阅读说明：本技术 遥控装载机卸料辅助系统和方法 (Unloading auxiliary system and method for remote control loader ) 是由 罗剑伟 黄健 陶林裕 孙金泉 蔡登胜 于 2021-09-26 设计创作，主要内容包括：本发明涉及装载机作业辅助系统,为解决现有遥控装载机通过视频画面观察进行遥控操作时对距离的把控感不准确的问题；提供一种遥控装载机卸料辅助系统和方法,其中系统包括姿态传感器、UWB定位系统、遥控端,遥控端包括处理器和显示器；处理器用于解算运输设备货厢与遥控装载机之间相对位置；显示器用于显示货厢轮廓标识和遥控装载机轮廓标识,货厢轮廓标识与遥控装载机轮廓标识之间的相对位置与运输设备货厢与遥控装载机之间的相对位置对应一致。在本发明中,通过UWB定位系统测定遥控装载机与货运设备的货厢之间的距离,并在遥控端的显示器上显示,方便遥控操作人员观察建立更为准确的距离感。(The invention relates to an operation auxiliary system of a loader, aiming at solving the problem that the distance control sense is not accurate when the existing remote control loader is remotely controlled by observing video pictures; the system comprises an attitude sensor, a UWB positioning system and a remote control end, wherein the remote control end comprises a processor and a display; the processor is used for calculating the relative position between the cargo compartment of the transportation equipment and the remote control loader; the display is used for displaying the cargo compartment contour identification and the remote control loader contour identification, and the relative position between the cargo compartment contour identification and the remote control loader contour identification is correspondingly consistent with the relative position between the transport equipment cargo compartment and the remote control loader. In the invention, the distance between the remote control loader and the cargo compartment of the freight equipment is measured by the UWB positioning system and is displayed on the display of the remote control end, so that the remote control operator can conveniently observe and establish more accurate distance sense.)

1. A remote loader discharge assist system comprising:

the attitude sensor is used for detecting the attitude of a working device of the remote control loader and the attitude of a main machine body;

the UWB positioning system is used for measuring the distance between a fixed point on the remote control loader and a fixed point on the transportation equipment;

the remote control end is used for remotely controlling the remote control loader;

the remote control terminal is characterized by comprising a processor and a display; the processor is used for calculating the relative position between the cargo compartment of the transportation equipment and the remote control loader according to the measurement information of the attitude sensor and the UWB positioning system;

the display is used for displaying auxiliary marks, wherein the auxiliary marks comprise a cargo compartment outline mark and a remote control loader outline mark, and the relative position between the cargo compartment outline mark and the remote control loader outline mark is correspondingly consistent with the relative position between the transport equipment cargo compartment and the remote control loader.

2. The remote loader discharge assist system of claim 1 wherein said display comprises:

the overlooking outline mark display area is used for displaying the cargo car outline mark and the remote control loader outline mark under an overlooking visual angle; and

and the shaft view outline marker display area is used for displaying the cargo compartment outline marker and the remote control loader outline marker under a front view or a rear view.

3. The remote loader discharge assist system of claim 2 wherein the assist indicator further comprises a distance indicator, the distance indicator being displayed between the remote loader contour indicator and the cargo bed for indicating the distance between a point of interest on the remote loader and the side wall of the cargo bed.

4. The remote control loader discharge assist system of claim 2, wherein the discharge assist system further comprises a camera for obtaining overhead images of the cargo bed from an overhead view; the cargo box outline identification under the overlooking visual angle is superposed on the overlooking image, and the cargo box outline identification under the overlooking visual angle is superposed with the cargo box outline of the transportation equipment in the overlooking image.

5. The remote control loader unloading assist system of any one of claims 1 to 4, wherein the assist identification further comprises a grid line mark and an unloading number mark;

the grid line marks are used for dividing the outline area of the top opening of the cargo compartment of the transportation equipment into a plurality of unloading grid areas;

the unloading times mark is displayed in each unloading grid area divided by the grid line mark and used for marking the unloading times in each unloading grid area.

