Method and device for setting electronic fence of excavator and function implementation thereof

Abstract

The application provides a method and device for setting an electronic fence of a excavator and realizing functions, and the method comprises the following steps: S1, creating a base coordinate system of a working device of the excavator; S2, selecting feature points according to a full envelope principle of a peripheral contour of the working device of the excavator; S3, setting an electronic fence position of each direction of the excavator according to three-dimensional position coordinates of the feature points; S4, constructing a multi-stage deceleration algorithm and a reverse motion control strategy of the electronic fence; S5, controlling the working of the excavator, and judging the positional relationship between feature points of the working device of the excavator and the preset electronic fence in real time, and when the feature points are about to touch the electronic fence, S6 is executed, otherwise, S5 is continuously executed; S6, controlling the working of the working device of the excavator according to the multi-stage deceleration algorithm and the reverse motion control strategy in S4, and when the working device approaches the electronic fence, the working device is decelerated, and when the working device touches the electronic fence, the working device is stopped. The electronic fence constructed by the application can envelope the peripheral contour of the excavator arm, and the safety of each part of the working device of the excavator during working is improved.

Description

Technical Field

[0001] This invention relates to a method and apparatus for setting and implementing electronic fencing on an excavator, belonging to the field of excavator intelligent technology. Background Technology

[0002] An excavator is an earthmoving machine that uses its bucket to dig materials and load them into transport vehicles or unload them at a stockpile. During operation, if an excavator encounters underground water pipes or fiber optic cables, overhead power lines, or other obstacles on either side, operator errors can lead to anything from reduced efficiency to serious vehicle or personal injury. Therefore, electronic fencing has emerged. Electronic fencing restricts the excavator's operating range to a virtual enclosure, offering advantages such as economy, convenience, reliability, and high security.

[0003] Existing systems for constructing electronic fencing for excavators and for excavators extending beyond electronic fencing have some problems and limitations:

[0004] (1) Many existing technologies assume that an electronic fence has already been created. They then use sensors to collect information and determine whether the excavator's working device has exceeded the electronic fence. If it does, the excavator is stopped and a warning signal is sent (e.g., patents CN201811582035.5 and CN202010337923.1). However, excavators are heavy and have strong inertia. Simply stopping the excavator when it is about to exceed the electronic fence does not prevent it from exceeding the set electronic fence area due to inertia, even at high speeds.

[0005] (2) In the prior art, specific calibration points are selected and the wall of the electronic fence is created based on the coordinates of the calibration points in the excavator coordinate system. Due to the limitations of the selected calibration points (e.g., patent CN202010753081.8 only selects two calibration points on the bucket), the constructed electronic fence cannot ensure that the outer contour of the excavator arm is enclosed, thus failing to guarantee the safety of each part of the excavator working device during operation. Summary of the Invention

[0006] The purpose of this invention is to overcome the shortcomings of the prior art and provide a method and apparatus for setting and implementing the electronic fence of an excavator, so that the constructed electronic fence will enclose the outer contour of the excavator arm and improve the safety of various parts of the excavator's working device during operation.

[0007] To achieve the above objectives, the present invention is implemented using the following technical solution:

[0008] In a first aspect, the present invention provides a method for setting and implementing the electronic fence function of an excavator, comprising the following steps:

[0009] S1: Create the base coordinate system for the excavator's working device;

[0010] S2: Select feature points based on the principle of full envelopment of the outer contour of the excavator's working device;

[0011] S3: Set the position of the electronic fence in each direction of the excavator based on the three-dimensional position coordinates of the feature points;

[0012] S4: Construct a multi-stage deceleration algorithm and reverse motion control strategy for the electronic fence;

[0013] S5: Control the excavator operation and judge the positional relationship between the feature points of the excavator's working device and the preset electronic fence in real time. If it is about to touch, execute S6; otherwise, continue to execute S5.

[0014] S6: Based on the multi-stage deceleration algorithm and reverse motion control strategy in S4, control the excavator's working device to operate, decelerate when approaching the electronic fence, and stop moving when hitting the electronic fence.

[0015] Furthermore, in step S1, the method for creating the excavator working device base coordinate system includes:

[0016] Using the operator's cab as the perspective and the excavator's slewing center as the origin, a coordinate system is established based on the right-hand rule for the excavator boom. The X-axis points forward (from the operator's cab perspective), the Z-axis points upward, and the Y-axis is determined by the right-hand rule. All coordinate points (x... i ,y i ,z i All are based on this coordinate system.

