A method, device and system for operating an excavator

Abstract

The application discloses a kind of excavator's operation method, device and system, by using unmanned plane to obtain the current image of the region to be constructed;Then according to the current image and target terrain, the operation target of excavator is obtained, wherein the target terrain is the expected terrain of the region to be constructed after construction, and the operation target represents the operation task to be completed by the excavator;Finally, according to the operation target, guide the excavator operation;That is, the current image of the region to be constructed is obtained by using unmanned plane scanning instead of manual mapping, and a more accurate operation task is obtained by comparing the current image and the target terrain, and the excavator is guided according to the operation task.The flight time of the unmanned plane is short, the image acquisition efficiency is high and accurate, which can not only save labor cost and time cost, but also improve the accuracy of image acquisition, determine the operation target with more accurate image, and execute the excavating operation according to the operation target, so as to improve the precision and operation efficiency of the excavator operation.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of excavator operation, in particular to an operation method, device and system of an excavator. BACKGROUND

[0002] The construction industry is developing rapidly, and construction projects are emerging like mushrooms all over the country, resulting in construction sites everywhere. As an important tool for construction, excavators are widely used in various construction sites. When a single excavator (for smaller sites) and a group of excavators (for larger sites) are working on excavation, mining and finishing, etc., the environment of the construction area needs to be previously surveyed, and a regional model of the construction area needs to be constructed, so that the excavator can work according to the regional model, especially for a group of excavators, as the working range is large, it is difficult to guarantee the working quality and effect without operation planning.

[0003] However, the existing construction method of the regional model is still a manual total station, i.e. manual field surveying and mapping calibration is performed on site, the surveying and mapping calibration cycle is long, the model construction is slow and the deviation is large, which results in that the construction operation needs to wait for a long time, and the precision of the excavation operation according to the regional model is also low, which not only wastes a large amount of human and time costs, but also the construction effect is not ideal. SUMMARY

[0004] In order to solve the above technical problems, the present application is proposed. The embodiments of the present application provide an operation method, device and system of an excavator, which solve the above technical problems.

[0005] According to one aspect of the present application, an operation method of an excavator is provided, comprising: acquiring a current image of a to-be-constructed area by using a drone; obtaining an operation target of the excavator according to the current image and a target terrain; wherein the target terrain is an expected terrain of the to-be-constructed area after construction, and the operation target represents an operation task to be completed by the excavator; and guiding the excavator to operate according to the operation target.

[0006] In an embodiment, the target terrain includes a three-dimensional image; wherein the operation target of the excavator is obtained according to the current image and the target terrain, including: performing three-dimensional modeling according to the current image to obtain a current terrain; comparing the current terrain and the target terrain to obtain a deviation value between the current terrain and the target terrain; and determining the operation target of the excavator according to the deviation value.

[0007] In one embodiment, determining the excavator's operating target based on the deviation value includes: determining the excavator's operating depth based on the deviation value; and / or determining the excavator's operating position based on the current terrain and the target terrain.

[0008] In one embodiment, guiding the excavator to operate according to the operation target includes: dividing the operation target into multiple data segments; wherein the length of each data segment is determined according to the data transmission rate of the UAV and the excavator; and sending the multiple data segments to the excavator.

[0009] In one embodiment, the excavator is equipped with a display screen; wherein, guiding the excavator to operate according to the work objective includes: sending the work objective to the display screen to guide the excavator to operate.

[0010] In one embodiment, the excavator operation method further includes: acquiring the excavator's location information; guiding the excavator operation according to the operation target includes: sending the operation target and the excavator's location information to the excavator to guide the excavator operation; wherein the excavator formulates an excavation plan based on the excavator's location information and the operation target.

[0011] In one embodiment, sending the work target and the excavator's location information to the excavator to guide the excavator's operation includes: sending the work target and the excavator's location information to the excavator to obtain the number of digging operations at each location within the excavator's working area; and planning the excavator's travel path and digging depth based on the number of digging operations at each location within the excavator's working area.

[0012] In one embodiment, after guiding the excavator to operate according to the work objective, the excavator operation method further includes: using the UAV to acquire process images of the area to be constructed again according to the construction progress of the excavator; and adjusting the operating efficiency and operating accuracy of the excavator according to the process images and the target terrain.

