A construction auxiliary device based on an electric shovel

Abstract

The application relates to a construction auxiliary device based on an electric breaker, which comprises a movable support chassis used for position adjustment relative to a surface to be treated under the control of a computing control device; an electric breaker head adjusting mechanism installed on the movable support chassis and used for adjusting the position and angle of the electric breaker head relative to the movable support chassis, wherein the electric breaker head adjusting mechanism comprises a connecting part connected with the electric breaker; an image device used for image acquisition and processing of the surface to be treated before and after electric breaker operation and feedback of processing results to the computing control device; and the computing control device is electrically connected with the movable support chassis, the electric breaker head adjusting mechanism and the image device and is used for monitoring and controlling the working states of the movable support chassis, the electric breaker head adjusting mechanism and the image device. The device is favorable for improving the automation degree of electric breaker operation, reducing labor intensity and improving operation safety.

Description

TECHNICAL FIELD

[0001] The present application belongs to the field of engineering machinery, and particularly relates to a construction auxiliary device based on an electric pick. BACKGROUND

[0002] In some construction fields with point-line distribution, such as excavation of mountainous power transmission line tower foundation pile hole, grounding trench, ground anchor pit, road pipeline repair engineering, house decoration and demolition, etc., large equipment cannot enter or the cost of entering and exiting the scene is high, and portable tools are widely used, among which electric picks are more popular because of mature technology, large-scale production, low price, small size and light weight.

[0003] The electric pick is a handheld construction tool powered by electricity, which uses high-frequency and high-speed impact to break hard objects. When the electric pick works, the pick and hard objects such as stones collide, and the reaction force is transmitted to the operator through the electric pick shell, causing strong vibration and arm numbness. In order to reduce the vibration amplitude, the operator needs to bend down for auxiliary support, which is easy to cause labor injury. The weight of the electric pick generally exceeds 10 kg, and the operator has a large labor intensity due to frequent movement of the electric pick.

[0004] It is forced to develop towards automation, intelligence and unmanned; in some dangerous fields, such as foundation pit excavation, due to the existence of heavy object falling, oxygen deficiency, dangerous gas deposition and other dangers, unmanned handheld and remote control are also an urgent need.

[0005] In order to solve the problem of reducing vibration and labor intensity during the operation of the electric grab, many technical solutions have been proposed in the prior art. One type is to improve the structure of the electric grab itself, such as the patent application No. 202110329395.X which proposes a shock-absorbing energy-absorbing device for electric grab, which reduces vibration by absorbing energy. The patent application No. 202022449105.9 proposes a shock-absorbing device for electric grab handle by adding support rods, sliding blocks and sliding grooves. These solutions involve improving the internal structure of the electric grab, which cannot completely eliminate the vibration to the operator and is not suitable for the existing large number of in-use electric grabs, and has certain limitations. Another type is to add a support device and a clamping device to the electric grab to reduce vibration. For example, the patent application No. 200920196528.5 proposes an electric grab trolley, which installs the electric grab on the trolley and adjusts the working position through the lifting device to control the handle concentrated on the handle to reduce labor intensity. The patent application No. 202010188180.6 proposes an electric grab device and a robot with the same, which installs the electric grab on a mechanical arm and a mechanical device with certain degrees of freedom to improve its stability and does not require manual holding. In one embodiment, it is proposed to use a laser range finder to feedback the distance between the electric grab device and the processed part in real time, reach the specified working area under the guidance of BIM map, and complete the positioning of the robot body by the visual mechanism and then controlled by the operator. Although this solution proposes a control method for the working position of the electric grab, it does not propose a control method for the electric grab, trolley and entire robot, including the specific application of laser range finder, BIM map and visual mechanism, and the control of electric grab still cannot be separated from the specific operator.

[0006] In the field of large-scale rock drilling equipment for mines, tunnels and other fields, some solutions have been proposed for the automation and intelligentization of rock drilling process, which can be used for reference. The invention No. 201521042846.8 discloses a remote control underground intelligent rock drilling robot, which is installed with a camera on the crushing working mechanism to display the working picture in real time and realize remote control. This solution can realize that the operator does not work in harsh environment and avoid personnel injury. In this solution, the image information obtained by the camera is transmitted to the display, and the operator controls the crushing working mechanism by observation, which requires the operator to monitor the working state in real time, and the production efficiency depends on the system characteristics and human reaction ability, which cannot realize complete intelligentization.