[0017] Furthermore, in step S2, feature points are selected based on the principle of full envelope of the outer contour of the excavator's working device, including:

[0018] Based on the principle of full envelopment of the outer contour of the working device, 25 feature points are selected on the excavator's boom and bucket:

[0019] Seven feature points on the stick: three feature points are selected at the protruding position of the outer contour of the stick and boom connection; two feature points are selected at the outer connection of the four-bar linkage at the connection between the bucket cylinder and the bucket; one feature point is selected at the middle of the bucket cylinder; and one feature point is selected at the connection between the bucket cylinder and the stick.

[0020] Eighteen feature points on the bucket: Six points are selected on the left side, right side, and middle of the bucket. The selection strategy for the six feature points in the middle of the bucket is as follows: one point at the tip of the bucket teeth, one point at the junction with the stick, and four points on the curved surface. Six feature points are also selected on the left and right sides of the bucket.

[0021] These 25 feature points can completely encompass the mechanical configuration of the excavator's working device that may come into contact with the electronic fence during operation. If the excavator's working device comes into contact with the electronic fence set in the six directions of up, down, front, back, left, and right during operation, at least one of the 25 points will come into contact with the electronic fence.

[0022] Further, step S3: Setting the electronic fence positions of the excavator in each direction based on the three-dimensional position coordinates of the feature points, including:

[0023] S31: The excavator is equipped with a slewing encoder; tilt sensors are installed on the boom, stick, and bucket joints, and the controller collects the readings of these sensors.

[0024] S32: Construct a forward kinematics model of the excavator arm based on the data in S31;

[0025] S33: Based on the forward kinematics model of the excavator working device created in S32, calculate in real time the coordinates (x, y, y) of the 25 feature points on the excavator working device in S2 in the base coordinate system. i ,y i ,z i );

[0026] S34: The operator moves the excavator's working device to a position close to the obstacle and sets the excavator's six-direction electronic wall opening information via the HMI;

[0027] S35: Based on the information in S34, compare 25 feature points (x, y, y) with reference to the established base coordinate system direction. i ,y i ,z i The size of the position coordinates in );

[0028] S36: Select the point from the 25 feature points that best matches the set electronic fence characteristics. If the operator sets the top of the electronic fence to be open, select the feature point with the largest z-value among the 25 coordinates; if the operator sets the left side of the electronic fence to be open, select the feature point with the largest y-value among the 25 coordinates; based on the information input by the excavator operator via the HMI to open the electronic fence, select the feature point from the 25 feature point groups (x... i ,y i ,z i ) Filter out the maximum or minimum value corresponding to the electronic wall;

[0029] S37: Create an electronic fence based on the feature points selected in S36.

[0030] When the obstacle position changes, S34 is executed, and the excavator operator can reselect the electronic fence position to be set in the HMI interface, updating and overwriting the previously selected electronic fence position.

[0031] Furthermore, in step S37, the method for creating the electronic fence includes:

[0032] The operator sets up the electronic fence to be activated at the top. By selecting the feature point with the largest z-value, a virtual fence is created on the top of the excavator based on the z-value of the feature point.

[0033] Using the feature point with the largest y-value, a virtual wall is created on the left side of the excavator based on the feature point's y-value; using the feature point with the smallest y-value, a virtual wall is created on the right side of the excavator based on the feature point's y-value.

[0034] Using the feature point with the largest x-value, a virtual wall is created in front of the excavator based on the feature point's x-value; using the feature point with the smallest x-value, a virtual wall is created behind the excavator based on the feature point's x-value.

[0035] Further, step S4: Constructing a multi-stage deceleration algorithm and a reverse motion control strategy for the electronic fence, including:

[0036] Let θ be the angle of the excavator's working device, including the slewing joint, boom, stick, and bucket, at the previous moment. pi Where i = 1, 2, 3, 4, and the angle at the current moment is θ. ci Where i = 1, 2, 3, 4, and the operating cycle is fixed at t, the real-time operating speed of each joint of the excavator arm can be calculated using the difference method as v. i =(θ ci -θ pi ) / t, where i = 1, 2, 3, 4.

[0037] Let the coordinates of the excavator's electronic perimeter fencing in S1 be X, ... P X N Y P Y N Z P Z N Based on the forward kinematics algorithm of the excavator working device, the positions (x, y, y) of 25 feature points in S2 in the S1 coordinate system are calculated. i ,y i ,z i ), where i = 1...25, and when the excavator's working device moves forward, 25 sets of x are monitored in real time. i The maximum value x in max When the excavator's working device moves directly backward, monitor 25 groups of x in real time. iThe minimum value x in min When the excavator's working device moves to the left, 25 sets of Y are monitored in real time. i The maximum value y in max When the excavator's working device moves to the right, 25 sets of Y-band data are monitored in real time. i The minimum value of y in min When the excavator's working device moves directly upwards, 25 groups of z are monitored in real time. i The maximum value z in max When the excavator's working device moves directly downwards, 25 groups of z are monitored in real time. i The minimum value z in min .