[0013] According to another aspect of this application, an excavator operating device is provided, comprising: an image acquisition module for acquiring a current image of a construction area using a drone; a target determination module for determining the excavator's operating target based on the current image and target terrain; wherein the target terrain is the expected terrain of the construction area after construction, and the operating target represents the operation task that the excavator needs to complete; and an operation guidance module for guiding the excavator's operation based on the operating target.

[0014] According to another aspect of this application, an excavator operating system is provided, comprising: at least one excavator; a drone; and the aforementioned excavator operating device.

[0015] This application provides an excavator operation method, apparatus, and system. It utilizes a drone to acquire current images of the area to be constructed. Then, based on the current images and target terrain, the excavator's operational target is determined. The target terrain is the expected terrain of the area after construction, and the operational target represents the task the excavator needs to complete. Finally, the excavator is guided to operate based on the operational target. Specifically, drone scanning replaces manual surveying to acquire current images of the area to be constructed. By comparing the current images with the target terrain, a more precise operational task is obtained. The excavator is then guided to operate based on this task. The drone has a short flight time and high efficiency and accuracy in acquiring images, saving labor and time costs. It also improves the accuracy of the images of the area to be constructed, allowing for the determination of the operational target based on a more accurate image. Excavation operations are then performed according to this operational target, thereby improving the accuracy and efficiency of the excavator's operation. Attached Figure Description

[0016] The above and other objects, features, and advantages of this application will become more apparent from the more detailed description of the embodiments of this application in conjunction with the accompanying drawings. The accompanying drawings are used to provide a further understanding of the embodiments of this application and form part of the specification. They are used together with the embodiments of this application to explain this application and do not constitute a limitation thereof. In the accompanying drawings, the same reference numerals generally represent the same components or steps.

[0017] Figure 1 This is a flowchart illustrating an excavator operation method provided in an exemplary embodiment of this application.

[0018] Figure 2 This is a schematic diagram of the structure of an unmanned aerial vehicle (UAV) module provided in an exemplary embodiment of this application.

[0019] Figure 3 This is a flowchart illustrating an excavator operation method provided in another exemplary embodiment of this application.

[0020] Figure 4 This is a schematic diagram of the structure for marking the working position of an excavator according to an exemplary embodiment of this application.

[0021] Figure 5 This is a flowchart illustrating an excavator operation method provided in another exemplary embodiment of this application.

[0022] Figure 6 This is a flowchart illustrating an excavator operation method provided in another exemplary embodiment of this application.

[0023] Figure 7 This is a schematic diagram of the structure of an excavator's working device provided in an exemplary embodiment of this application.

[0024] Figure 8 This is a schematic diagram of the structure of an excavator's working device provided in another exemplary embodiment of this application.

[0025] Figure 9 This is a schematic diagram of the structure of an excavator operating system provided in an exemplary embodiment of this application.

[0026] Figure 10 This is a structural diagram of an electronic device provided in an exemplary embodiment of this application. Detailed Implementation

[0027] Hereinafter, exemplary embodiments according to this application will be described in detail with reference to the accompanying drawings. Obviously, the described embodiments are merely some embodiments of this application, and not all embodiments of this application. It should be understood that this application is not limited to the exemplary embodiments described herein.

[0028] When excavators or excavator groups are conducting construction operations across all terrains, they need to collect local environmental data to ensure the construction results meet expectations. However, if manual surveying instruments are used to collect the corresponding terrain data on-site, and then appropriate software is used to create a regional model and generate a target regional model, this process is time-consuming, has a long data processing cycle, and the model has significant deviations. To correct these deviations, multiple surveys are required, which obviously wastes a lot of manpower and time. Moreover, excavators or excavator groups, based on the target regional model and relying on visual observation for excavation operations, may experience low excavation accuracy and significant positioning deviations due to the operator's experience and skill level. This results in a significant difference between the final construction results and the target terrain, requiring multiple surveys and corrections to complete the project, which also increases construction time and costs.

[0029] To avoid the aforementioned problems, this application proposes an excavator operation method. This method utilizes a drone to scan regional environmental data from the air, and then creates a current regional model and a target regional model based on this data. The differences between the current and target regional models are used to determine the work task, which is then distributed to the excavator. This task guides the excavator's operation, eliminating the tedious process of repeated surveying and improving the accuracy of the regional model, thereby ensuring the precision and efficiency of the construction operation. The implementation method and effects of this application are described in detail below with reference to the accompanying drawings.