[0007] The patent application No. 20181098456.2 proposes a wheel-leg type rock drilling robot with a visual information acquisition device, a hydraulic splitting machine is installed on a mechanical arm, the mechanical arm is installed on a wheel-leg type vehicle, and under the guidance of visual information acquired by four sets of visual information acquisition devices, the working position and working distance of the splitting machine are adjusted through the movement of the vehicle body and the adjustment of the mechanical arm to replace the workers to perform complex operation tasks. However, in the scheme, only the visual information acquisition device is mentioned, and the specific method to solve the rock breaking problem is not described.

[0008] The patent application No. 202011268807.5 proposes a rock drilling robot electrical control system and a rock drilling robot, which contains a control device for the drill bit posture, and is provided with a plurality of image acquisition devices for assisting the drill bit to locate and obtain environmental information, so as to realize remote control and automatic search for rock drilling and blasting position. However, in the scheme, only the plurality of image acquisition devices and the lighting devices for assisting the work are mentioned, and the principle, sequence and method of image acquisition are not described. Whether the rock drilling and blasting position is given by the operator is not described, and the evaluation of the rock drilling result is not given. SUMMARY

[0009] The purpose of the present application is to provide an electrical grab construction auxiliary device based on the electrical grab construction auxiliary device, which is beneficial to improve the automation degree of the electrical grab operation, reduce the labor intensity, and improve the operation safety.

[0010] To achieve the above purpose, the technical scheme adopted by the present application is: an electrical grab construction auxiliary device based on the electrical grab construction auxiliary device, comprising:

[0011] A movable support chassis is used to adjust the position relative to the surface to be processed under the control of the computing control device;

[0012] An electrical grab head adjusting mechanism is installed on the movable support chassis for adjusting the position and angle of the electrical grab head relative to the movable support chassis, and the electrical grab head adjusting mechanism comprises a connecting part connected with the electrical grab;

[0013] An image device is used to collect and process the images of the surface to be processed before and after the electrical grab operation, and feed the processing results to the computing control device; and

[0014] A computing control device is electrically connected with the movable support chassis, the electrical grab head adjusting mechanism and the image device, and is used to monitor and control the working state of the movable support chassis, the electrical grab head adjusting mechanism and the image device; the computing control device calculates the processing results fed back by the image device and controls the movable support chassis and the electrical grab head adjusting mechanism to act, so as to adjust the position and angle of the electrical grab head.

[0015] Further, the image device comprises an image acquisition module, an image processing module and an image recognition module, the image acquisition module comprises an optical imaging module, and the optical imaging module is aligned with the surface to be processed operated by the electric grab.

[0016] Further, the image acquisition module is provided with a lighting group, and the lighting group is used for light compensation when the optical imaging module takes a photo.

[0017] Further, the image processing module performs image enhancement, image sharpening and special scene processing on the image collected by the image acquisition module; and the image recognition module obtains the contour and coordinate features of the broken part based on the image processed by the image processing module.

[0018] Further, the image device shoots and records a first surface image and a second surface image of the working point of the electric grab, the first surface image is a surface image shot before the operation of the electric grab, and the second surface image is a surface image shot after the operation of the electric grab based on the first surface image; the image device performs subtraction comparison on the first surface image and the second surface image to obtain a broken part image.

[0019] Further, the image device calculates the X-axis span and Y-axis span of the broken part image based on the obtained broken part image, and further calculates the operation angle of the electric grab head in the next working cycle.

[0020] Further, the computing control device further processes the broken part image and the remaining part image, calculates the X-axis value of the point where the maximum value of the Y-axis of the remaining part is located, determines the X-axis value of the point position of the electric grab head in the next working cycle, and calculates the breaking speed according to the time used by the historical working point of the electric grab to break the rock, judges the difficulty of rock breaking, and calculates the expected breaking thickness in the next working cycle, and further determines the Y-axis value of the point position of the electric grab head in the next working cycle.

[0021] Compared with the prior art, the present application has the following beneficial effects: the present application aims at the problem that the operator holds the electric grab to work when the pile foundation of the power transmission line is dug, and the labor intensity is large and the health is damaged, and provides an electric grab construction auxiliary device based on the electric grab, which controls the movable support chassis, the electric grab head adjusting mechanism and the image device to work through the computing control device, and further assists to realize the automatic operation of the electric grab; after reaching the specified location, only the working area needs to be determined manually, and almost no manual intervention is needed in the breaking process, which not only greatly reduces the labor intensity, reduces the possibility of labor injury and improves the operation safety, but also improves the work efficiency. BRIEF DESCRIPTION OF DRAWINGS

[0022] Figure 1 is the device constitution principle diagram of the embodiment of the present application.