[0038] The x-axis is determined in real time when the excavator's working device moves. max and X P x min and X N y max and Y P y min and Y N z max and Z P z min and Z N Distance S i , where i = 1, 2, 3, 4, 5, 6.

[0039] When the excavator's working device is close to the electronic fence directly in front, behind, above, or below, if S1, S2, S5, and S6 are less than A1 meters, the speed of the boom, stick, and bucket will be reduced to 50% of the current speed. 50% of the current speed is the first speed.

[0040] If S1, S2, S5, and S6 are less than A2 meters, then the current speed of the boom, stick, and bucket will be reduced to 50% of the first speed, and 50% of the first speed will be the second speed.

[0041] If S1, S2, S5, and S6 are less than A3 meters, then the current speed of the boom, stick, and bucket will be reduced to 50% of the second speed, and 50% of the second speed will be the third speed; where A1, A2, and A3 are real parameters that can be adjusted according to the actual situation, with A1>A2>A3;

[0042] By determining the real-time motion velocity and direction v i Once the excavator's working device moves away from the surrounding walls, no deceleration is applied.

[0043] Furthermore, when the excavator's working device is close to the electronic fence on the left or right, within the distance range L1 to L2 from the fence (this range can be adjusted according to the actual range of motion), if the current speed v1 of the slewing joint exceeds the set threshold v... t (This threshold can be adjusted according to the actual movement situation.) Within this range, the controller gives the slewing joint a reverse movement control command. This ensures that the working device will not exceed the preset electronic fence when the excavator is operating at high speed and approaching the left / right electronic fence.

[0044] Furthermore, the distance interval L1 to L2 from the wall can be adjusted according to the actual range of movement;

[0045] The threshold v t It can be adjusted according to the actual exercise situation.

[0046] Furthermore, the multi-stage deceleration algorithm and reverse motion control strategy run on the industrial control computer, and specific control commands are sent to the body controller for execution.

[0047] Secondly, the present invention provides a device for setting and implementing the electronic fence of an excavator, including a processor and a storage medium;

[0048] The storage medium is used to store instructions;

[0049] The processor is configured to operate according to the instructions to perform the steps of the method described in the first aspect.

[0050] Compared with the prior art, the beneficial effects achieved by the present invention are as follows:

[0051] (1) The technical solution of this invention combines the setting of electronic fencing with multi-stage deceleration function. The excavator operator can set electronic fencing in various directions via HMI based on actual working conditions, ensuring that the excavator's working device will not exceed the preset electronic fencing limit during operation. This avoids digging into underground water pipes, overhead power lines, or other equipment on both sides, thus improving the safety of excavator operation. Compared to the prior art, the technical solution of this invention creates electronic fencing based on feature points selected according to the principle of full envelope of the excavator's working device's outer contour, ensuring the safety of the entire excavator during operation.

[0052] (2) When the excavator operator sets up the electronic fence according to the actual working conditions, the electronic fence in each direction can be easily set up through the HMI. The electronic fence in each direction can be opened individually or in combination. If the surrounding working environment changes, the electronic fence can be quickly replaced through the HMI interface. It is simple and convenient, and solves the problem of excavator operators frequently spending time setting up electronic fences.

[0053] (3) The technical solution of this invention proposes a multi-stage deceleration function. When the excavator operator operates the excavator arm to touch the electronic fence, the multi-stage deceleration function will be triggered within a set distance. Once the excavator working device is controlled to move away from the electronic fence, the movement returns to normal. This solves the deceleration problem, accurately stops near the electronic fence, and does not affect work efficiency. In addition, the technical solution of this invention incorporates a reverse motion control strategy in the design of the multi-stage deceleration function, which can further ensure that the working range of the excavator arm is limited to within the electronic fence. Attached Figure Description

[0054] Figure 1 This is a schematic diagram of the electronic fence setting method of the present invention;

[0055] Figure 2 This is a schematic diagram showing the installation positions of excavator sensors and other devices, as well as the selection of feature points of the working device in this invention.

[0056] Figure 3 This is a flowchart illustrating the electronic fence design of the present invention. Detailed Implementation

[0057] The present invention will be further described below with reference to the accompanying drawings. The following embodiments are only used to more clearly illustrate the technical solution of the present invention, and should not be used to limit the scope of protection of the present invention.