6. The remote control loader discharge assist system of claim 5 wherein the assist indicator further comprises a discharge position indicator that is displayed in a discharge grid area corresponding to the discharge position during the remote control loader discharge process.

7. The remote loader discharge assist system of claim 1 wherein the UWB positioning system comprises a UWB base station and a UWB tag;

the number of the UWB base stations is at least two, and the UWB base stations are arranged in a loading site of the loader; two UWB tags at different positions are respectively arranged on the transportation equipment and the remote control loader; or

The number of the UWB base stations is two, the UWB base stations are installed on the transport equipment or the remote control loader, and the UWB tags are two and correspondingly installed on the remote control loader or the transport equipment.

8. The remote loader discharge assist system of claim 7 wherein the UWB base station or UWB tag mounted on the transport device is mounted on the outside of the side wall of the cargo box on the loading side of the cargo box.

9. A remote control loader unloading auxiliary method is characterized by comprising the following steps:

a distance measurement step, namely measuring the distance between two fixed points on the remote control loader and two fixed points on the transportation equipment in real time through a UWB positioning system;

and (3) posture measuring: detecting the working device attitude and the host vehicle body attitude of the remote control loader in real time through an attitude sensor;

resolving: calculating the relative position between the cargo compartment of the transportation equipment and the remote control loader according to the measurement results of the distance measurement step and the attitude measurement step;

a display step: displaying an auxiliary identifier on a display at a remote control end of the remote control loader; the auxiliary mark comprises a cargo compartment outline mark of the transportation equipment and a remote control loader outline mark, and the relative position between the cargo compartment outline mark and the remote control loader outline mark is correspondingly consistent with the relative position between the cargo compartment of the transportation equipment and the remote control loader.

10. The remote loader unloading assist method according to claim 9, wherein the displaying step includes displaying the cargo bed contour identifier and the remote loader contour identifier in a top view and displaying the cargo bed contour identifier and the remote loader contour identifier in a front view or a rear view, respectively, in different display areas of the display.

11. The remote control loader unloading assist method according to claim 10, wherein the unloading assist method further comprises a photographing step of: acquiring an overhead image of the cargo compartment of the transportation equipment at an overhead viewing angle through a camera;

the cargo box outline identification under the overlooking visual angle is superposed on the overlooking image and is superposed with the cargo box outline in the overlooking image.

12. The remote control loader unloading assist method according to any one of claims 9 to 11, wherein the assist identification includes a grid line mark and a unloading number mark;

the grid line marks are used for dividing the outline area of the top opening of the cargo compartment of the transportation equipment into a plurality of unloading grid areas;

the auxiliary method further comprises a counting step, wherein the counting step judges the unloading grid area according to the coincidence condition of the bucket outline and the unloading grid area in the outline identification of the remote control loader under the overlooking visual angle during unloading and accumulates the unloading times of each unloading grid area;

the unloading times mark is used for marking the unloading times in each unloading grid area and displaying the unloading times in each unloading grid area divided by the grid line mark.

13. The remote control loader unloading assist method of claim 12, wherein the assist indicator further comprises an unloading position indicator displayed in an unloading grid area corresponding to the unloading position during unloading by the remote control loader.

14. The remote control loader discharge assist method according to any one of claims 9 to 11, characterized in that the assist method further comprises a step of calculating a distance: calculating the distance between a key point on the remote control loader and the cargo compartment when the remote control loader approaches the cargo compartment and in the unloading process according to the measurement results of the distance measuring step and the attitude measuring step;

the auxiliary mark also comprises a distance mark, the distance mark is displayed between the contour mark of the remote control loader and the cargo compartment, and the distance mark is used for marking the distance between a key position point on the remote control loader and the side wall of the cargo compartment.

Technical Field

The present invention relates to loader operation assist systems, and more particularly, to a remote loader discharge assist system and method.

Background

When the loader is used under some special working conditions, such as high temperature, explosion, toxic environment and other dangerous conditions, the shovel loading operation is carried out on the operation site, and under the dangerous working conditions, a driver drives a machine on a vehicle to carry out the shovel loading operation in a dangerous way, so that the remote control operation mode is a very good choice.