[0030] Figure 1 This is a schematic flowchart illustrating an excavator operation method according to an exemplary embodiment of this application.Figure 1 As shown, the operating method of this excavator includes the following steps:

[0031] Step 110: Use a drone to acquire the current image of the area to be constructed.

[0032] Using drones equipped with 3D scanning systems (such as high-definition gimbal modules) to scan the area to be constructed, in order to obtain current image data of the area, providing accurate basic data for subsequent terrain model building.

[0033] It should be understood that in order to ensure the accuracy of the image data acquired by the drone, a self-check can be performed before the drone takes off. This includes a self-check of the fuselage, rotor, and high-definition gimbal. If a problem is found during the self-check, the drone can be restarted. If a serious problem is found during the self-check or the problem persists after restarting, an alarm can be triggered to prompt the staff to carry out maintenance. The self-check process can be controlled and executed by the drone's internal program. If there are no problems during the self-check, the drone can take off and operate.

[0034] Step 120: Based on the current image and target terrain, obtain the excavator's work target.

[0035] The target terrain refers to the expected terrain of the area to be constructed after construction, while the operational target represents the tasks that the excavator needs to complete. Before construction begins, a drone can be used to take aerial photographs over the area to be constructed to obtain initial terrain image data. Based on this initial terrain image data, a current terrain model is constructed. Then, by comparing the terrain model obtained from the current images with the target terrain, the excavator's operational target is determined. Specifically, for example... Figure 2 As shown, the drone module is an operation module installed on the drone. Specifically, the drone module includes a high-definition gimbal module, an image processing controller, and a micro router. The high-definition gimbal module is used to capture and obtain current images of the area to be constructed. The image processing controller is used to process the current images (compare the current image data with the target terrain data) to obtain real-time current deviation terrain images (the deviation between the current image and the target terrain, i.e., the excavator's operation task). The micro router is used to wirelessly connect with other communication modules (such as the excavator's wireless communication module or client, etc.) to realize the drone's wireless communication.

[0036] Step 130: Guide the excavator to operate according to the work objectives.

[0037] In one embodiment, step 130 can be implemented by sending the work target to the excavator to guide its operation. Specifically, the drone can break down the work target into multiple data segments; the length of each data segment is determined based on the data transmission rate between the drone and the excavator, and these multiple data segments are sent to the excavator. Since the drone and the excavator transmit data wirelessly, and the wireless transmission rate is related to the network and distance, to ensure a balanced transmission time for the drone's data download, the drone's miniature router can break down the work target obtained from real-time data acquisition into multiple data segments. To ensure data transmission efficiency and effectiveness, the length of each data segment can be set according to the transmission rate between the drone and the excavator (for example, multiple transmission rate levels can be set, each corresponding to a different length of each data segment, and the transmission rates between different excavators and drones can be different), facilitating fast and effective data transmission.

[0038] In one embodiment, a display screen is installed on the excavator; step 130 can be implemented by sending the work target to the display screen to guide the excavator operation. Specifically, the work target (including the deviation terrain image and the target terrain image) can be sent to the excavator's display screen via a wireless network (e.g., a local area network), so that the operator can intuitively see the deviation value and deviation image between the current terrain and the target terrain, thereby guiding the operator to perform excavation operations more quickly. Specifically, the display screen of the excavator group is equipped with a wireless local area network transceiver module to realize the transmission and reception of image data between the drone and the excavator group. The wireless local area network receiving module mainly consists of a wireless switch and a wireless AP (Access Point). The wireless switch receives the 3D model information sent by the drone, and the wireless AP summarizes the image data received by the switch. The wireless switch and the wireless AP together constitute an important component of the wireless local area network, used for the tuning and reception of the current terrain image information transmitted by the drone, and displaying the received data on the excavator group's display screen to guide the operation.