[0023] Figure 2A is a coordinate schematic diagram of the device in the embodiment of the present application.

[0024] Figure 2B is a schematic diagram of the end face angle of the electric shovel bucket in the embodiment of the present application.

[0025] Figure 3 is a schematic diagram of the realization principle of the image device in the embodiment of the present application.

[0026] Figure 4 is a schematic diagram of the device working process in the embodiment of the present application.

[0027] Figure 5 is a schematic diagram of the electric shovel operation processing image in the embodiment of the present application. DETAILED DESCRIPTION

[0028] The present application will be further described below in conjunction with the drawings and embodiments. It can be understood that the specific embodiments described herein are only used to explain the related content, and not to limit the present application. In addition, it should be noted that only the parts related to the present application are shown in the drawings for the convenience of description.

[0029] It should be noted that the embodiments in the present application and the features in the embodiments can be combined with each other without conflict. The technical solutions of the present application will be described in detail below with reference to the drawings and in conjunction with the embodiments.

[0030] Unless otherwise specified, the exemplary embodiments / instances shown will be understood to provide exemplary features of various details that can implement the technical concept of the present application in practice. Therefore, unless otherwise specified, the features of various embodiments / instances can be additionally combined, separated, interchanged and / or rearranged without departing from the technical concept of the present application.

[0031] In the drawings, cross-hatching and / or shading are generally used to make the boundaries between adjacent components clear. Thus, unless otherwise specified, the presence of cross-hatching or shading does not convey or imply any preference or requirement for specific material, material properties, dimensions, proportions, commonality of the illustrated components, and / or any other characteristic, attribute, property, etc. of the components between which the boundaries are to be made clear. Furthermore, in the drawings, the dimensions and relative dimensions of parts shown are chosen to be illustrative only and can not be to scale. When the exemplary embodiments can be implemented differently, a specific process sequence can be performed in a different order than described. For example, two consecutively described processes can be performed substantially simultaneously or in an order opposite to that described. In addition, the same reference numbers represent the same components.

[0032] When a component is referred to as being "on" or "above" another component, "connected to," or "joined to" another component, the component may be directly on, directly connected to, or directly joined to the other component, or there may be intermediate components. However, when a component is referred to as being "directly on" another component, "directly connected to," or "directly joined to" another component, there are no intermediate components. Therefore, the term "connection" can refer to a physical connection, an electrical connection, etc., and may or may not have intermediate components.

[0033] For descriptive purposes, the present invention may use spatial relative terms such as “below,” “under,” “below,” “down,” “above,” “above,” “higher,” and “side (e.g., in a “sidewall”)” to describe the relationship between one component and another component as shown in the accompanying drawings. In addition to the orientations depicted in the drawings, the spatial relative terms are also intended to encompass different orientations of the device during use, operation, and / or manufacture. For example, if the device in the drawings is flipped, a component described as “below” or “under” another component or feature would subsequently be positioned “above” said other component or feature. Thus, the exemplary term “below” can encompass both “above” and “below” orientations. Furthermore, the device may be otherwise positioned (e.g., rotated 90 degrees or in other orientations), thus interpreting the spatial relative descriptive terms used herein accordingly.

[0034] The terminology used herein is for the purpose of describing particular embodiments and is not intended to be limiting. As used herein, unless the context clearly indicates otherwise, the singular forms “a” and “the” are intended to include the plural forms as well. Furthermore, when the terms “comprising” and / or “including” and variations thereof are used in this specification, it indicates the presence of the stated features, integrals, steps, operations, parts, components, and / or groups thereof, but does not exclude the presence or addition of one or more other features, integrals, steps, operations, parts, components, and / or groups thereof. It should also be noted that, as used herein, the terms “substantially,” “about,” and other similar terms are used as approximate terms rather than as terms of degree, thus explaining the inherent biases in measurements, calculated values, and / or provided values ​​that would be recognized by one of ordinary skill in the art.

[0035] like Figure 1 As shown, this embodiment provides a construction auxiliary device based on an electric pick, including: an electric pick head adjustment mechanism 101, an image device 102, a computing and control device 103, and a movable support chassis 104.

[0036] The movable support chassis 104 is used to adjust its position relative to the surface to be processed under the control of the computing control device.