[0058] Definitions of relevant terms in this invention:

[0059] HMI: Human Machine Interaction

[0060] Working device: The excavator's working device consists of three parts: boom, stick, and bucket.

[0061] Feature point / calibration point: A point selected on the excavator's working device based on the vehicle's three-dimensional coordinate system.

[0062] Example 1:

[0063] This embodiment provides a method for setting and implementing the electronic fencing function of an excavator, such as... Figure 1 As shown, the specific implementation is as follows:

[0064] A method for setting and implementing an electronic fencing system for an excavator includes the following steps:

[0065] S1: Create the base coordinate system for the excavator's working device;

[0066] Specifically, from the perspective of the operator in the cab, and with the excavator's slewing center as the origin, a coordinate system for the excavator boom is established based on the right-hand rule. The X-axis of the coordinate system is forward (from the operator's perspective), the Z-axis is upward, and the Y-axis is determined by the right-hand rule. All coordinate points (x, y) described in this invention... i ,y i ,z i All are based on this coordinate system.

[0067] S2: Select the feature points for creating the electronic fence based on the principle of full envelopment of the outer contour of the excavator's working device;

[0068] like Figure 2 As shown, 25 feature points are selected on the excavator's boom and bucket based on the principle of full envelope of the outer contour of the working device:

[0069] 1. Seven feature points on the stick: 3 feature points are selected at the protruding position of the outer contour of the stick and boom connection; 2 feature points are selected at the outer connection of the four-bar linkage at the connection between the bucket cylinder and the bucket; 1 feature point is selected at the middle of the bucket cylinder; and 1 feature point is selected at the connection between the bucket cylinder and the stick.

[0070] II. 18 Feature Points on the Bucket: Select 6 points on the left side, right side, and middle of the bucket. The selection strategy for the 6 feature points in the middle of the bucket is as follows: 1 point at the tip of the bucket teeth, 1 point at the junction with the stick, and 4 points on the curved surface; 6 feature points are also selected on the left and right sides of the bucket.

[0071] These 25 feature points completely encompass the mechanical configuration of the excavator's working device that may come into contact with the electronic fence during operation. That is, if the excavator's working device comes into contact with the electronic fence set in the six directions of up, down, front, back, left, and right during operation, at least one of the 25 points will also come into contact with the electronic fence.

[0072] S3: Based on the position coordinates (x, y) of the feature point in the base coordinate system i ,y i ,z i ) Set one or more of the electronic fences respectively;

[0073] Specifically, this implementation scheme is based on the coordinates (x) of the feature points. i ,y i ,z i The positions of the electronic fence in the six directions of up, down, front, back, left, and right are explained. Figure 3 This is a flowchart illustrating the setup process of the electronic fence in this invention.

[0074] During excavator operation, the operator observes the surrounding environment and selects which electronic fences need to be activated via the HMI interface. For example, if there are obstacles such as cables above the excavator, the operator moves the excavator's working device closer to the cables and selects to activate the top electronic fence via the HMI interface; if there are obstacles such as water pipes below the excavator, the operator moves the excavator's working device closer to the water pipes and selects to activate the lower electronic fence via the HMI interface. Similarly, the operator can also select to activate the front, rear, left, and right electronic fences via the HMI interface, and can also activate / deactivate various electronic fences in combination.

[0075] The specific steps for setting up an electronic fence on an excavator according to this invention are as follows:

[0076] S31: The excavator is equipped with a slewing encoder; tilt sensors are installed on the boom, stick, and bucket joints, and the controller collects the readings of these sensors.

[0077] S32: Construct a forward kinematics model of the excavator arm based on the data in S31;

[0078] S33: Based on the forward kinematics model of the excavator working device created in S32, calculate in real time the coordinates (x, y, y) of the 25 feature points on the excavator working device in S2 in the base coordinate system. i ,y i ,z i );

[0079] S34: The operator moves the excavator's working device to a position close to the obstacle and sets the excavator's six-direction electronic wall opening information via the HMI;

[0080] S35: Based on the information in S34, compare 25 feature points (x, y, y) with reference to the established base coordinate system direction. i ,y i ,z i The size of the position coordinates in );

[0081] S36: Select the point from the 25 feature points that best matches the set electronic fence characteristics. For example: if the operator sets the top of the electronic fence to be opened, select the feature point with the largest z-value among the 25 coordinates; if the operator sets the left side of the electronic fence to be opened, select the feature point with the largest y-value among the 25 coordinates; similarly, based on the information of opening the electronic fence input by the excavator operator through the HMI, select the feature point from the 25 feature point groups (x... i ,y i ,z i ) Filter out the maximum / minimum values ​​corresponding to the electronic wall;

[0082] S37: Create an electronic fence based on the feature points selected in S36;

[0083] If the operator sets the top wall of the electronic fence to be enabled, a virtual fence will be created on the top of the excavator based on the selected feature point with the largest z-value. If the operator sets the left wall of the electronic fence, a virtual fence will be created on the left side of the excavator based on the selected feature point with the largest y-value. Similarly, electronic fences in other directions of the excavator can be set.