[0039] In one embodiment, this application can also obtain the excavator's location information; step 130 can be implemented by sending the work target and the excavator's location information to the corresponding excavator to guide the excavator's operation. The excavator formulates an excavation plan based on the excavator's location information and the corresponding work target. Specifically, during the excavator group operation, the UAV can acquire the current image of the area to be constructed while also acquiring the image information of each excavator. Based on the excavator's image information, the excavator's location information is determined, and combined with the excavator's size information, the relative position information of the excavator in the current image can be determined. Then, the work target (target terrain and deviation terrain, etc.) of each excavator and the corresponding excavator's location information are sent to the corresponding excavator with the minimum amount of data. Upon receiving the corresponding work target and the excavator's location information (marked in the target terrain and deviation terrain), the excavator can formulate a corresponding excavation plan based on the excavator's location information and the work target. For example, the excavator can determine the number of times it needs to dig at each location based on the digging depth in the work area, and the digging path can be planned based on the number of diggings to reduce the travel distance of the excavator, thereby saving travel time and improving digging efficiency, while ensuring digging continuity and digging effect.

[0040] This application provides a method for operating an excavator, which involves using a drone to acquire current images of the area to be constructed; then, based on the current images and the target terrain, obtaining the excavator's operational target, where the target terrain is the expected terrain of the area to be constructed after construction, and the operational target represents the task that the excavator needs to complete; finally, the excavator is guided to operate based on the operational target. In other words, using drone scanning to replace manual surveying to acquire current images of the area to be constructed, and comparing the current images with the target terrain to obtain a more accurate operational task, the excavator is guided to operate based on this task. Drones have short flight times, high image acquisition efficiency, and high accuracy, which not only saves labor and time costs but also improves the accuracy of the images of the area to be constructed. By determining the operational target with a more accurate image and performing excavation work based on the operational target, the accuracy and efficiency of excavator operation can be improved.

[0041] Figure 3 This is a schematic flowchart illustrating an excavator operation method according to another exemplary embodiment of this application. The target terrain is a three-dimensional image; as shown... Figure 3 As shown, step 120 above may include:

[0042] Step 121: Perform 3D modeling based on the current image to obtain the current terrain.

[0043] After obtaining current image data through aerial photography using a drone, a 3D model can be created based on this image data to obtain the current terrain (3D image). This 3D modeling can be performed within the drone's image processing controller. Since this application can perform edge processing on only the captured image data to obtain the outline 3D image of the current terrain, the computational load is relatively small and can be directly completed by the drone's image processing controller, thereby improving response speed. It should be understood that, to improve the accuracy of the 3D image or to incorporate other computational processes, the entire 3D modeling process can also be performed on a remote server or cloud server to ensure the computation of large amounts of data.

[0044] Step 122: Compare the current terrain with the target terrain to obtain the deviation value between the current terrain and the target terrain.

[0045] After obtaining the current terrain through 3D modeling, the deviation between the current terrain and the target terrain is calculated by comparing the two. This deviation represents the workload that the excavator needs to handle; in other words, the excavator needs to operate on the current terrain to achieve the desired result. The target terrain can also be obtained by capturing aerial images from a drone before the operation begins and then creating a 3D model based on the operational requirements.

[0046] Step 123: Determine the excavator's operational target based on the deviation value.

[0047] After obtaining the deviation value between the current terrain and the target terrain, the deviation value is used as the target for excavator operation, thereby providing more accurate reference data for excavator operation and improving the accuracy of excavator operation.

[0048] In one embodiment, step 123 can be implemented by determining the excavator's operating depth based on the deviation value. After determining the deviation value between the current terrain and the target terrain, the depth deviation at each location can be obtained based on this deviation value, thereby obtaining the excavator's operating depth at that location, thus providing accurate depth guidance for excavator operations.

[0049] In one embodiment, step 123 can be implemented by determining the excavator's operating position based on the current terrain and the target terrain. After determining the deviation between the current terrain and the target terrain, the excavator's position information is obtained for each position with deviation, thereby providing precise operating position guidance for the excavator. Specifically, as shown... Figure 4As shown, after receiving image information, the excavator swarm first performs four-point positioning of the work area. For example, the operator can manually determine the position information of four points on the current or target terrain to determine the working area and digging depth of the corresponding excavator, thereby ensuring the division of labor and cooperation among the excavator swarm. To improve the display effect, after four-point positioning, the working area (corresponding four-point coordinates) of each excavator can be sent to a drone. The drone can adaptively send a portion of the current and target terrain to the corresponding excavator, such as a terrain image containing a portion of the excavator's working area, to improve the display size and accuracy of the displayed image. Preferably, after determining the deviation value between the current and target terrain, this application can set the working area of ​​each excavator based on the deviation value and the number of excavators in the swarm. For example, the amount of earthwork to be excavated is estimated based on the deviation value, and then the working areas of the excavators are planned evenly to ensure that the amount of earthwork to be excavated by each excavator is equal or close, thus ensuring the progress of the entire project.