The remote control operation generally includes transmitting a live video image to a display screen of a remote control site through a network or wirelessly for display, and then remotely operating the machine by an operator according to the video image. Because the scene picture is gathered and is transmitted through the camera, there are certain time delay and picture deformation, the mode of observing through the video picture makes the operative hand not very accurate to the accuse sense of distance moreover to make accurate unloading have certain difficulty, therefore the urgent need solves this problem, improves remote control's convenience and practicality.

Disclosure of Invention

The invention provides a remote control loader unloading auxiliary system and method, aiming at the problem that the distance control feeling is inaccurate when the existing remote control loader is remotely controlled through video picture observation.

The technical scheme for realizing the purpose of the invention is as follows: there is provided a remote loader discharge assist system comprising:

the attitude sensor is used for detecting the attitude of a working device of the remote control loader and the attitude of a main machine body;

the UWB positioning system is used for measuring the distance between a fixed point on the remote control loader and a fixed point on the transportation equipment;

the remote control end is used for remotely controlling the remote control loader;

the remote control terminal is characterized by comprising a processor and a display; the processor is used for calculating the relative position between the cargo compartment of the transportation equipment and the remote control loader according to the measurement information of the attitude sensor and the UWB positioning system;

the display is used for displaying auxiliary marks, wherein the auxiliary marks comprise a cargo compartment outline mark and a remote control loader outline mark, and the relative position between the cargo compartment outline mark and the remote control loader outline mark is correspondingly consistent with the relative position between the transport equipment cargo compartment and the remote control loader. In the invention, the distance between the remote control loader and the cargo compartment of the freight equipment is measured by the UWB positioning system, and is displayed on the display of the remote control end through animation, so that a remote control operator can conveniently observe and establish more accurate distance sense.

The working device attitude is an angle between a movable arm and a front frame of the remote control loader and an angle between a bucket and the movable arm; the posture of the main machine body is the swing angle between the front frame and the rear frame.

In the above-mentioned remote control loader auxiliary system of unloading, the display includes: the remote control loader comprises a overlooking outline identification display area and an axial view outline identification display area, wherein the overlooking outline identification display area is used for displaying a cargo compartment outline identification and a remote control loader outline identification under an overlooking visual angle; the shaft view outline marker display area is used for displaying the cargo compartment outline marker and the remote control loader outline marker under a front view or a rear view. Through two mutually perpendicular visual angles, the operator can more intuitively and accurately master the distance between the remote control loader and the cargo compartment of the transportation equipment.

In the unloading auxiliary system of the remote control loader, the auxiliary mark further comprises a distance mark, and the distance mark is displayed between the contour mark of the remote control loader and the cargo compartment and is used for marking the distance between a key position point on the remote control loader and the side wall of the cargo compartment. The key location point on the remote loader may be one or more of the following location points on the remote loader: such as the forward most point of the front wheels, the forward most point of the bucket, and a point on the boom that is susceptible to collision with the cargo bed. The distance between the key position point on the remote control loader and the cargo compartment is identified, so that an operator can more accurately master the distance between the remote control loader and the cargo compartment, and collision is avoided.

In the unloading auxiliary system of the remote control loader, the unloading auxiliary system further comprises a camera for acquiring an overlooking image of the cargo compartment at an overlooking visual angle; the cargo box outline identification under the overlooking visual angle is superposed on the overlooking image, and the cargo box outline identification under the overlooking visual angle is superposed with the cargo box outline of the transportation equipment in the overlooking image. Through overlooking the image and overlooking the outline sign of the cargo compartment under the visual angle, make things convenient for operating personnel to know the loading condition in the cargo compartment more directly perceivedly and accurately.

In the above-mentioned unloading auxiliary system of the remote control loader,

the auxiliary mark also comprises a grid line mark and a discharging frequency mark;

the grid line marks are used for dividing the outline area of the top opening of the cargo compartment of the transportation equipment into a plurality of unloading grid areas;

the unloading times mark is displayed in each unloading grid area divided by the grid line mark and used for marking the unloading times in each unloading grid area.

Furthermore, the auxiliary mark also comprises a discharging position mark which is displayed in a discharging grid area corresponding to the discharging position in the discharging process of the remote control loader.