[0084] If the obstacle's position changes, execute S34. The excavator operator can then reselect the desired electronic fence position on the HMI interface, updating and overwriting the previously selected electronic fence position.

[0085] S4: Construct a multi-stage deceleration algorithm and a reverse motion control strategy;

[0086] When an excavator operates at high speed and its working device comes into contact with an electronic fence, the controller mounted on the vehicle immediately shuts off the movement of relevant components. However, due to inertia, it may not stop moving immediately and could potentially crash through the fence. Therefore, a multi-stage deceleration algorithm for the electronic fence needs to be designed to ensure the excavator operates within the electronic fence. The process is as follows:

[0087] Let θ be the angle of the excavator's working device, including the slewing joint, boom, stick, and bucket, at the previous moment. pi Where i = 1, 2, 3, 4, and the angle at the current moment is θ. ci Where i = 1, 2, 3, 4, and the operating cycle is fixed at t, the real-time operating speed of each joint of the excavator arm can be calculated using the difference method as v. i =(θ ci -θ pi ) / t, where i = 1, 2, 3, 4.

[0088] Let the coordinates of the excavator's electronic perimeter fencing in S1 be X, ... P X N Y P Y N Z P Z N Based on the forward kinematics algorithm of the excavator's working device, the positions (x, y, y) of 25 feature points in S2 in the S1 coordinate system can be calculated. i ,y i ,z i ), where i = 1...25, and when the excavator's working device moves forward, 25 sets of x are monitored in real time. i The maximum value x in max When the excavator's working device moves directly backward, monitor 25 groups of x in real time. i The minimum value x in minWhen the excavator's working device moves to the left, 25 sets of Y are monitored in real time. i The maximum value y in max When the excavator's working device moves to the right, 25 sets of Y-band data are monitored in real time. i The minimum value of y in min When the excavator's working device moves directly upwards, 25 groups of z are monitored in real time. i The maximum value z in max When the excavator's working device moves directly downwards, 25 groups of z are monitored in real time. i The minimum value z in min .

[0089] The x-axis is determined in real time when the excavator's working device moves. max and X P x min and X N y max and Y P y min and Y N z max and Z P z min and Z N Distance S i , where i = 1, 2, 3, 4, 5, 6.

[0090] When the excavator's working device approaches the electronic fencing directly in front, behind, above, or below, if S1, S2, S5, and S6 are less than A1 meters, the speed of the boom, stick, and bucket will be reduced to 50% of the current speed, which will be the first speed. If S1, S2, S5, and S6 are less than A2 meters, the speed of the boom, stick, and bucket will be reduced to 50% of the first speed, which will be the second speed. If S1, S2, S5, and S6 are less than A3 meters, the speed of the boom, stick, and bucket will be reduced to 50% of the second speed, which will be the third speed. A1, A2, and A3 are real parameters that can be adjusted according to actual conditions, with A1 > A2 > A3. Once the excavator's working device moves away from the fencing, the real-time movement speed direction v is determined. i No speed reduction is applied to ensure work efficiency.

[0091] When the excavator's working device is close to the electronic fence on the left or right, the inertia is greater because the current movement of the excavator's working device includes the entire excavator arm and cab. At high speeds, to ensure the excavator's operation does not exceed the preset electronic fence, in addition to the aforementioned multi-stage deceleration algorithm, it is also necessary to reduce the speed of the slewing joint (v1) to a set threshold (v1) within a certain distance L1 to L2 from the fence (this range can be adjusted according to the actual range of motion).t (This threshold can be adjusted according to the actual movement situation.) Within this range, the controller gives the slewing joint a reverse movement control command. This ensures that the working device will not exceed the preset electronic fence when the excavator is operating at high speed and approaching the left / right electronic fence.

[0092] The aforementioned multi-stage deceleration algorithm and reverse motion control strategy are run on the industrial control computer, and specific control commands are sent to the body controller for execution.

[0093] S5: Determine whether the excavator's working device will touch the electronic fence. If yes, proceed to S6; otherwise, proceed to S5.