[0050] Figure 5 This is a schematic flowchart illustrating an excavator operation method according to another exemplary embodiment of this application. Figure 5 As shown, after step 130, the above-mentioned excavator operation method may further include:

[0051] Step 140: Based on the excavator's construction progress, use a drone to acquire process images of the area to be constructed again.

[0052] Since excavators cannot easily excavate and refine the current (or initial) terrain to match the target terrain in a single operation, multiple drone takeoffs for scanning and modeling, or prolonged hovering, would not only lead to insufficient drone endurance but also generate a large amount of computational work. To address this issue, this application divides the excavation operation into three stages: rough excavation, semi-finishing, and finishing. The drone only needs a maximum of four takeoffs for full-area scanning and modeling to complete the final excavation. To facilitate calculations and provide operators with more intuitive judgment, the drone performs rough excavation after its first scan based on the excavator's four-point positioning results, with the excavation depth estimated at 3 / 5 of the total excavation depth. After reaching this position, the drone takes off a second time for a full-terrain scan, generating a new 3D model integrating the full-terrain 3D model and a correction image (i.e., a deviation map between the current and target terrain). Based on the output of this 3D model, the excavator performs semi-finishing, with the excavation depth estimated at 4 / 5 of the total excavation depth. After the semi-finished area reaches this position, the drone performs a third all-terrain scan. Based on the output, the excavator group performs the final finishing work to the last 1 / 5 of the depth. It is worth noting that each excavation and finishing operation covers the total working area, and the drone's next cruise time is determined by the excavation depth. Finally, the drone takes off for a fourth time to perform a final scan and modeling to determine whether the excavators have met the terrain finishing requirements of the work area. If not, a new 3D model integrating the all-terrain 3D model and the correction image is generated and uploaded. The operators then perform a final finishing operation. Since this is the final determination of the entire area finishing, the drone hovers over the work area and performs real-time scanning to provide real-time images for the final finishing work of the excavator group until the excavated and finished area meets the target terrain requirements. If it does, the excavation operation ends, and the drone returns to base and stops. Preferably, this application can also use the drone to acquire process images of the work area of ​​a single or part of the excavators according to the construction progress of each excavator, that is, the acquisition frequency of process images can be set according to the construction speed of the excavators. For example, when the working efficiency of a single excavator is higher than that of other excavators, process images of the working area of ​​that single excavator can be acquired separately to avoid over-digging by that single excavator and causing large errors.

[0053] Step 150: Adjust the excavator's operating efficiency and accuracy based on the process images and target terrain.

[0054] During each of the above-mentioned work processes, the excavator operator (manual operation) or the excavator controller (automatic operation) adjusts the excavator's work efficiency and accuracy based on the process images and target terrain currently acquired by the UAV. Work efficiency is the amount of earthwork moved by the excavator per unit time or the area leveled and finished per unit time, while excavation accuracy is the deviation between the target value and the current value (less than 2 cm). For example, if the second 3D model output image acquired by the UAV shows that the excavation depth of a certain excavator is less than 3 / 5 of the target depth (depth of the rough excavation process), it indicates that the excavator's work efficiency is low, and the excavation speed needs to be increased. Conversely, if the third 3D model output image acquired by the UAV shows that the excavation depth of a certain excavator is greater than 4 / 5 of the target depth (depth of the semi-finishing process), it indicates that the excavator's work speed is too fast and the work accuracy is low, and the excavation speed should be reduced while the excavation accuracy is increased. Preferably, this application can also obtain the construction progress and effect of each excavator based on process images and target terrain. If the construction progress is slow (due to excavator malfunction, etc.) or the construction effect is poor (due to poor excavation plan), the work area can be modified according to the actual situation. For example, the work area of ​​the excavator can be reduced or canceled and reassigned to other excavators to ensure overall construction efficiency and effect. It should be understood that when the excavator's construction progress is slow, an alarm can be issued to remind the staff to inspect the excavator. If the construction progress is still slow after inspection, the work area of ​​the excavator can be reduced or canceled and reassigned to other excavators. When the excavator's construction effect is poor, the excavation plan can be replanned. If the construction effect is still poor after replanning the excavation plan, the work area of ​​the excavator can be reduced or canceled and reassigned to other excavators.

