating machinery's cab, scanning obliquely upwards and forwards to capture the truck bed position and calculate the horizontal distance from the tip of the operating tool to the unloading point in real time. Simultaneously, another millimeter-wave radar is installed in front of the vehicle, scanning downwards and forwards to identify the leading edge of the material pile and obtain the straight-line distance from the front of the operating machinery to the material pile in real time. Driving condition parameters can be obtained through a combined navigation system, including a real-time dynamic differential global navigation satellite system receiver and an inertial measurement unit, fusing and outputting real-time driving speed, acceleration, and vehicle pitch angle. Load status parameters can be collected in real time using hydraulic system pressure and temperature sensors.

[0028] Step S102: Determine the arrival time of the working machinery to the target working position based on the relative position information and driving condition parameters.

[0029] In this embodiment, arrival time refers to the predicted time required for the working machinery to travel to the target working position from the current moment in its current motion state. In one example, the straight-line distance can be obtained based on the relative position information, the current instantaneous speed can be obtained based on the driving condition parameters, and the basic arrival time can be obtained by dividing the straight-line distance by the current instantaneous speed. The basic arrival time can be corrected according to the direction and magnitude of acceleration, shortening the time when accelerating and lengthening the time when decelerating, thus obtaining the final arrival time.

[0030] Step S103: Determine the execution time required for the working device to perform the target action corresponding to the target working position based on the load status parameters.

[0031] In this embodiment, the target action is a hydraulic action corresponding to the target working position. For example, when moving to the unloading position, a boom lifting action is required; when moving to the picking position, a boom lowering action is required. Execution time refers to the time required from the start of the target action to its completion.

[0032] It is understood that in hydraulic systems, the execution time of an action is not a fixed value, but varies significantly with load and temperature; lifting is slow under heavy load and fast under light load; high oil temperature results in better fluidity and shorter action time, while low oil temperature results in longer action time. Using a fixed time value for reverse calculation might cause the action completion point to deviate from the target position. Therefore, the embodiments of this application can dynamically calibrate the execution time based on real-time load conditions to ensure the accuracy of the action completion time under different operating conditions.

[0033] In one example, the execution time of each action of the working machine under different load conditions can be pre-calibrated experimentally, forming a two-dimensional lookup table and storing it. Then, during operation, the controller can quickly obtain the execution time of the target action under the current working condition based on the real-time collected load conditions through table lookup and interpolation.

[0034] Step S104: Determine the trigger time of the target action based on the arrival time and execution time.

[0035] In this embodiment of the application, the trigger time is the time point at which the target action begins to be executed. It is required that the action starts from the trigger time and the working machine arrives at the target position just as the action is completed.

[0036] In one example, the difference between the arrival time and the execution time can be determined as the trigger time. It can be understood that if the calculation result is negative, it means that if the action cannot be completed before arrival at the current speed and distance, the system will immediately trigger the action and appropriately reduce the driving speed to wait for the action to be completed.

[0037] In another example, steps S102-S104 can be repeated in each control cycle to update the arrival time and execution time in real time and dynamically correct the trigger time to cope with speed fluctuations or changes in operating conditions during driving.

[0038] Step S105: When the trigger time is reached at the current time, control the hydraulic system to drive the working device to perform the target action so that the time when the target action is completed matches the time when the working machinery arrives at the target working position.

[0039] In one example, when the trigger moment is reached at the current moment, the controller sends a control signal with a slow start processing to the electro-hydraulic proportional valve, driving the working device to smoothly execute the target action according to the preset flow rate; during the execution of the action, the attitude feedback information of the working device is acquired in real time, and the control signal is dynamically adjusted according to the feedback information to form a closed-loop control, ensuring that the working device is adjusted to the preset working posture when it reaches the target position.

[0040] In another example, for models without proportional control, the controller can output a switching signal at the trigger moment to control the on / off state of the solenoid valve, simulating the effect of proportional control through pulse width modulation to achieve basic speed regulation.

[0041] The aforementioned technical solution, during the process of the working machinery traveling to and from multiple work positions, acquires in real time the relative position information between the working machinery and the target work position, the driving condition parameters of the working machinery, and the load status parameters of the hydraulic system. Then, based on the relative position information and driving condition parameters, it determines the arrival time of the working machinery at the target work position. Simultaneously, based on the load status parameters, it determines the execution time required for the working device to perform the target action corresponding to the target work position. Next, based on the arrival time and execution time, it determines the trigger time of the target action. Finally, when the trigger time is reached, it controls the hydraulic system to drive the working device to execute the target action, so that the completion time of the target action matches the arrival time of the working machinery at the target work position. This application, by acquiring position information, driving condition, and load status parameters in real time, predicts the arrival time at the target position and the execution time required for the target action, and then reverse-engineers the action trigger time, achieving time-series coordination between travel and hydraulic action, which is beneficial for improving work efficiency and reducing energy consumption.