[0094] S6: Calls the multi-stage deceleration algorithm and reverse motion control strategy in S4 to control the excavator's working device to operate, decelerate when approaching the electronic fence, and stop moving when hitting the electronic fence.

[0095] The excavator's working device is controlled to slow down when approaching the electronic fence, stop when it hits the fence, and resume normal speed when it moves away from the fence. This method ensures the accuracy of the electronic fence while also maintaining the excavator's operating efficiency.

[0096] Specifically, the hardware required for this embodiment includes:

[0097] Tilt sensors: Three tilt sensors are used to collect angle data of the excavator boom, stick, and bucket relative to the vehicle body;

[0098] Rotary encoder: Installed at the center of the excavator's rotation to collect the excavator's rotation angle data;

[0099] Programmable Logic Controller (PLC): Processes the collected sensor signals and sends them to the industrial computer, and sends the control data from the industrial computer to the excavator's actuators;

[0100] Industrial control computer: used to process the data collected by the sensors, implement the multi-level deceleration and reverse control strategy algorithm required by this invention, and send the control data to the programmable controller.

[0101] The technical solution of this invention combines the setting of electronic fencing with multi-stage deceleration. Excavator operators can set electronic fencing in various directions via HMI based on actual working conditions, ensuring that the excavator's working device will not exceed the preset electronic fencing limits during operation. This avoids digging into underground water pipes, overhead power lines, or other equipment on either side, thus improving the safety of excavator operations. Compared to existing technologies, the technical solution of this invention creates electronic fencing based on feature points selected according to the principle of full envelope of the excavator's working device's outer contour, ensuring the safety of the entire excavator during operation.

[0102] The technical solution of this invention allows excavator operators to easily set up electronic fences in various directions through the HMI when setting up electronic fences according to actual working conditions. Each electronic fence can be opened individually or in combination. If the surrounding working environment changes, the electronic fences can be quickly replaced through the HMI interface. This is simple and convenient, and solves the problem of excavator operators frequently spending time setting up electronic fences.

[0103] The technical solution of this invention proposes a multi-stage deceleration function. When the excavator operator moves the excavator arm to touch the electronic fence, the multi-stage deceleration function is triggered within a set distance. Once the excavator's working device is controlled to move away from the electronic fence, the movement returns to normal. This solves the deceleration problem, accurately stops near the electronic fence, and does not affect work efficiency. In addition, the technical solution of this invention incorporates a reverse motion control strategy into the design of the multi-stage deceleration function, which can further ensure that the working range of the excavator arm is limited to within the electronic fence.

[0104] The present invention selects 25 feature points based on the principle of full envelopment of the outer contour of the excavator arm, and creates an electronic fence based on these feature points, ensuring that when any part of the excavator's working device touches the electronic fence during operation, the electronic fence can be triggered.

[0105] This invention, by constructing a multi-stage deceleration function, ensures that even when the excavator's working device touches the electronic fence at high speed, it can still stop precisely within the electronic fence and not exceed the preset electronic fence.

[0106] Preferably, the present invention incorporates a reverse motion control strategy in the multi-stage deceleration function design when the left / right electronic fence is enabled. If the speed is too high within a certain motion range, the reverse motion control function is activated, ensuring that the excavator working device will not exceed the preset electronic fence under high-speed motion conditions.

[0107] Preferably, the present invention can realize the individual or combined opening of multiple directions and multiple walls of the electronic fence according to the information of the electronic fence set by the excavator operator through the HMI, which can not only improve the user experience of the excavator operator, but also improve the work efficiency of the excavator operator.

[0108] In summary, the technical solution of this invention combines the setting of electronic fencing with multi-stage deceleration. When applied to excavators, as long as the excavator operator sets electronic fencing in each direction via HMI based on the actual working conditions, it can ensure that the excavator arm will not exceed the limits of the electronic fencing during operation. This avoids digging into underground water pipes, overhead power lines, or other equipment on either side during operation, and also prevents operator errors from causing damage to other equipment, thus improving the safety of excavator operations. The technical solution of this invention creates electronic fencing based on feature points selected according to the principle of full envelope of the excavator arm's outer contour, achieving full envelope of the excavator and ensuring the safety of excavator operations. Moreover, the electronic fencing designed in this invention not only provides early warning for the excavator operator, but also, based on the application of multi-stage deceleration, ensures that regardless of the speed at which the excavator arm touches the electronic fencing, it accurately stops within the electronic fencing and does not exceed its limits. This precisely limits the working range of the excavator arm within the electronic fencing, further ensuring the safety of excavator operations. The technical solution of this invention allows excavator operators to easily set up electronic fences in various directions through the HMI when setting up electronic fences according to actual working conditions. Each electronic fence can be opened individually or in combination. If the surrounding working environment changes, the electronic fences can be quickly replaced through the HMI interface. This is simple and convenient, and solves the problem of excavator operators frequently spending time setting up electronic fences.