[0055] Figure 6 This is a schematic flowchart illustrating an excavator operation method according to another exemplary embodiment of this application. Figure 6 As shown, the operating method of this excavator may include the following steps:

[0056] Step 601: Drone self-test.

[0057] The self-testing method for drones described in the above embodiments is used, and will not be repeated here.

[0058] Step 602: Check if the self-test is normal. If yes, proceed to step 603; otherwise, proceed to step 601.

[0059] Step 603: Full-area scanning by drone.

[0060] The scanning method using the drone described in the above embodiments will not be repeated here.

[0061] Step 604: 3D modeling.

[0062] The image processing controller of the UAV described in the above embodiments is used, and will not be repeated here.

[0063] Step 605: Calculate the target deviation terrain data.

[0064] The target deviation data calculation method described in the above embodiments is used, and will not be repeated here.

[0065] Step 606: Send the full-terrain 3D model and correction images to the excavator.

[0066] After acquiring the correction image (i.e., the deviation image between the current terrain and the target terrain), the correction image and the full-terrain 3D model (i.e., the target terrain) are sent to the excavator to guide its operation.

[0067] Step 607: Excavator four-point positioning.

[0068] The four-point positioning method for excavators described in the above embodiments is used, and will not be repeated here.

[0069] Step 608: Excavator three-stage operation.

[0070] The excavation operation is carried out using the excavator operation procedures described in the above embodiments, which will not be repeated here.

[0071] Step 609: Determine whether the target value for correction is met. If yes, end the process; otherwise, proceed to step 608.

[0072] Figure 7 This is a schematic diagram of the structure of an excavator's working device provided in an exemplary embodiment of this application. Figure 7 As shown, the excavator's operating device 70 includes: an image acquisition module 71, used to acquire current images of the area to be constructed using a drone; a target determination module 72, used to determine the excavator's operating target based on the current image and the target terrain; wherein the target terrain is the expected terrain of the area to be constructed after construction, and the operating target represents the operating task that the excavator needs to complete; and an operation guidance module 73, used to guide the excavator's operation based on the operating target.

[0073] This application provides an excavator operating device that uses an image acquisition module 71 to acquire current images of the area to be constructed using a drone. Then, a target determination module 72 determines the excavator's operating target based on the current image and the target terrain, where the target terrain is the expected terrain of the area to be constructed after construction, and the operating target represents the task that the excavator needs to complete. Finally, an operation guidance module 73 guides the excavator's operation based on the operating target. That is, using drone scanning to replace manual surveying to acquire current images of the area to be constructed, and comparing the current image with the target terrain to obtain a more accurate operating task, the excavator is guided to operate based on this operating task. The drone has a short flight time, high image acquisition efficiency and accuracy, which can not only save labor and time costs, but also improve the accuracy of the images of the area to be constructed. The operating target is determined with a more accurate image, and the excavation operation is performed according to the operating target, thereby improving the accuracy and efficiency of the excavator's operation.

[0074] In one embodiment, the work guidance module 73 may be further configured to send the work target to the excavator to guide the excavator's operation. In another embodiment, the work guidance module 73 may be further configured to: the UAV can break down the work target into multiple segments of data information; wherein the length of each segment of data information is determined according to the data transmission rate between the UAV and the excavator, and the multiple segments of data information are sent to the excavator.

[0075] In one embodiment, the work instruction module 73 may be further configured to send the work target to the display screen to guide the excavator operation.

[0076] Figure 8 This is a schematic diagram of the structure of an excavator's working device provided in another exemplary embodiment of this application. For example... Figure 8 As shown, the target determination module 72 may include: a 3D modeling unit 721, used to perform 3D modeling based on the current image to obtain the current terrain; a deviation acquisition unit 722, used to compare the current terrain and the target terrain to obtain the deviation value between the current terrain and the target terrain; and a target calculation unit 723, used to determine the excavator's working target based on the deviation value.

[0077] In one embodiment, the target calculation unit 723 may be further configured to determine the working depth of the excavator based on the deviation value.