In the unloading auxiliary system of the remote control loader, the UWB positioning system comprises a UWB base station and a UWB tag;

the number of the UWB base stations is at least two, and the UWB base stations are arranged in a loading site of the loader; two UWB tags at different positions are respectively arranged on the transportation equipment and the remote control loader; or the number of the UWB base stations is two, the UWB base stations are installed on the transport equipment or the remote control loader, and the two UWB tags are correspondingly installed on the remote control loader or the transport equipment. Further, the UWB base station or the UWB tag mounted on the transport device is mounted outside the side wall of the cargo box on the loading side of the cargo box.

The technical scheme for realizing the purpose of the invention is as follows: the unloading auxiliary method of the remote control loader is characterized by comprising the following steps:

a distance measurement step, namely measuring the distance between two fixed points on the remote control loader and two fixed points on the transportation equipment in real time through a UWB positioning system;

and (3) posture measuring: detecting the working device attitude and the host vehicle body attitude of the remote control loader in real time through an attitude sensor;

resolving: calculating the relative position between the cargo compartment of the transportation equipment and the remote control loader according to the measurement results of the distance measurement step and the attitude measurement step;

a display step: displaying an auxiliary identifier on a display at a remote control end of the remote control loader; the auxiliary mark comprises a cargo compartment outline mark of the transportation equipment and a remote control loader outline mark, and the relative position between the cargo compartment outline mark and the remote control loader outline mark is correspondingly consistent with the relative position between the cargo compartment of the transportation equipment and the remote control loader.

In the unloading auxiliary method of the remote control loader, the displaying step includes displaying the cargo compartment contour identifier and the remote control loader contour identifier under a top view angle and displaying the cargo compartment contour identifier and the remote control loader contour identifier under a front view or a rear view angle respectively in different display areas of the display.

In the unloading auxiliary method of the remote control loader, the unloading auxiliary method further comprises the following steps:

acquiring an overhead image of the transportation equipment cargo compartment and a surrounding field thereof at an overhead viewing angle through a camera;

the cargo box outline identification under the overlooking visual angle is superposed on the overlooking image and is superposed with the cargo box outline in the overlooking image.

In the unloading auxiliary method of the remote control loader, the auxiliary mark comprises a grid line mark and an unloading frequency mark;

the grid line marks are used for dividing the outline area of the top opening of the cargo compartment of the transportation equipment into a plurality of unloading grid areas;

the auxiliary method further comprises a counting step, wherein the counting step judges the unloading grid area according to the coincidence condition of the bucket outline and the unloading grid area in the outline identification of the remote control loader under the overlooking visual angle during unloading and accumulates the unloading times of each unloading grid area;

the unloading times mark is used for marking the unloading times in each unloading grid area and displaying the unloading times in each unloading grid area divided by the grid line mark.

In the unloading auxiliary method of the remote control loader, the auxiliary mark further comprises an unloading position mark, and the unloading position mark is displayed in the unloading grid area corresponding to the unloading position in the unloading process of the remote control loader.

In the above unloading auxiliary method for the remote control loader, the auxiliary method further comprises a step of calculating a distance: calculating the distance between a key point on the remote control loader and the cargo compartment when the remote control loader approaches the cargo compartment and in the unloading process according to the measurement results of the distance measuring step and the attitude measuring step;

the auxiliary mark also comprises a distance mark, the distance mark is displayed between the contour mark of the remote control loader and the cargo compartment and is used for marking the distance between a key position point on the remote control loader and the side wall of the cargo compartment

Compared with the prior art, the distance between the remote control loader and the cargo compartment of the freight equipment is measured by the UWB positioning system and is displayed on the display of the remote control end, so that the remote control loader can observe and establish more accurate distance sense conveniently.

Drawings

Fig. 1 is a schematic diagram showing ranging of a UWB base station and a UWB tag in the unloading assistance system of the remote control loader of the invention.

FIG. 2 is a schematic diagram showing the distance measurement between the UWB base station and the UWB tag in the unloading auxiliary system of the remote-controlled loader of the invention.