[0109] The technical solution of this invention addresses the multi-stage deceleration function. When the excavator operator moves the excavator arm to touch the electronic fence, a multi-stage deceleration function is activated. Once the excavator arm reverses its movement, the movement returns to normal. This solves the deceleration problem and ensures precise stopping near the electronic fence without affecting work efficiency. Furthermore, the technical solution of this invention incorporates a reverse movement design into the multi-stage deceleration function, further ensuring that the working range of the excavator arm is confined within the electronic fence.

[0110] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0111] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart... Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0112] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0113] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0114] The above description is only a preferred embodiment of the present invention. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the technical principles of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A method for setting and implementing the electronic fencing function of an excavator, characterized in that, Includes the following steps: S1: Create the base coordinate system for the excavator's working device; S2: Select feature points based on the principle of full envelopment of the outer contour of the excavator's working device; S3: Set the position of the electronic fence in each direction of the excavator based on the three-dimensional position coordinates of the feature points; S4: Construct a multi-stage deceleration algorithm and reverse motion control strategy for the electronic fence; S5: Control the excavator operation and judge the positional relationship between the feature points of the excavator's working device and the preset electronic fence in real time. If it is about to touch, execute S6; otherwise, continue to execute S5. S6: Based on the multi-stage deceleration algorithm and reverse motion control strategy in S4, control the excavator's working device to operate, decelerate when approaching the electronic fence, and stop moving when hitting the electronic fence. Step S4: Construct a multi-stage deceleration algorithm and reverse motion control strategy for the electronic fence, including: Let θ be the angle of the excavator's working device, including the slewing joint, boom, stick, and bucket, at the previous moment. pi Where i = 1, 2, 3, 4, and the angle at the current moment is θ. ci Where i = 1, 2, 3, 4, and the operating cycle is fixed at t, the real-time operating speed of each joint of the excavator arm can be calculated using the difference method as v. i =(θ ci -θ pi ) / t, where i = 1, 2, 3, 4; Let the coordinates of the excavator's electronic perimeter fencing in S1 be X, ... P X N Y P Y N Z P Z N Based on the forward kinematics algorithm of the excavator working device, the positions (x, y, y) of 25 feature points in S2 in the S1 coordinate system are calculated. i ,y i ,z i ), where i = 1...25, and when the excavator's working device moves forward, 25 sets of x are monitored in real time. i The maximum value x in max When the excavator's working device moves directly backward, monitor 25 groups of x in real time. i The minimum value x in min When the excavator's working device moves to the left, 25 sets of Y are monitored in real time. i The maximum value y in max When the excavator's working device moves to the right, 25 sets of Y-band data are monitored in real time. i The minimum value of y in min When the excavator's working device moves directly upwards, 25 groups of z are monitored in real time. i The maximum value z in max When the excavator's working device moves directly downwards, 25 groups of z are monitored in real time. i The minimum value z in min ; The x-axis is determined in real time when the excavator's working device moves. max and X P x min and X N y max and Y P y min and Y N z max and Z P z min and Z N Distance S i , where i = 1, 2, 3, 4, 5, 6; When the excavator's working device is close to the electronic fence directly in front, behind, above, or below, if S1, S2, S5, and S6 are less than A1 meters, the speed of the boom, stick, and bucket will be reduced to 50% of the current speed. 50% of the current speed is the first speed. If S1, S2, S5, and S6 are less than A2 meters, then the current speed of the boom, stick, and bucket will be reduced to 50% of the first speed, and 50% of the first speed will be the second speed. If S1, S2, S5, and S6 are less than A3 meters, then the current speed of the boom, stick, and bucket will be reduced to 50% of the second speed, and 50% of the second speed will be the third speed; where A1, A2, and A3 are real parameters that can be adjusted according to the actual situation, with A1>A2>A3; By determining the real-time motion velocity and direction v i Once the excavator's working device moves away from the surrounding walls, no deceleration is applied. When the excavator's working device is close to the electronic fence on the left or right, within the distance range L1 to L2 from the fence, if the current speed v1 of the slewing joint exceeds the set threshold v... t Within this range, the controller provides reverse motion control commands to the rotary joint.