[0042] In this embodiment of the application, the operating parameters of the operating machinery may include at least one of the following: driving speed, acceleration, and road gradient.

[0043] In this embodiment of the application, the travel speed is a basic parameter describing how fast the working machinery moves, and it directly determines the time required to reach the target position.

[0044] Acceleration reflects the changing trend of the motion state of operating machinery and has a significant impact on the accuracy of arrival time prediction. When operating machinery is accelerating, the future average speed will be higher than the current instantaneous speed, and the actual arrival time will be shorter than the estimate based on the current speed; conversely, when decelerating, the actual arrival time will be longer than the estimate. Therefore, by introducing acceleration compensation, the time prediction can be made more consistent with the actual physical process.

[0045] Road gradient is a significant environmental factor affecting the resistance and speed of operating machinery. Uphill, the resistance increases, resulting in a lower achievable speed and longer travel time for the same traction force; the opposite is true downhill. By incorporating road gradient parameters to compensate for time predictions, prediction accuracy can be further improved.

[0046] In this embodiment, driving condition parameters can be achieved through a combined navigation system integrating an RTK-GNSS receiver and an IMU (Inertial Measurement Unit) integrated into the vehicle body. The RTK-GNSS provides global absolute coordinates (latitude, longitude, and altitude) with centimeter-level accuracy, while the IMU provides three-axis acceleration and angular velocity. The VCU fuses the absolute position from the GNSS and the inertial data from the IMU using fusion algorithms such as Kalman filtering, outputting high-frequency, high-precision real-time planar position, velocity, acceleration, and vehicle pitch angle of the operating machinery. All of this data is transmitted to the VCU via a CAN bus.

[0047] It is understandable that the above three parameters can be used individually or in combination, depending on the actual application scenario's requirements for prediction accuracy and the sensor configuration. For example, when working on leveled ground, only the velocity and acceleration parameters can be used; however, in scenarios with significant slope changes, such as hills or mines, the road slope parameter needs to be introduced to obtain more accurate prediction results.

[0048] In this embodiment of the application, multiple operating locations include unloading locations; when the target operating location is the unloading location, determining the arrival time of the operating machinery at the target operating location based on relative position information and driving condition parameters may include: Determine the first travel distance from the working device to the unloading position based on the relative position information; The effective travel distance of the operating machinery is determined based on the first travel distance and the preset safety buffer distance. The driving speed is compensated based on the acceleration and the preset acceleration compensation coefficient to obtain the first compensated speed; The slope compensation item is determined based on the road gradient and the preset slope compensation coefficient. The arrival time is determined based on the effective driving distance, the first compensation speed, and the slope compensation.

[0049] In this embodiment, multiple operating locations include unloading locations. When the target operating location is an unloading location, the arrival time of the operating machinery at the target operating location is determined based on relative position information and driving condition parameters. This can be achieved in the following ways.

[0050] First, the initial travel distance from the working device to the unloading position is determined based on the relative position information. The initial travel distance refers to the spatial distance from the current position of the working device to the unloading position, usually referring to the horizontal straight-line distance. Since the unloading operation is ultimately performed by the working device, using the working device as the reference point for distance calculation is the most accurate and can avoid errors introduced by relative position compensation between other parts of the vehicle body and the working device.

[0051] Secondly, the effective travel distance of the operating machinery is determined based on the initial travel distance and the preset safety buffer distance. The preset safety buffer distance is an extra space reserved to ensure operational safety and prevent the operating machinery from colliding with the unloading target. It can be set according to the actual situation. In actual operation, the operating machinery does not need to travel to a position with zero distance from the unloading target. Therefore, the effective travel distance is equal to the initial travel distance minus the preset safety buffer distance.

[0052] Next, the travel speed is compensated based on acceleration and a preset acceleration compensation coefficient to obtain a first compensated speed. Since the working machinery may be accelerating or decelerating during travel, the estimated arrival time based on the current instantaneous speed will have a deviation. In the case of acceleration, the actual arrival time will be shorter than the estimated value based on the current speed, and vice versa in the case of deceleration. To correct this deviation, this embodiment employs an acceleration compensation mechanism, adding the current travel speed to the acceleration compensation term to obtain a first compensated speed that is closer to the future average speed. The acceleration compensation term is obtained by multiplying the real-time acceleration by a preset acceleration compensation coefficient, which is an empirical value.

[0053] Finally, the arrival time is determined based on the effective driving distance, the first compensation speed, the road gradient, and the preset slope compensation coefficient.

