Excavator safety swing anti-collision method and system

Abstract

The application provides a kind of excavator safety rotation anti-collision method and system, belong to excavator safety control technical field.The method comprises: obtaining the hydraulic motor torque of excavator, hydraulic motor speed and hydraulic motor position;According to the hydraulic motor speed, get the swing speed of superstructure mechanism;According to the hydraulic motor torque, get the swing torque of superstructure mechanism, calculate the moment of inertia according to the swing torque of superstructure mechanism in the initial acceleration stage of rotation;According to the moment of inertia and the swing speed of superstructure mechanism, get the estimated braking angle, brake control according to the estimated braking angle;According to the difference between target swing angle and current swing angle, get the remaining angle of swing motion, when the estimated braking angle is same with the remaining angle of swing motion, and there is no handle braking signal, forcibly close the swing pilot oil way to brake.The application improves the positioning accuracy and response speed of large inertia swing system, reduces the collision risk caused by the uncertainty of braking distance during swing, and improves the swing safety.

Description

Technical Field

[0001] This invention relates to the field of excavator safety control technology, and in particular to a method and system for preventing collisions during safe slewing of an excavator. Background Technology

[0002] The statements in this section are merely background information related to the present invention and do not necessarily constitute prior art.

[0003] In recent years, the construction machinery industry has developed rapidly, with its industrial scale continuously expanding and its independent innovation capabilities significantly improving. Among them, excavators are widely used construction machinery with diverse applications. Their walking system adopts a tracked design to facilitate entry into complex environments, while their 360° slewing system provides a solid foundation for their working efficiency.

[0004] Traditional excavator operation is controlled by a driver in the cab. Even though most drivers undergo extensive professional training, including safety regulations and standards, their skill level still significantly impacts the safety of the operation. Unpredictable operational accidents and harsh external working environments, such as potholes or ground collapses, can easily lead to accidents and injuries. Furthermore, the harsh environments in which excavators operate can severely impact the physical and mental health of the drivers.

[0005] With the deepening research into intelligentization in the construction machinery field, automation and unmanned operation have become new goals for the excavator manufacturing industry. Currently, automated excavators are mostly used in relatively fixed scenarios, performing single, repetitive tasks and completing relatively simple work cycles and target recognition. However, the actual working scenarios for excavators are complex and involve variable working conditions. Therefore, in the current stage where fully automated excavators have not yet been widely adopted, introducing remote control technology and human-machine interaction technology into the excavator industry is a feasible technical approach.

[0006] Remote control of excavators enables separation of human and machine, providing a safe and comfortable working environment for the operator. However, due to the nature of remote operation, such as during the excavator's rotation, the 2D view results in a significant difference in experience compared to driving the actual machine. Additionally, the large obstruction caused by the boom makes it impossible to perform rotation and positioning as usual, which can easily lead to collisions and other accidents. Summary of the Invention

[0007] To address the shortcomings of existing technologies, this invention provides a method and system for preventing collisions during excavator slewing, which improves the positioning accuracy and response speed of large inertia slewing systems, reduces the risk of collisions caused by uncertain braking distances during slewing, and enhances slewing safety.

[0008] To achieve the above objectives, the present invention adopts the following technical solution:

[0009] The first aspect of this invention provides a method for preventing collisions during safe slewing of an excavator.

[0010] A method for preventing collisions during safe slewing of an excavator includes the following steps:

[0011] Obtain the hydraulic motor torque, hydraulic motor speed, and hydraulic motor position of the excavator;

[0012] The rotational speed of the upper mechanism is obtained based on the speed of the hydraulic motor;

[0013] The rotational torque of the upper mechanism is obtained from the torque of the hydraulic motor, and the moment of inertia is calculated based on the rotational torque of the upper mechanism during the initial acceleration phase of rotation.

[0014] Based on the moment of inertia and the rotational speed of the upper mechanism, the estimated braking angle is obtained, and braking control is performed based on the estimated braking angle.

[0015] The remaining angle of rotation is obtained based on the difference between the target rotation angle and the current rotation angle. When the estimated braking angle is the same as the remaining angle of rotation and there is no brake signal from the handle, the rotation pilot oil circuit is forcibly closed to brake.

[0016] As a further limitation of the first aspect of the present invention, the acquisition of the target rotation angle includes:

[0017] Based on the rotation position of the upper mechanism and the position of the obstacle, the limit safe rotation angle is obtained. The target rotation angle is obtained by subtracting the set angle from the limit safe rotation angle.

[0018] As a further limitation of the first aspect of the present invention, the calculation of the moment of inertia based on the rotational torque of the upper mechanism during the initial acceleration phase of rotation includes:

[0019] The moment of inertia is the ratio of the braking torque to the braking deceleration of the upper mechanism's slewing support platform. The braking deceleration is obtained by the derivative of the upper mechanism's rotational speed with respect to time.

[0020] As a further limitation of the first aspect of the present invention, the braking torque of the slewing support platform of the upper mechanism is:

[0021]

[0022] Where V is the motor displacement, p is the working pressure of the rotary motor, and η0 and η j These represent the mechanical efficiency of the rotary motor and the mechanical efficiency of the reducer, respectively; i0 is the transmission ratio between the hydraulic motor and the reducer; η j For the mechanical efficiency of the reducer, η h For the slewing bearing transmission efficiency, i h This refers to the transmission ratio from the rotary reducer to the supporting rotary table.