[0078] In one embodiment, the target calculation unit 723 may be further configured to determine the working position of the excavator based on the current terrain and the target terrain.

[0079] In one embodiment, such as Figure 8As shown, the excavator's working device 70 may further include: a process acquisition module 74, used to acquire process images of the area to be constructed again using a drone according to the excavator's construction progress; and a work adjustment module 75, used to adjust the excavator's working efficiency and working accuracy according to the process images and target terrain.

[0080] Figure 9 This is a schematic diagram of the structure of an excavator's operating system provided in an exemplary embodiment of this application. For example... Figure 9 As shown, the excavator's operating system includes: at least one excavator, a drone, and the aforementioned excavator's operating device. The excavator's operating device includes a drone module on the drone side and an excavator module on the excavator side. Specifically, the drone module includes a high-definition gimbal module, an image processing controller, and a miniature router, while the excavator module includes a display screen and a wireless transceiver module.

[0081] This application provides an excavator operation system that uses a drone to acquire current images of the area to be constructed. Based on the current images and target terrain, the system determines the excavator's operational target, where the target terrain is the expected terrain of the area after construction, and the operational target represents the task the excavator needs to complete. The drone sends the operational target and target terrain to the excavator to guide its operation. In other words, the system utilizes drone scanning to replace manual surveying to acquire current images of the area to be constructed, and compares the current images with the target terrain to obtain a more accurate operational task. The excavator is then guided to operate based on this task. The drone has a short flight time and high efficiency and accuracy in acquiring images, saving labor and time costs and improving the accuracy of the images of the area to be constructed. By determining the operational target with a more accurate image and performing excavation work based on the operational target, the system can improve the accuracy and efficiency of excavator operations.

[0082] Below, for reference Figure 10 This application describes an electronic device according to embodiments thereof. The electronic device may be either or both of a first device and a second device, or a standalone device independent of them, which may communicate with the first device and the second device to receive acquired input signals from them.

[0083] Figure 10 A block diagram of an electronic device according to an embodiment of this application is illustrated.

[0084] like Figure 10 As shown, the electronic device 10 includes one or more processors 11 and memory 12.

[0085] The processor 11 may be a central processing unit (CPU) or other form of processing unit with data processing capabilities and / or instruction execution capabilities, and may control other components in the electronic device 10 to perform desired functions.

[0086] The memory 12 may include one or more computer program products, which may include various forms of computer-readable storage media, such as volatile memory and / or non-volatile memory. The volatile memory may include, for example, random access memory (RAM) and / or cache memory. The non-volatile memory may include, for example, read-only memory (ROM), hard disk, flash memory, etc. One or more computer program instructions may be stored on the computer-readable storage medium, and the processor 11 may execute the program instructions to implement the methods of the various embodiments of this application described above and / or other desired functions. Various contents such as input signals, signal components, and noise components may also be stored in the computer-readable storage medium.

[0087] In one example, the electronic device 10 may also include an input device 13 and an output device 14, which are interconnected via a bus system and / or other forms of connection mechanism (not shown).

[0088] When the electronic device is a standalone device, the input device 13 can be a communication network connector for receiving the collected input signals from the first device and the second device.

[0089] In addition, the input device 13 may also include, for example, a keyboard, a mouse, etc.

[0090] The output device 14 can output various information to the outside, including determined distance information, direction information, etc. The output device 14 may include, for example, a display, a speaker, a printer, and a communication network and its connected remote output devices, etc.

[0091] Of course, for the sake of simplicity, Figure 10 Only some of the components of the electronic device 10 relevant to this application are shown in this illustration; components such as buses, input / output interfaces, etc., are omitted. In addition, the electronic device 10 may include any other suitable components depending on the specific application.

[0092] The computer program product can be written in any combination of one or more programming languages ​​to perform the operations of the embodiments of this application. The programming languages ​​include object-oriented programming languages ​​such as Java and C++, as well as conventional procedural programming languages ​​such as C or similar languages. The program code can be executed entirely on the user's computing device, partially on the user's computing device, as a standalone software package, partially on the user's computing device and partially on a remote computing device, or entirely on a remote computing device or server.