[0054] It is understandable that road gradient directly affects the driving resistance of operating machinery. Driving resistance increases when going uphill, resulting in a lower actual achievable speed and a longer arrival time; the opposite is true when going downhill. To compensate for the impact of gradient, this application's embodiments introduce a gradient compensation mechanism, which obtains the gradient compensation term by multiplying the road gradient by a preset gradient compensation coefficient. When going uphill, the gradient is positive, and the gradient compensation term is positive; when going downhill, the gradient is negative, and the gradient compensation term is negative.

[0055] Finally, the arrival time is determined based on the effective travel distance, the first compensation speed, and the slope compensation term. In one example, the first compensation speed can be compensated by the slope compensation term to obtain the predicted average speed. Then, the effective travel distance is divided by the predicted average speed to obtain the arrival time of the operating machinery at the unloading position.

[0056] In another example, the initial time can be obtained by dividing the effective travel distance by the first compensation speed, and then the initial time can be compensated by a ramp compensation term to obtain the arrival time. The arrival time is determined according to the following formula: ; Among them, T truck D is the arrival time. truck D represents the first travel distance. safe To preset a safe buffer distance, K acc K is the preset acceleration compensation coefficient. slope*θ represents the ramp compensation term, K slope The preset slope compensation coefficient is θ, where θ is the road slope.

[0057] In summary, the embodiments of this application introduce a dual compensation mechanism of acceleration and road slope, which enables the arrival time prediction to adapt to speed changes and terrain conditions, significantly improving the prediction accuracy and ensuring the accuracy of the action triggering time calculation. This effectively realizes the timing coordination between the walking mechanism and the hydraulic action, avoiding operation interruption or ineffective energy consumption caused by asynchronous action and travel.

[0058] In this embodiment of the application, multiple working locations include material picking locations; when the target working location is a material picking location, determining the arrival time of the working machinery at the target working location based on relative position information and driving condition parameters may include: The second travel distance from the working device to the material picking position is determined based on the relative position information; The second compensated speed is obtained by compensating the preset maximum allowable speed based on the acceleration and preset deceleration compensation coefficient; The slope compensation item is determined based on the road gradient and the preset slope compensation coefficient. The arrival time is determined based on the second driving distance, the second compensation speed, and the slope compensation.

[0059] Specifically, the second travel distance from the working device to the material-retrieving position is first determined based on relative position information. The second travel distance refers to the spatial distance from the current position of the working device to the material-retrieving position, typically a horizontal straight-line distance. The material-retrieving position refers to the source of the material the working machinery needs to acquire, such as the leading edge of a material pile. Similar to unloading operations, the material-retrieving operation is ultimately performed by the working device; therefore, using the working device as the reference point for distance calculation is the most accurate, avoiding errors introduced by relative position compensation between other parts of the vehicle and the working device. In practical applications, millimeter-wave radar or lidar installed at the front of the vehicle can be used to detect downwards and forwards at a small pitch angle. Signal processing algorithms identify the strong reflection area formed by the leading edge of the material pile, and then the straight-line distance from the front of the working machinery to the leading edge of the material pile is measured in real time. Combined with the geometric model of the working machinery, the second travel distance from the working device to the material-retrieving position is calculated through coordinate transformation.

[0060] Secondly, a second compensated speed is obtained by compensating the preset maximum allowable speed based on acceleration and a preset deceleration compensation coefficient. It is understood that during the return phase, the operating machinery returns empty to the material-retrieving position after unloading, preparing for the next material-retrieving operation. To balance operational efficiency and safety, a preset maximum allowable speed is usually set for the return phase to prevent accidents caused by excessive speed leading to insufficient deceleration upon arrival at the material-retrieving position. However, in actual operation, the operating machinery often decelerates as it approaches the material-retrieving position, resulting in an actual average speed lower than the preset maximum allowable speed. Directly using the preset maximum allowable speed to predict the arrival time would lead to an overestimation of the predicted time and delayed action triggering. To correct this deviation, this application introduces a deceleration compensation mechanism, adding the preset maximum allowable speed to the deceleration compensation term to obtain a second compensated speed closer to the actual average speed. The deceleration compensation term is obtained by multiplying the real-time acceleration by a preset deceleration compensation coefficient, which is an empirical value used to quantify the impact of deceleration on the future average speed. When the working machinery is decelerating, the acceleration is negative, the deceleration compensation term is negative, and the second compensation speed is lower than the preset maximum allowable speed; when the working machinery is accelerating or moving at a constant speed, the acceleration is non-negative, and the second compensation speed is close to or equal to the preset maximum allowable speed.

[0061] Next, the slope compensation term is determined based on the road gradient and a preset slope compensation coefficient. Road gradient directly affects the driving resistance of the machinery; uphill, driving resistance increases, the actual achievable speed decreases, and the arrival time is prolonged; the opposite is true downhill. To compensate for the impact of gradient, this embodiment introduces a slope compensation mechanism, which obtains the slope compensation term by multiplying the road gradient and the preset slope compensation coefficient. Uphill, the gradient is positive, and the slope compensation term is positive; downhill, the gradient is negative, and the slope compensation term is negative. The preset slope compensation coefficient is an empirical value used to quantify the degree of influence of the gradient on driving speed.