2. The method for setting and implementing the electronic fence function of an excavator according to claim 1, characterized in that, In step S1, the method for creating the base coordinate system of the excavator working device includes: Using the operator's cab as the perspective and the excavator's slewing center as the origin, a coordinate system is established based on the right-hand rule for the excavator boom. The X-axis points forward (from the operator's cab perspective), the Z-axis points upward, and the Y-axis is determined by the right-hand rule. All coordinate points (x... i ,y i ,z i All are based on this coordinate system.

3. The method for setting and implementing the electronic fence function of an excavator according to claim 1, characterized in that, In step S2, feature points are selected based on the principle of full envelope of the outer contour of the excavator's working device, including: Based on the principle of full envelopment of the outer contour of the working device, 25 feature points are selected on the excavator's boom and bucket: Seven feature points on the stick: three feature points are selected at the protruding position of the outer contour of the stick and boom connection; two feature points are selected at the outer connection of the four-bar linkage at the connection between the bucket cylinder and the bucket; one feature point is selected at the middle of the bucket cylinder; and one feature point is selected at the connection between the bucket cylinder and the stick. Eighteen feature points on the bucket: Six points are selected on the left side, right side, and middle of the bucket. The selection strategy for the six feature points in the middle of the bucket is as follows: one point at the tip of the bucket teeth, one point at the junction with the stick, and four points on the curved surface. Six feature points are also selected on the left and right sides of the bucket. These 25 feature points can completely encompass the mechanical configuration of the excavator's working device that may come into contact with the electronic fence during operation. If the excavator's working device comes into contact with the electronic fence set in the six directions of up, down, front, back, left, and right during operation, at least one of the 25 points will come into contact with the electronic fence.

4. The method for setting and implementing the electronic fence function of an excavator according to claim 1, characterized in that, Step S3: Set the electronic fence positions of the excavator in each direction based on the three-dimensional position coordinates of the feature points, including: S31: The excavator is equipped with a slewing encoder; tilt sensors are installed on the boom, stick, and bucket joints, and the controller collects the readings of these sensors. S32: Construct a forward kinematics model of the excavator arm based on the data in S31; S33: Based on the forward kinematics model of the excavator working device created in S32, calculate in real time the coordinates (x, y, y) of the 25 feature points on the excavator working device in S2 in the base coordinate system. i ,y i ,z i ); S34: The operator moves the excavator's working device to a position close to the obstacle and sets the excavator's six-direction electronic wall opening information via the HMI; S35: Based on the information in S34, compare 25 feature points (x, y, y) with reference to the established base coordinate system direction. i ,y i ,z i The size of the position coordinates in ); S36: Select the point from the 25 feature points that best matches the set electronic fence characteristics; if the operator sets the top of the electronic fence to be opened, select the feature point with the largest z-value among the 25 coordinates; if the left side of the electronic fence is set, select the feature point with the largest y-value among the 25 coordinates; based on the information of opening the electronic fence input by the excavator operator through the HMI, select the feature point from the 25 feature point groups (x... i ,y i ,z i ) Filter out the maximum or minimum value corresponding to the electronic wall; S37: Create an electronic fence based on the feature points selected in S36; When the obstacle position changes, S34 is executed, and the excavator operator can reselect the electronic fence position to be set in the HMI interface, updating and overwriting the previously selected electronic fence position.

5. The method for setting and implementing the electronic fence function of an excavator according to claim 4, characterized in that, In step S37, the method for creating an electronic fence includes: The operator sets up the electronic fence to be activated at the top. By selecting the feature point with the largest z-value, a virtual fence is created on the top of the excavator based on the z-value of the feature point. Using the feature point with the largest y-value, a virtual wall is created on the left side of the excavator based on the feature point's y-value; using the feature point with the smallest y-value, a virtual wall is created on the right side of the excavator based on the feature point's y-value. Using the feature point with the largest x-value, a virtual wall is created in front of the excavator based on the feature point's x-value; using the feature point with the smallest x-value, a virtual wall is created behind the excavator based on the feature point's x-value.

6. The method for setting and implementing the electronic fence function of an excavator according to claim 1, characterized in that, The distance interval L1 to L2 from the wall is adjusted according to the actual range of movement. The threshold v t Adjust according to the actual exercise situation.

7. The method for setting and implementing the electronic fence function of an excavator according to claim 1, characterized in that, The multi-stage deceleration algorithm and reverse motion control strategy run on the industrial control computer, and specific control commands are sent to the body controller for execution.

8. A device for setting and implementing the electronic fence function of an excavator, comprising a processor and a storage medium; The storage medium is used to store instructions; The processor is configured to operate according to the instructions to perform the steps of the method as described in any one of claims 1-7.

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