[0093] The computer-readable storage medium may be any combination of one or more readable media. A readable medium may be a readable signal medium or a readable storage medium. A readable storage medium may, for example, include, but is not limited to, electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatuses, or devices, or any combination thereof. More specific examples of readable storage media (a non-exhaustive list) include: electrical connections having one or more wires, portable disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fibers, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof.

[0094] The above description has been given for purposes of illustration and description. Furthermore, this description is not intended to limit the embodiments of this application to the forms disclosed herein. Although numerous exemplary aspects and embodiments have been discussed above, those skilled in the art will recognize certain variations, modifications, alterations, additions, and sub-combinations thereof.

Claims

1. A method for operating an excavator, characterized in that, include: Use drones to acquire current images of the area to be constructed; Based on the current image and the target terrain, the excavator's work target is obtained; wherein, the target terrain includes a three-dimensional image, the target terrain is the expected terrain of the area to be constructed after construction, and the work target represents the work task that the excavator needs to complete; The step of determining the excavator's operational target based on the current image and the target terrain includes: performing a 3D model based on the current image to obtain the current terrain; comparing the current terrain and the target terrain to obtain a deviation value between the current terrain and the target terrain; and determining the excavator's operational target based on the deviation value; and The step of determining the excavator's operating target based on the deviation value includes: determining the excavator's operating depth based on the deviation value; and / or determining the excavator's operating position based on the current terrain and the target terrain; Guide the excavator to operate according to the stated task objectives; After guiding the excavator to operate according to the work objective, the excavator operation method further includes: using the drone to acquire process images of the area to be constructed again according to the construction progress of the excavator; and adjusting the operating efficiency and operating accuracy of the excavator according to the process images and the target terrain; wherein, using the drone to acquire process images of the area to be constructed again according to the construction progress of the excavator includes: dividing the excavation operation into three processes: rough excavation, semi-finishing and finishing.

2. The excavator operation method according to claim 1, characterized in that, The step of guiding the excavator to operate according to the work objective includes: The task objective is divided into multiple data segments; the length of each data segment is determined based on the data transmission rate of the drone and the excavator; and The data information is sent to the excavator in multiple segments.

3. The excavator operation method according to claim 1, characterized in that, The excavator is equipped with a display screen; wherein, guiding the excavator to operate according to the work objective includes: The task objective is sent to the display screen to guide the excavator operation.

4. The excavator operation method according to claim 1, characterized in that, The excavator's operating method also includes: Obtain the location information of the excavator; The step of guiding the excavator to operate according to the work objective includes: The work target and the location information of the excavator are sent to the excavator to guide its operation; wherein the excavator formulates an excavation plan based on the location information of the excavator and the work target.

5. The excavator operation method according to claim 4, characterized in that, Sending the work target and the excavator's location information to the excavator to guide its operation includes: The work target and the location information of the excavator are sent to the excavator to obtain the number of digging operations at each location within the excavator's working area; and Based on the number of digging operations at various locations within the excavator's working area, the excavator's travel path and digging depth are planned.

6. A working device for an excavator, characterized in that, include: The image acquisition module is used to acquire current images of the area to be constructed using a drone; The target determination module is used to obtain the excavator's work target based on the current image and the target terrain; wherein, the target terrain includes a three-dimensional image, the target terrain is the expected terrain of the area to be constructed after construction, and the work target represents the work task that the excavator needs to complete; The target determination module includes: a 3D modeling unit for performing 3D modeling based on the current image to obtain the current terrain; a deviation acquisition unit for comparing the current terrain and the target terrain to obtain the deviation value between the current terrain and the target terrain; a target calculation unit for determining the excavator's working target based on the deviation value; and... The target calculation unit is specifically used to determine the working depth of the excavator based on the deviation value; and / or to determine the working position of the excavator based on the current terrain and the target terrain; The task instruction module is used to guide the excavator in its operation based on the task objectives. The operating device is also used to acquire process images of the area to be constructed again using the drone according to the construction progress of the excavator; and to adjust the operating efficiency and operating accuracy of the excavator according to the process images and the target terrain; wherein, acquiring process images of the area to be constructed again using the drone according to the construction progress of the excavator includes: dividing the excavation operation into three processes: rough excavation, semi-finishing and fine finishing.

7. An excavator operating system, characterized in that, include: At least one excavator; Drones; as well as The working device of the excavator as described in claim 6.

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