[0062] Finally, the arrival time is determined based on the second travel distance, the second compensation speed, and the slope compensation term. In one example, the second compensation speed can be compensated by the slope compensation term to obtain the predicted average speed. Then, the second travel distance is divided by the predicted average speed to obtain the arrival time of the operating machinery at the material pick-up location.

[0063] In another example, the initial time can be obtained by dividing the second travel distance by the second compensated speed, and then the initial time can be compensated by the slope compensation term to obtain the arrival time. The arrival time is determined according to the following formula: ; In the formula, T_pile is the arrival time to the material picking position, D_pile is the second travel distance, V_max is the preset maximum allowable speed, a is the acceleration, θ is the road slope, K_decel is the preset deceleration compensation coefficient, and K_slope is the preset slope compensation coefficient.

[0064] In summary, the embodiments of this application introduce a dual compensation mechanism of deceleration compensation and road slope, which enables the arrival time prediction of the return material stage to adapt to speed changes and terrain conditions, significantly improving the prediction accuracy and ensuring the accuracy of the calculation of the trigger time of the boom descent action. This effectively realizes the timing coordination between the traveling mechanism and the hydraulic action, avoiding work interruption or ineffective energy consumption caused by asynchronous action and travel.

[0065] In this embodiment of the application, the working device includes a boom, and multiple working positions include an unloading position. The target action corresponding to the unloading position is a boom lifting action. When the target operating position is the unloading position, the load state parameters include the actual pressure of the hydraulic system. Based on these load state parameters, the execution time required for the working device to perform the target action corresponding to the target operating position can be determined, and may include: Determine the pressure difference between the actual pressure and the preset reference pressure; The pressure compensation time is determined based on the pressure difference and the preset pressure compensation coefficient. The execution time of the boom lifting action is determined based on the preset reference lifting time and pressure compensation time of the boom under no-load conditions.

[0066] In this embodiment, the actual pressure refers to the real-time working pressure of the hydraulic system when performing the boom lifting action, which is collected by a pressure sensor installed in the hydraulic system. The preset reference pressure refers to the system pressure reference value during boom lifting under no-load or standard test conditions, which can be obtained through experimental calibration. The preset pressure compensation coefficient is a preset proportional coefficient reflecting the degree of influence of pressure changes on lifting time, with units of seconds per bar, which can be obtained through experimental calibration; it is understood that the pressure compensation coefficient may differ for different types and tonnages of operating machinery. The preset reference lifting time of the boom under no-load conditions refers to the time taken for the boom to lift from its lowest position to the required unloading height under reference conditions such as no-load, standard oil temperature, and a level site, which can be obtained through experimental measurement and stored in the controller.

[0067] It is understandable that in a hydraulic system, the execution time of the boom lifting action is not a fixed value, but varies significantly with the load. Under heavy loads, the hydraulic system needs to overcome greater gravity, resulting in a lower lifting speed and a longer time; under light loads, the lifting speed is faster and the time required is shorter. If a fixed time value is used for reverse calculation, the completion point of the action will inevitably deviate from the target position. To address this problem, the embodiments of this application dynamically calibrate the lifting time according to the real-time load status, enabling the execution time to adapt to load changes and ensuring precise control that the boom is precisely lifted to the unloading point regardless of whether the load is light or heavy.

[0068] In one example, a linear relationship can be used to describe the relationship between pressure change and lifting time. First, the pressure difference is calculated. Then, the product of the pressure difference and a preset pressure compensation coefficient is determined as the pressure compensation time. Finally, the sum of the preset baseline lifting time and the pressure compensation time is determined as the execution time of the boom lifting action. Specifically, the execution time of the boom lifting action satisfies the following formula: t rise =t rise，0 +Kp*(P hyd -P0); Among them, t rise t is the execution time of the boom lifting action. rise，0 P is the preset baseline lifting time. hyd -P0 is the pressure difference value, P hyd P0 is the actual pressure, P0 is the preset reference pressure, and Kp is the preset pressure compensation coefficient. Finally, the trigger time t for the boom lifting action is determined. up =T truck -t rise .

[0069] In another example, a piecewise linear compensation model can be used. For machinery with a large pressure variation range, single linear compensation may have errors. Therefore, multiple intervals can be divided according to the pressure difference, and different preset oil temperature compensation coefficients can be used. The larger the pressure difference, the larger the preset pressure compensation coefficient. In this way, piecewise compensation makes the execution time calibration more accurate and adapts to the nonlinear characteristics of different load ranges.