[0037] The electric shovel head adjusting mechanism 101 is installed on the movable support chassis and is used to adjust the position and angle of the electric shovel head relative to the movable support chassis, and the electric shovel head adjusting mechanism comprises a connecting part connected with the electric shovel body.

[0038] The image device 102 is used to collect and process the image of the surface to be processed before and after the operation of the electric shovel and feed the processing result to the computing control device.

[0039] The computing control device 103 is installed on the movable support chassis and is electrically connected with the movable support chassis, the electric shovel head adjusting mechanism and the image device, and is used to monitor and control the working state of the movable support chassis, the electric shovel head adjusting mechanism and the image device; the computing control device calculates the processing result fed back by the image device and controls the movement of the movable support chassis and the electric shovel head adjusting mechanism to adjust the position and angle of the electric shovel head.

[0040] For the convenience of understanding, a coordinate system as shown in Figure 2A 、 Figure 2B is introduced. The front-back direction of the movable support chassis 104 is the X axis, the left-right direction is the Y axis, and the up-down direction is the Z axis.

[0041] The electric shovel head adjusting mechanism 101 is a mechanical arm with at least four degrees of freedom, comprising a connector for clamping the electric shovel; generally, the electric shovel is equipped with a shovel head with different end face shapes, such as circular, rectangular shovel shape, etc., to adapt to different rock types, and the azimuth angle θ of the electric shovel head is the included angle between the top end face long side (major axis) of the shovel head and the X axis. The electric shovel head adjusting mechanism 101 can at least perform adjustment of at least four degrees of freedom (front-back X, left-right Y, up-down Z, and rotation of the azimuth angle θ of the electric shovel around the electric shovel shaft) according to the instruction. Based on the multi-joint mechanical arm, the adjustment in the front-back X, left-right Y and up-down Z directions is realized, and the adjustment range can be controlled within meters, and the accuracy can be set within millimeters; a motor is installed on the connector for clamping the electric shovel to realize the adjustment of the azimuth angle θ of the shovel head, and the adjustment range is within 180 degrees, and the accuracy can reach 1 degree.

[0042] The image device 102 is a complete set of machine vision device with functions of image collection, contour recognition and image processing, etc., which processes the graphic data in the working area and sends it to the computing control device 103 for processing.

[0043] The computing control device 103 can monitor and control the working state of the electric shovel head adjusting mechanism 101, the image device 102 and the movable support chassis 104. The computing control device 103 has a control program inside and controls the working sequence of the working surface according to a certain algorithm.

[0044] The movable support chassis 104 is a four-wheel drive, four-wheel turning trolley with a laser range finder and other observation equipment, which can be moved to any position on the surface to be processed under the control of the operator or under the control of the computing control device 103. At the same time, the movable support chassis 104 is also provided with a power device, such as a storage battery or a gasoline engine, a diesel engine, etc.

[0045] The working process is as follows: install the electric pick on the electric pick operation auxiliary device, after reaching the working surface, the computing control device 103 controls the movable support chassis 104 to reach the center point of a certain working area, which is determined by the working requirement and the maximum range adjusted by the electric pick head adjustment mechanism 101; taking a certain point on the movable support chassis 104, such as the center of the movable support chassis 104 or the electric pick head adjustment mechanism 101, as the coordinate origin, the profile and data of the working area are obtained by the image device 102, under the control of the computing control device 103, the electric pick head adjustment mechanism 101 and the image device 102 are controlled to work according to a certain algorithm and sequence, guiding the completion of the entire working area, and then the computing control device 103 controls the movable support chassis 104 to reach the center point of the next working area, starting a new cycle.

[0046] As shown in Figure 3 , the image device includes an image acquisition module 301, an image processing module 302 and an image recognition module 303.

[0047] The image acquisition module 301 includes an optical imaging module containing a CMOS element, such as a camera with a resolution of 3072x2048 pixels and a focal length of 2m; the optical imaging module is aligned with the ground part of the pick head, and according to the instruction, it takes a photo and converts it into an electronic-digital signal to the image processing module 302.

[0048] The image acquisition module 301 also includes a lighting group, such as an LED lamp or a flash, which is used to supplement light when the optical imaging module takes a photo, ensuring that images can be collected even in poor visibility conditions such as at night, in thick fog, in rainy weather, etc.