Fig. 3 is a schematic diagram of an auxiliary mark in the unloading auxiliary system of the remote control loader of the invention.

Part names and serial numbers in the figure:

an axial view outline marker display area 10, a rear view lower cargo box outline marker 11, a rear view lower remote control loader outline marker 12, a UWB base station 30, a UWB tag 40, a top view lower cargo equipment outline marker 21, a top view lower cargo box outline marker 22, a top view lower remote control loader outline marker 23, grid line markers 24, a discharge position marker 25, a discharge grid area 26, a discharge frequency marker 27, a top view outline marker display area 20, a first UWB base station 31, a second UWB base station 32, a UWB base station installation surface 33, a distance marker 34, a first UWB tag 41, and a second UWB tag 42.

Detailed Description

The following description of the embodiments refers to the accompanying drawings.

The remote control loader auxiliary system of unloading includes: attitude sensor, UWB positioning system, remote control terminal, etc. The system is used for remotely controlling the loader to discharge into a cargo compartment of transportation equipment such as trucks, trains and the like.

The attitude sensor is arranged on the remote control loader and comprises an angle sensor for detecting the rotation angle of the movable arm relative to the front frame, an angle sensor for detecting the rotation angle of the bucket relative to the movable arm and an angle sensor for detecting the relative swing angle between the front frame and the rear frame of the remote control loader. The remote control loader is similar to a common loader, and generally adopts an articulated frame, and the steering of the loader is realized through the swinging of a front frame and a rear frame.

The remote control loader and the remote control end are provided with communication modules which are communicated with each other, so that an operator can operate at the control end and send an operation instruction to the remote control loader through the communication modules, control of the loader is achieved, and relevant data are obtained from the remote control loader.

The UWB positioning system, which is used to determine the relative position between two fixed points on the remote loader and two fixed points on the transport equipment, includes a UWB base station 30 and a UWB tag 40. In the present embodiment, the UWB positioning system includes two UWB base stations and two UWB tags. As shown in fig. 1 and 2, the first UWB base station 31 and the second UWB base station 32 are disposed at equal heights at both ends of the side surface of the cargo compartment facing the remote control loader. The two UWB tags are arranged on two sides of the front end of the top of a cab of the remote control loader and connected with the data processing unit, and the data processing unit is arranged on the remote control loader and used for processing distance measurement information of the UWB tags relative to a UWB base station and calculating the distance between a fixed point on the remote control loader and a fixed point on a cargo compartment.

In the operation process, the data processing unit controls the two UWB tags to periodically and respectively carry out two-way communication ranging to the two UWB base stations, after the data processing unit obtains ranging information of the UWB tags, the distances from the first UWB tag 41 to the first UWB base station 31 and the second UWB base station 32 are respectively l1 and l2 according to the flight speed and the flight time of electromagnetic waves, and the distances from the second UWB tag 42 to the first UWB base station 31 and the second UWB base station 32 are respectively l3 and l 4.

The area of the triangle formed by the first UWB tag 41 and the first UWB base station 31 and the second UWB base station 32 can be obtained according to the hello formulaWherein, p is (a + l1+ l2)/2, then the distance h3 of the first UWB tag from the connecting line of the first UWB base station 31 and the second UWB base station 32 is 2S1/a according to the area of the triangle, and finally the horizontal distance between the first UWB tag and the UWB base station mounting surface 33 is obtained according to the installation height difference delta h of the UWB tag and the UWB base stationΔh＝|h1-h2|。

The area of the triangle formed by the second UWB tag 42 and the first UWB base station 31 and the second UWB base station 32 can be obtained according to the hello formulaWherein, S is (a + l3+ l4)/2, then the distance h4 of the second UWB tag 42 from the connecting line of the first UWB base station 31 and the second UWB base station 32 is 2S2/a according to the area of the triangle, and finally the horizontal distance between the second UWB tag 42 and the UWB base station mounting surface 33 is obtained according to the mounting height difference Δ h of the UWB tag and the UWB base station

Based on the calculated horizontal distance H1 between the first UWB tag 41 and the UWB base station installation surface 33 and the calculated horizontal distance H2 between the second UWB tag 42 and the UWB base station installation surface 33, and based on the mechanical size and attitude data of the loader, the relative position of the remote control loader and the truck load compartment or the discharge point and the relative position of the bucket and the truck load compartment or the discharge point are further calculated.