[0070] In summary, by establishing a dynamic calibration relationship between hydraulic system pressure and lifting execution time, this embodiment of the application achieves adaptive adjustment of lifting time to load changes. This significantly reduces ineffective energy consumption, improves operational efficiency, and provides excellent adaptability to working conditions, while ensuring precise matching of the boom being lifted precisely when the unloading point is reached.

[0071] In this embodiment of the application, the working device includes a boom, and multiple working positions include a material picking position. The target action corresponding to the material picking position is a boom lowering action. When the target working position is the material picking position, the load state parameters include the actual oil temperature of the hydraulic system. Based on these load state parameters, the execution time required for the working device to perform the target action corresponding to the target working position can be determined, and may include: Determine the temperature difference between the actual oil temperature and the preset reference oil temperature; The oil temperature compensation time is determined based on the oil temperature difference and the preset oil temperature compensation coefficient. The execution time of the boom lowering action is determined based on the preset reference lowering time and oil temperature compensation time of the boom under no-load conditions.

[0072] In this embodiment, the actual oil temperature, i.e., the real-time temperature of the hydraulic oil in the hydraulic system, can be obtained by a temperature sensor installed in the hydraulic oil tank or pipeline. The preset reference oil temperature refers to the reference value of the hydraulic oil temperature under standard test conditions, usually taken as the median of the normal operating temperature range, and can be obtained through experimental calibration. The preset oil temperature compensation coefficient is a proportionality coefficient reflecting the degree of influence of oil temperature changes on the descent time, with units of seconds / °C, and can be obtained through experimental calibration. Since an increase in oil temperature shortens the descent time, this coefficient is usually preset to a negative value; it is understood that the oil temperature compensation coefficient may differ for different types and tonnages of operating machinery. The preset reference descent time of the boom under no-load conditions refers to the time taken for the boom to descend from the unloading height to the required low position for material removal under standard operating conditions such as no-load, reference oil temperature, and a level site, and can be obtained through experimental measurement and stored in the controller.

[0073] It is understandable that in a hydraulic system, the boom descent action mainly relies on the gravity of the material and the boom's own weight, and the flow rate of the hydraulic oil directly affects the descent speed. When the oil temperature rises, the hydraulic oil viscosity decreases, its fluidity increases, and the oil passes more easily through valve ports and pipelines, resulting in a faster boom descent speed and a shorter time required. When the oil temperature drops, the hydraulic oil viscosity increases, its fluidity decreases, the descent resistance increases, the descent speed slows down, and the time required increases. If a fixed descent time value is used for reverse calculation, the completion point of the action will inevitably deviate from the target position. To address this problem, the embodiments of this application dynamically calibrate the descent time based on real-time oil temperature, enabling the execution time to adapt to changes in oil temperature, ensuring precise control that the boom descends precisely to the designated position when reaching the material pick-up location, regardless of whether it is a cold start or a hot-start condition.

[0074] In one example, a linear relationship can be used to describe the relationship between oil temperature change and boom descent time. First, the oil temperature difference is calculated. Then, the product of the oil temperature difference and a preset oil temperature compensation coefficient is determined as the oil temperature compensation time. Finally, the sum of the preset baseline descent time and the oil temperature compensation time is determined as the execution time of the boom descent action. Specifically, the execution time of the boom descent action satisfies the following formula: t fall =t fall，0+Kt*(T oil -T0); Among them, t fall t is the execution time of the boom lowering action. fall，0 T is the preset baseline descent time. oil -T0 is the oil temperature difference, T oil T0 is the actual oil temperature, T0 is the preset reference oil temperature, and Kt is the preset oil temperature compensation coefficient. Finally, the trigger time t for the boom lowering action is determined. down =T pile -t fall .

[0075] In another example, a piecewise linear compensation model can be used. For machinery operating over a wide temperature range, the effect of oil temperature on descent time may exhibit non-linear characteristics. Therefore, this embodiment can divide the oil temperature range into multiple intervals and use different compensation coefficients. For example, it can be divided into low-temperature, normal-temperature, and high-temperature zones, with higher temperatures corresponding to larger preset oil temperature compensation coefficients. In this way, piecewise compensation can make the execution time calibration more accurate and adapt to the non-linear characteristics of different temperature ranges.

[0076] This embodiment establishes a dynamic calibration relationship between hydraulic oil temperature and descent execution time, enabling adaptive adjustment of descent time to oil temperature changes. This significantly improves adaptability to all working conditions and work cycle efficiency while ensuring precise matching of the boom's precise descent to the material pick-up position. It also provides early warning basis for equipment health status monitoring.