[0049] The image processing module 302 contains computer processing hardware and software, which performs image enhancement, image sharpening and / or special scene processing on the images collected by the image acquisition module 301 to obtain the profile of the image and store it;

[0050] The image recognition module 303 contains computer processing hardware and software, which directly performs subtraction processing on the image profile obtained by the image processing module to obtain the profile and coordinate features of the broken part.

[0051] The image device photographs and records a first surface image and a second surface image of the working point of the electric grab, the first surface image being a surface image photographed before operation of the electric grab, and the second surface image being a surface image photographed after operation of the electric grab based on the first surface image; the image device performs subtraction comparison on the first surface image and the second surface image to obtain a broken part image. Then, based on the obtained broken part image, X-axis and Y-axis spans of the broken part image are calculated, which are used to determine an operation angle of the electric grab head in the next working cycle. The calculation control device processes the broken part image to calculate an X-axis value of a point where a Y-axis maximum value is located, and determine an X-axis value of the point of the electric grab head in the next working cycle; the calculation control device further calculates a broken speed according to a time used by the electric grab to break rock at a historical working point, judges a difficulty of rock breaking, and calculates a reasonable expected broken thickness in the next working cycle, and then determines a Y-axis value of the point of the electric grab head in the next working cycle.

[0052] Figure 4 is a device workflow schematic diagram of an embodiment of the present application.

[0053] Figure 5 is an electric grab operation processing image schematic diagram in an embodiment of the present application.

[0054] The working process of the present application will be further described below. Figure 4 and Figure 5 .

[0055] Step 401: move all devices including the electric grab, the electric grab head adjusting mechanism, the image device, the calculation control device and the movable support chassis to corresponding positions in the working area.

[0056] Step 402: start the image device, take a picture of the working area, store and record the picture, judge the contour, and select a point on the contour edge as a reference point of the working starting point, for example, select the point with the highest Y value on the contour as the reference point. The X coordinate value of the working point is equal to the X coordinate value of the reference point of the starting point, the X coordinate value of the working point is equal to the Y value of the reference point minus the working thickness Y0, and the Z coordinate value of the working point is equal to the initial height of the electric grab.

[0057] Set [i] as the serial number of the electric grab action, i=1, 2, 3…

[0058] Step 403: start the electric grab head adjusting mechanism, and send the electric grab head to the required position W(x[i], y[i], z1[i]); the initial value of the azimuth angle θ of the grab head is set as an arbitrary value.

[0059] Step 404: start the image device, take a picture of the surface to be processed, and store and record the picture, and number the picture information as T[i-].

[0060] Step 405: Start the electric pick head adjustment mechanism, set the pick head azimuth angle θ to θ[i], control the pick head to vertically press down, after reaching the working surface (x[i], y[i], z0[i]), continue to press down after starting the electric pick, stop when the pick head reaches the set depth (x[i], y[i], z1[i]), i.e., the electric pick runs the set vertical distance Z = z1[i] - z0[i], record the time t[i] required for the vertical movement of the electric pick head, and then vertically lift the electric pick to the initial position W(x[i], y[i], z0[i]).

[0061] The broken part is removed using various methods such as vacuum suction, mechanical hand, etc.

[0062] Step 406: Start the image device, take a picture of the working surface after the electric pick operation, and store the recorded picture, and number the picture information as T[i+].

[0063] Step 407: Compare the pictures before and after the electric pick operation, i.e., T[i-] and T[i+], perform image processing, and the difference between the two is the broken part T[i].

[0064] Determine the highest, lowest, leftmost, and rightmost points A(xa, ya), B(xb, yb), C(xc, yc), and D(xd, yd) of the broken part T[i], where ya = ymax, yb = ymin, xc = xmin, and xd = xmax.

[0065] Calculate and determine the point E(xe, ye) of the highest point (ymax) of the remaining part.

[0066] Step 408: Determine the required coordinate and angle information of the next electric pick operation point. The reason for this operation is that the rock processed by the electric pick is textured and layered, and if it is broken along the texture, the speed and efficiency can be improved.

[0067] Therefore, first determine the major and minor axes of the last broken part, i.e., compare (Xmax-Xmin) and (Ymax-Ymin), and take the larger value as the major axis, then make the major axis of the pick head end face parallel to the major axis of the last broken part.

[0068] If (xmax-xmin) is less than or equal to (ymax-ymin), then

[0069]

[0070] If (xmax-xmin) is greater than or equal to (ymax-ymin), then

[0071]

[0072] Then, the next point W is found, for which the point coordinate axis E(xe, ye) of the highest point (ymax) is found, and then the X coordinate value is kept unchanged, and the pick head is moved downward along the Y axis, so that the program can control the automatic breaking of all parts.