In the present embodiment, the UWB base station 30 may be mounted on the remote control transfer machine and the UWB tag 40 may be mounted on the transportation device, or the UWB base station 30 may be installed on the work site and the UWB tag 40 may be mounted on both the transportation device and the remote control loader. And measuring the relative positions of two fixed points on the remote control loader and two fixed points on the transport equipment through the ranging information between the plurality of UWB tags and the plurality of UWB base stations.

The remote control end of the remote control loader comprises a display and a processor. The processor is used for calculating the relative position between the cargo compartment of the transportation equipment and the remote control loader according to the measurement information of the attitude sensor and the UWB positioning system; the display is used for displaying auxiliary marks, wherein the auxiliary marks comprise a cargo compartment outline mark and a remote control loader outline mark, and the relative position between the cargo compartment outline mark and the remote control loader outline mark is correspondingly consistent with the relative position between the transport equipment cargo compartment and the remote control loader. The cargo box outline marker comprises a cargo box outline marker 11 under a rear view angle and a cargo box outline marker 22 under a top view angle, and the remote control loader outline marker comprises a remote control loader outline marker 12 under the rear view angle and a remote control loader outline marker 23 under the top view angle.

The display comprises a top-view outline marker display area 20 and an axial-view outline marker display area 10, wherein the top-view outline marker display area 20 is used for displaying the cargo compartment outline marker and the remote control loader outline marker in a top-view visual angle; the shaft view outline marker display area is used for displaying the cargo compartment outline marker and the remote control loader outline marker under a front view or a rear view. The front-back direction is the front-back direction of the freight equipment, and the remote control loader loads the carload from the left side or the right side of the freight compartment.

The auxiliary markers also include distance markers 34, and the distance markers 34 are used for identifying the distance between key positions on the remote control loader and the side walls of the cargo compartment. The key location points on the remote loader may be one or more of the following location points on the remote loader: the foremost position point of the front wheel, the foremost end of the bucket, and a position point on the movable arm, which is likely to collide with the cargo compartment. The distance between the key position point on the remote control loader and the cargo compartment is identified, so that an operator can more accurately master the distance between the remote control loader and the cargo compartment, and collision is avoided.

The unloading auxiliary system also comprises a camera used for acquiring an overlooking image of the cargo compartment at an overlooking visual angle; the cargo box outline marker 22 under the overlooking view is superposed on the overlooking image, and the cargo box outline marker 22 under the overlooking view is superposed with the cargo box outline of the transportation equipment in the overlooking image. Through overlooking the image and overlooking the outline sign of the cargo compartment under the visual angle, make things convenient for operating personnel to know the loading condition in the cargo compartment more directly perceivedly and accurately.

The auxiliary mark also comprises a grid line mark 24 and a discharge time mark 27; grid line markings 24 are used to divide the transport equipment cargo bed top opening outline area into a number of discharge grid areas 26;

discharge number marks 27 are displayed in the respective discharge grid areas 27 divided by the grid line marks 24 for marking the discharge number in the respective discharge grid areas.

The auxiliary mark also comprises a discharging position mark 25, and the discharging position mark 25 can be an outline pattern of the bucket or other striking walking patterns, such as dots. The discharge position identification 25 is displayed in the discharge grid area corresponding to the discharge position during the discharging process of the remote loader.

In a preferred embodiment of the present invention, the unloading assistance method of the remote control loader comprises the following steps:

a distance measurement step, namely measuring the distance between two fixed points on the remote control loader and two fixed points on the transportation equipment in real time through a UWB positioning system;

and (3) posture measuring: detecting the working device attitude and the host vehicle body attitude of the remote control loader in real time through an attitude sensor;

resolving: calculating the relative position between the cargo compartment of the transportation equipment and the remote control loader according to the measurement results of the distance measurement step and the attitude measurement step;

a display step: displaying an auxiliary identifier on a display at a remote control end of the remote control loader; the auxiliary mark comprises a cargo compartment outline mark of the transportation equipment and a remote control loader outline mark, and the relative position between the cargo compartment outline mark and the remote control loader outline mark is correspondingly consistent with the relative position between the cargo compartment of the transportation equipment and the remote control loader.

