Unmanned excavation system and method in complex construction environment based on natural interaction

Abstract

The invention discloses an unmanned excavation system and method based on natural interaction in complex construction environment, and belongs to the field of unmanned excavation systems. According tothe system and method, a holographic electronic fence, a force feedback unit and an unmanned excavator are controlled to finish corresponding actions according to bimanual gesture commands sent froma bimanual gesture control unit, and the unmanned excavator remains a safe distance from surrounding environment according to the visual electronic fence shown through a holographic electronic fence unit; when a bucket meets underground obstacles, sensed force information is transmitted to a remote operator through a force sensing module by using the force feedback unit; and the remote operator senses the obstacles through a force simulation module, and accordingly sends next excavation commands through the bimanual gesture control unit. According to the unmanned excavation system, based on gesture recognition control, the natural interaction between the remote operator and the unmanned excavator is achieved, and the action of the excavator can be fed back; interaction with the surroundingenvironment can be further performed, and the safety of the excavation work is improved; and the occurrence probability of field safety accidents is reduced.

Description

technical field [0001] The invention belongs to the field of unmanned excavation systems, and more particularly, relates to an unmanned excavation system and a working method thereof in a complex construction environment based on natural interaction. Background technique [0002] With the gradual development of computer technology, various natural interaction methods have emerged, and with the development of construction machinery in the direction of intelligence and automation, the level of autonomy of machinery has gradually increased. In ordinary earthwork excavation projects, foreign companies have developed fully autonomous unmanned excavators, which excavate and transport earth through simple earthwork sites. However, due to the complexity of some underground engineering construction environments, it is currently difficult to achieve unmanned excavators. The excavator excavates fully autonomously, so it is feasible to control the work of the unmanned excavator in a nat...

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Problems solved by technology

[0003] In view of the above defects or improvement needs of the prior art, the present invention provides an unmanned excavation system and method in a complex construction environment based on natural interaction. When the unmanned excavator cannot operate autonomously, it can use remote natural interactive control and feedback to realize remote remote control operation, thereby solving the technical problem that the existing technology is difficult to realize unmanned excavation in complex construction environments

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