[0077] In this embodiment of the application, the working machinery further includes a traveling mechanism. While controlling the hydraulic system to drive the working device to perform the target action, the auxiliary control method may also include: A speed limit command is sent synchronously to the traveling mechanism to keep the traveling speed of the working machinery below a preset safety threshold.

[0078] In this embodiment, the traveling mechanism is the actuator used by the working machinery to achieve the driving function, including a traveling motor, drive wheels, etc., and is responsible for controlling the vehicle's speed and direction. The speed limit command is a control signal sent by the core control unit to the traveling mechanism controller through the controller area network bus, used to temporarily limit the maximum output capacity of the traveling mechanism. The preset safety threshold is a pre-set upper limit value of speed to ensure operational safety, which can be calibrated and adjusted according to factors such as the model of the working machinery and its load status.

[0079] It is understandable that when operating machinery performs boom lifting or lowering operations, the vehicle's center of gravity changes significantly. When lifting heavy loads, the center of gravity rises and shifts forward, reducing lateral stability; during rapid lowering, the sudden change in the center of gravity can easily cause the entire vehicle to sway. If the vehicle continues to travel at high speed during this time, the coupling of the center of gravity change and the vehicle's dynamics can easily lead to instability and rollover. Simultaneously, performing hydraulic actions at high speed generates significant impact, accelerating component wear. To address this issue, this application's embodiments employ an automated speed limiting mechanism to actively restrict the travel speed during hydraulic actions, fundamentally eliminating safety hazards.

[0080] In this embodiment, the hydraulic system is controlled to drive the working device to perform the target action. Specifically, precise and stable operation can be achieved through electro-hydraulic proportional control and closed-loop feedback control.

[0081] Specifically, when the target action is boom lifting and the target working position is unloading, at the trigger moment, the controller can send a preset, slow-start processed target current signal to the electro-hydraulic proportional solenoid valve controlling the boom cylinder via the PWM output port. This signal drives the proportional solenoid valve to open, allowing hydraulic oil to enter the boom cylinder at a preset flow rate, achieving smooth and controllable boom lifting and avoiding hydraulic shock.

[0082] When the target action is boom descent, the target working position is the material handling position, and the working device's bucket is engaged, the controller can simultaneously send a signal to the electro-hydraulic proportional valve controlling the bucket cylinder at the trigger moment. This signal drives the bucket cylinder to retract, causing the bucket to move to the level position. Tilt sensors installed on the boom and bucket provide real-time feedback on the angle between the bucket's bottom surface and the horizontal plane, forming a closed-loop control system. The controller dynamically adjusts the output signal based on the feedback angle, ensuring that when the machinery reaches the material pile, the angle between the bucket's bottom surface and the ground is precisely controlled within ≤3°, preparing for the next loading operation.

[0083] Thus, the slow-opening control of the electro-hydraulic proportional valve significantly reduces hydraulic shock and mechanical vibration, extending the life of hydraulic components; the closed-loop leveling control ensures that the working tool automatically reaches the optimal material-picking posture when it arrives at the material-picking position, reducing the operator's workload and improving work efficiency.

[0084] In this embodiment of the application, to ensure that the system can still operate or exit safely under various abnormal conditions, the auxiliary control method also includes a multi-level safety redundancy control mechanism.

[0085] In one example, because the main sensor (such as lidar or millimeter-wave radar) used to obtain relative position information may experience signal failure or a sharp decline in quality in harsh environments such as strong dust or heavy rain, or when it malfunctions, this application embodiment introduces a sensor redundancy mechanism to ensure that the system can still maintain basic operational capabilities when the sensor fails. Specifically, when the controller detects an abnormal signal from the main sensor, the system automatically switches to backup mode. The backup mode estimates relative position information based on the following information fusion: the vehicle's absolute position coordinates provided by the real-time dynamic differential global navigation satellite system; the displacement increment estimated by the built-in odometer using wheel speed and steering angle; and valid radar ranging data from the previous control cycle as a reference. The above information is fused using Kalman filtering or a weighted fusion algorithm to calculate the relative distance between the working machinery and the target working position at the current moment. In this way, the basic operational capabilities of the system can be maintained in the event of sensor failure, enabling the working machinery to complete the current work cycle or safely exit.

[0086] In another example, the safety redundancy control mechanism also includes an emergency stop and manual intervention mechanism. Understandably, at any stage of operation, the system continuously monitors manual operation signals from the steering wheel, joystick, accelerator pedal, and dedicated emergency stop button. These signals reflect the driver's intention to intervene and serve as the last line of defense for ensuring safe human-machine interaction. When the core control unit detects any valid manual input signal, such as steering wheel rotation exceeding a threshold, joystick activation, accelerator pedal depressing, or emergency stop button pressing, it immediately pauses the current automatic cycle control, returning all control to the driver. The system enters standby mode, awaiting subsequent driver commands, or re-enters automatic mode after certain conditions are met, such as manual operation ceasing and driver confirmation of resumption. This ensures that in emergencies or when the driver needs to take over, the system can respond immediately and smoothly transfer control, avoiding safety risks caused by conflicts between automatic control and manual operation.