[0073] When calculating the distance of the pick head moving along the Y axis, the time of the rock flower of the same depth (Z axis direction) in the last two times is considered to evaluate the difficulty of breaking (the hardness of the rock). If the rock becomes hard (the corresponding same depth operation time becomes longer), the thickness to be broken (Y axis direction) is shortened a little; if the rock becomes soft (the corresponding same depth operation time becomes shorter), the thickness to be broken (Y axis direction) is lengthened a little.

[0074] The next position W coordinate of the electric pick head is determined as (x[i+1], y[i+1], z1[i+1]), wherein,

[0075] x[i+1]=xe

[0076] y[i+1]=ye-(ya-yb)*k; k=t[i-1] / t[i]

[0077] z1[i+1]=zl[i]

[0078] Step 409: judge whether the work area is completed, if not, go to step 403 to adjust the position and angle of the electric pick head, and perform the next breaking operation cycle.

[0079] In the description of the present specification, the description of the terms "one embodiment / way", "some embodiments / ways", "example", "specific example", or "some examples" and the like means that the specific features, structures, materials or characteristics described in connection with the embodiment / way or example are included in at least one embodiment / way or example of the present application. In the present specification, the illustrative description of the above terms does not necessarily refer to the same embodiment / way or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any appropriate manner in any one or more embodiments / ways or examples. In addition, the person skilled in the art can combine and combine the different embodiments / ways or examples described in the present specification and the features of the different embodiments / ways or examples without contradiction.

[0080] Furthermore, the terms "first", "second", etc. are used herein for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly pointing to the number of technical features indicated. Thus, features defined with "first", "second" etc. can explicitly or implicitly include at least one of such features. In the description of the application, the meaning of "plurality" is at least two, for example two, three, etc., unless explicitly and specifically defined otherwise.

[0081] Those skilled in the art will understand that the above-described embodiments are merely intended to clarify the present disclosure, and are not intended to limit the scope of the present disclosure. Other changes or modifications can be made by those skilled in the art based on the above disclosure, and such changes or modifications are still within the scope of the present disclosure.

Claims

1. A construction assistance device based on an electrical shovel, characterized by, The application relates to a movable support chassis for position adjustment under the control of a computing control device relative to a surface to be processed; an electric excavator head adjustment mechanism installed on the movable support chassis for adjusting the position and angle of the electric excavator head relative to the movable support chassis, the electric excavator head adjustment mechanism comprising a connecting part connected with the electric excavator; an image device for image acquisition and processing of the surface to be processed before and after the operation of the electric excavator and feeding the processing result to the computing control device; and the computing control device electrically connected with the movable support chassis, the electric excavator head adjustment mechanism and the image device for monitoring and controlling the working state of the movable support chassis, the electric excavator head adjustment mechanism and the image device; the computing control device calculates the processing result fed back by the image device and controls the movable support chassis and the electric excavator head adjustment mechanism to act, thereby adjusting the position and angle of the electric excavator head; the image device comprises an image acquisition module, an image processing module and an image recognition module, the image acquisition module comprises an optical imaging module, and the optical imaging module is aligned with the surface to be processed of the electric excavator; a lighting group is arranged on the image acquisition module, and the lighting group is used for light compensation when the optical imaging module takes a photo; the image processing module performs image enhancement, image sharpening and special scene processing on the image collected by the image acquisition module; the image recognition module obtains the contour and coordinate features of the broken part based on the image processed by the image processing module; the image device takes and records a first surface image and a second surface image of the working point of the electric excavator, the first surface image is a surface image taken before the operation of the electric excavator, and the second surface image is a surface image taken after the operation of the electric excavator based on the first surface image; the image device performs subtraction comparison on the first surface image and the second surface image to obtain a broken part image; the image device calculates the X-axis span and Y-axis span of the broken part image based on the obtained broken part image, and further calculates the operation angle of the next working cycle of the electric excavator head; the computing control device further processes the broken part image and the remaining part image, calculates the X-axis value of the point where the maximum value of the Y-axis of the remaining part is located, determines the X-axis value of the point position of the electric excavator head in the next working cycle, calculates the breaking speed according to the time used by the historical working point of the electric excavator to break the rock, judges the difficulty of rock breaking, calculates the expected breaking thickness of the next working cycle, and further determines the Y-axis value of the point position of the electric excavator head in the next working cycle. ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​

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