And a processor at the remote control end generates a contour figure of the remote control loader as a contour mark of the remote control loader according to the attitude information detected by the attitude sensor of the remote control loader in real time and the geometric dimension information of the remote control loader. Generating a contour figure of a cargo compartment of the transportation equipment as a cargo compartment contour identification according to the geometric dimension information of the transportation equipment; and (3) measuring distance information between a fixed point on the remote control loader and a fixed point on the transport vehicle in real time according to the UWB positioning system, resolving and determining the relative position between the contour identifier of the cargo compartment and the contour identifier of the remote control loader, and displaying the relative position in a display. And correspondingly enabling the relative position between the cargo compartment outline mark and the remote control loader outline mark displayed in the display to be consistent with the relative position between the transportation equipment cargo compartment and the remote control loader.

Two display areas are arranged on the display, namely a top view outline marker display area and an axis view outline marker display area, wherein the top view outline marker display area is used for displaying a cargo equipment outline marker 21, a cargo compartment outline marker 22 and a cargo equipment outline marker 21 remote control loader outline marker 23 under a top view angle; the shaft view outline marker display area is used for displaying a cargo box outline marker 11 under a rear view angle and a remote control loader outline marker 12 under the rear view angle.

The unloading auxiliary method further comprises the following steps: acquiring an overhead image of the cargo compartment of the transportation equipment at an overhead viewing angle through a camera; the cargo box outline identification under the overlooking visual angle is superposed on the overlooking image and the cargo box outline identification is superposed with the cargo box outline in the overlooking image.

The unloading auxiliary method comprises a counting step, wherein in the counting step, the unloading grid area where unloading is located is judged according to the coincidence condition of the bucket outline in the outline identification of the remote control loader and the unloading grid area under the overlooking visual angle during unloading, and the unloading times of each unloading grid area are accumulated; the grid line marks are used for dividing the outline area of the top opening of the cargo compartment of the transportation equipment into a plurality of unloading grid areas; and the unloading time mark is displayed in each unloading grid area divided by the grid line mark and is used for marking the unloading time in each unloading grid area. And when the loading of the cargo compartment is started, counting the unloading times again.

The auxiliary mark also comprises a discharging position mark, and the discharging position mark is displayed in a discharging grid area corresponding to the discharging position in the discharging process of the remote control loader. The unloading position mark is represented by a bucket outline graph, after the bucket is lifted, the superposition condition of the bucket outline and the unloading grid area in the remote control loader outline mark under the overlooking visual angle displays the unloading position mark in the corresponding unloading grid area grid, and the position to be unloaded is marked.

The unloading auxiliary method also comprises the following steps: calculating the distance between a key point on the remote control loader and the cargo compartment when the remote control loader approaches the cargo compartment and in the unloading process according to the measurement results of the distance measuring step and the attitude measuring step; for example, the distance between the front end of the bucket and the freight equipment when the remote control loader approaches the freight equipment, the distance between the front wheels of the loader and the freight car after the bucket is lifted, and the distance between the collision point of the movable arm and the freight car.

The auxiliary mark also comprises a distance mark, the distance mark is displayed between the contour mark of the remote control loader and the cargo compartment, and the distance mark is used for marking the distance between a key position point on the remote control loader and the side wall of the cargo compartment. For example, a distance indicator D3 indicating the distance between the bucket front end and the cargo bed during the approach of the remote loader to the freight device is displayed between the cargo bed contour indicator and the remote loader contour indicator in the top view; the distance indicator D2 indicating the distance between the front wheels of the remote control loader and the cargo bed after the bucket is lifted and the distance indicator D1 indicating the distance between the point on the boom where the collision with the cargo bed is likely and the cargo bed are displayed between the cargo bed contour indicator and the remote control loader contour indicator in the axial view.