[0087] In one specific embodiment, to enable those skilled in the art to more clearly understand this solution, a typical job cycle is used as an example for illustration below.

[0088] Taking a 6-ton electric loader operating on a leveled site as an example, the system parameters are preset as follows: D safe =0.5m, K acc =0.8, K slope =0.05 (assuming flat ground θ=0), V max =1.5 m / s, t rise =3.0s, t fall =2.5s, K p =0.02 s / bar, P0=50bar, K T=0.01 s / °C, T0=45°C.

[0089] 1. Control process for the card delivery stage: (1) Data acquisition: D measured by lidar truck =4.2m. The RTK / IMU integrated navigation system measures the current velocity V = 1.0m / s and the acceleration a = 0.2m / s². 2 (Slight acceleration), pitch angle θ=0 (flat ground).

[0090] (2) Time prediction: Calculate T truck = (4.2-0.5) / (1.0+0.8*0.2)=3.19s. This means that the loader is predicted to arrive at the truck unloading point in about 3.19 seconds.

[0091] (3) Dynamic calibration: At this time, the pressure sensor measures the pressure P of the boom lifting hydraulic system. hyd =120 bar (indicating a relatively heavy material in the bucket). Calculate the dynamic lifting time t. rise =3.0 + 0.02 * (120 - 50) = 4.4s. Due to the large load, the lifting time is 1.4 seconds longer than the reference time.

[0092] (4) Time back calculation: Calculate the boom lifting trigger time t up =3.19-4.4=-1.21s. The result is negative, which is a key point to consider.

[0093] (5) Decision and Execution: The result is negative, meaning that if the boom was to be raised 4.4 seconds before arrival as originally planned, it is now 1.21 seconds late. The system immediately (within the calculation cycle) triggers the boom lifting command. At the same time, the VCU sends a command to the travel motor controller to appropriately reduce the target speed, so that the loader approaches the truck smoothly at a lower speed. In this way, although the lifting starts late, by reducing the travel speed to wait for the lifting action to complete, the timing matching target of the boom reaching the unloading height when arriving at the truck can still be achieved.

[0094] 2. Control process for the return material stage: (1) Data acquisition: After unloading, the millimeter-wave radar measured D pile The RTK / IMU measured V = 1.2 m / s² and acceleration a = -0.1 m / s². 2 (Slowing down).

[0095] (2) Time prediction: Calculate Tpile = 5.0 / (1.5 - 0.8 * (-0.1)) = 3.29s. It is predicted that the loader will arrive at the stockpile in about 3.29 seconds.

[0096] (3) Dynamic calibration: The hydraulic oil temperature T is measured by the temperature sensor.oil =50°C. Calculate the dynamic descent time t. fall =2.5 + 0.01 * (50 - 45) = 2.55s. Increased oil temperature improves oil fluidity, slightly increasing the descent time.

[0097] (4) Time back calculation: Calculate the boom descent trigger time t down =3.29-2.55=0.74s.

[0098] (5) Decision and execution: The system triggers the boom descent and bucket leveling commands simultaneously 0.74 seconds before the predicted arrival time at the material pile. Due to the precise timing calculation, when the loader arrives at the front edge of the material pile, the boom has already descended to the correct position and the bucket has just been leveled to the optimal loading angle (≤3°), allowing for the next loading operation to proceed directly, thus achieving efficient and seamless cycle connection.

[0099] Figure 2 This is a structural block diagram of a controller provided in an embodiment of this application. Figure 2 As shown in the figure, this application provides a controller that may include: Memory 210 is configured to store instructions; and The processor 220 is configured to retrieve instructions from the memory 210 and, when executing the instructions, to implement the auxiliary control method for automatic operation of the machine described above.

[0100] This application embodiment also provides a working machine, including: The controller in the above embodiments; Working device and hydraulic system; A hydraulic system is used to drive a working device to perform operational actions.

[0101] This application also provides a machine-readable storage medium storing instructions that cause a machine to execute the auxiliary control method for automatic operation of the working machinery described in the above embodiments.

[0102] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0103] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart... Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0104] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0105] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0106] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0107] Memory may include non-persistent memory in computer-readable media, such as random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM. Memory is an example of computer-readable media.

[0108] Computer-readable media includes both permanent and non-permanent, removable and non-removable media that can store information using any method or technology. Information can be computer-readable instructions, data structures, modules of programs, or other data. Examples of computer storage media include, but are not limited to, phase-change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, CD-ROM, digital versatile optical disc (DVD) or other optical storage, magnetic tape, disk storage or other magnetic storage devices, or any other non-transferable medium that can be used to store information accessible by a computing device. As defined herein, computer-readable media does not include transient computer-readable media, such as modulated data signals and carrier waves.

[0109] It should also be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.

[0110] The above are merely embodiments of this application and are not intended to limit the scope of this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of the claims of this application.

Claims

1. An auxiliary control method for the automatic operation of machinery, characterized in that, The operating machinery includes a working device and a hydraulic system. The working device is driven by the hydraulic system to perform operating actions. The auxiliary control method includes: During the process of the working machine traveling back and forth between multiple working positions, the relative position information between the working machine and the target working position, the driving condition parameters of the working machine, and the load status parameters of the hydraulic system are acquired in real time. Based on the relative position information and the driving condition parameters, the arrival time of the working machinery to the target working position is determined; The execution time required for the working device to perform the target action corresponding to the target work position is determined based on the load status parameters. The trigger time of the target action is determined based on the arrival time and the execution time; When the triggering time is reached at the current moment, the hydraulic system is controlled to drive the working device to perform the target action, so that the time when the target action is completed matches the time when the working machinery arrives at the target working position.

2. The auxiliary control method according to claim 1, characterized in that, The operating parameters of the machinery include at least one of the following: speed, acceleration, and road gradient.

3. The auxiliary control method according to claim 2, characterized in that, The multiple operating locations include unloading locations; When the target work location is the unloading location, the arrival time of the working machinery at the target work location is determined based on the relative position information and the driving condition parameters, including: The first travel distance from the working device to the unloading position is determined based on the relative position information; The effective travel distance of the operating machinery is determined based on the first travel distance and the preset safety buffer distance. The driving speed is compensated based on the acceleration and the preset acceleration compensation coefficient to obtain a first compensated speed; The slope compensation item is determined based on the road gradient and the preset slope compensation coefficient; The arrival time is determined based on the effective driving distance, the first compensation speed, and the slope compensation item.

4. The auxiliary control method according to claim 2, characterized in that, The multiple work locations include material handling locations; When the target work location is the material picking location, determining the arrival time of the working machinery to the target work location based on the relative position information and the driving condition parameters includes: The second travel distance from the working device to the material picking position is determined based on the relative position information; The preset maximum permissible speed is compensated based on the acceleration and the preset deceleration compensation coefficient to obtain the second compensated speed; The slope compensation item is determined based on the road gradient and the preset slope compensation coefficient; The arrival time is determined based on the second travel distance, the second compensation speed, and the slope compensation item.

5. The auxiliary control method according to claim 1, characterized in that, The working device includes a boom, and the plurality of working positions include an unloading position, wherein the target action corresponding to the unloading position is a boom lifting action. When the target operating position is the unloading position, the load state parameter includes the actual pressure of the hydraulic system. Determining the execution time required for the working device to perform the target action corresponding to the target operating position based on the load state parameter includes: Determine the pressure difference between the actual pressure and the preset reference pressure; The pressure compensation time is determined based on the pressure difference and the preset pressure compensation coefficient. The execution time of the boom lifting action is determined based on the preset reference lifting time of the boom under no-load conditions and the pressure compensation time.

6. The auxiliary control method according to claim 1, characterized in that, The working device includes a boom and a working tool, and the plurality of working positions include a material picking position, wherein the target action corresponding to the material picking position is a boom lowering action; When the target working position is the material picking position, the load state parameter includes the actual oil temperature of the hydraulic system. Determining the execution time required for the working device to perform the target action corresponding to the target working position based on the load state parameter includes: Determine the temperature difference between the actual oil temperature and the preset reference oil temperature; The oil temperature compensation time is determined based on the oil temperature difference and the preset oil temperature compensation coefficient. The execution time of the boom lowering action is determined based on the preset reference lowering time of the boom under no-load conditions and the oil temperature compensation time.

7. The auxiliary control method according to claim 1, characterized in that, The operating machinery also includes a traveling mechanism, and the auxiliary control method further includes: While controlling the hydraulic system to drive the working device to perform the target action, a speed limit command is simultaneously sent to the traveling mechanism to keep the traveling speed of the working machine below a preset safety threshold.

8. A controller, characterized in that, include: The memory is configured to store instructions; as well as The processor is configured to retrieve the instructions from the memory and, when executing the instructions, to implement the auxiliary control method for automatic operation of the machine according to any one of claims 1 to 7.

9. A type of operating machinery, characterized in that, include: The controller according to claim 8; Working device and hydraulic system; A hydraulic system is used to drive the working device to perform operational actions.

10. A machine-readable storage medium, characterized in that, The machine-readable storage medium stores instructions for causing the machine to perform an auxiliary control method for automatic operation of the working machinery according to any one of claims 1 to 7.

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