[0023] As a further limitation of the first aspect of the present invention, the estimated braking angle is obtained based on the moment of inertia and the rotational speed of the upper mechanism, including:

[0024]

[0025] Among them, M z η is the braking torque of the slewing support platform of the upper mechanism. h For the slewing bearing transmission efficiency, ω h J represents the rotational speed of the rotary table at the moment braking begins, and J represents the moment of inertia.

[0026] A second aspect of the present invention provides a safe slewing anti-collision system for excavators.

[0027] An excavator safety slewing collision avoidance system includes:

[0028] The data acquisition module is configured to acquire the hydraulic motor torque, hydraulic motor speed, and hydraulic motor position of the excavator.

[0029] The slewing speed calculation module is configured to: obtain the slewing speed of the upper mechanism based on the hydraulic motor speed;

[0030] The moment of inertia calculation module is configured to: obtain the slewing torque of the upper mechanism based on the torque of the hydraulic motor, and calculate the moment of inertia based on the slewing torque of the upper mechanism during the initial acceleration phase of slewing;

[0031] The estimated braking angle calculation module is configured to: obtain the estimated braking angle based on the moment of inertia and the rotational speed of the upper mechanism, and perform braking control based on the estimated braking angle;

[0032] The safety control module is configured to: obtain the remaining angle of rotation based on the difference between the target rotation angle and the current rotation angle; and when the estimated braking angle is the same as the remaining angle of rotation and there is no brake signal from the handle, forcibly shut off the rotation pilot oil circuit to brake.

[0033] As a further limitation of the second aspect of the present invention, the acquisition of the target rotation angle includes:

[0034] Based on the rotation position of the upper mechanism and the position of the obstacle, the limit safe rotation angle is obtained. The target rotation angle is obtained by subtracting the set angle from the limit safe rotation angle.

[0035] As a further limitation of the second aspect of the invention, the estimated braking angle is obtained based on the moment of inertia and the rotational speed of the upper mechanism, including:

[0036]

[0037] Among them, M z η is the braking torque of the slewing support platform of the upper mechanism. h For the slewing bearing transmission efficiency, ω h J represents the rotational speed of the rotary table at the moment braking begins, and J represents the moment of inertia.

[0038] A third aspect of the present invention provides a computer-readable storage medium having a program stored thereon that, when executed by a processor, implements the steps of the excavator safe slewing collision avoidance method as described in the first aspect of the present invention.

[0039] A fourth aspect of the present invention provides an electronic device, including a memory, a processor, and a program stored in the memory and executable on the processor, wherein the processor executes the program to implement the steps of the excavator safe slewing collision avoidance method as described in the first aspect of the present invention.

[0040] Compared with the prior art, the beneficial effects of the present invention are:

[0041] 1. This invention innovatively proposes a method and system for preventing collisions during safe slewing of excavators, which improves the positioning accuracy and response speed of large inertia slewing systems, reduces the collision risk caused by the uncertainty of braking distance during slewing, and improves slewing safety.

[0042] 2. This invention innovatively proposes a method and system for preventing collisions during safe slewing of excavators. When the estimated braking angle is equal to the remaining angle of the slewing motion, and the driver still does not brake, a braking command is sent to forcibly shut down the slewing pilot oil circuit for braking, effectively ensuring the safety of control.

[0043] 3. This invention innovatively proposes a method and system for preventing collisions during safe slewing of excavators. Based on the slewing position of the upper mechanism and the position of the obstacle, the limit safe slewing angle is obtained. The target slewing angle is obtained by subtracting the limit safe slewing angle from the set angle, which provides a sufficient safety range and avoids the occurrence of safety accidents. Attached Figure Description

[0044] The accompanying drawings, which form part of this invention, are used to provide a further understanding of the invention. The illustrative embodiments of the invention and their descriptions are used to explain the invention and do not constitute an improper limitation of the invention.

[0045] Figure 1 This is a schematic diagram illustrating the verification of the 90° rotation strategy provided in Embodiment 1 of the present invention;

[0046] Figure 2 This is a schematic diagram illustrating the verification of the 180° rotation strategy provided in Embodiment 1 of the present invention;

[0047] Figure 3This is a schematic diagram illustrating the principle of the slewing strategy based on slewing braking distance prediction provided in Embodiment 1 of the present invention. Detailed Implementation

[0048] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0049] It should be noted that the following detailed description is illustrative and intended to provide further explanation of the invention. Unless otherwise specified, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains.

[0050] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the scope of exemplary embodiments according to the invention. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0051] Where there is no conflict, the embodiments and features in the embodiments of the present invention can be combined with each other.

[0052] Example 1:

[0053] Embodiment 1 of the present invention provides a method for preventing collisions during safe slewing of an excavator, comprising the following steps:

[0054] S1: Obtain the hydraulic motor torque, hydraulic motor speed, and hydraulic motor position of the excavator;

[0055] S2: Obtain the rotational speed of the upper mechanism based on the hydraulic motor speed;

[0056] S3: Obtain the slewing torque of the upper mechanism based on the torque of the hydraulic motor, and calculate the moment of inertia based on the slewing torque of the upper mechanism during the initial acceleration phase of slewing.

[0057] S4: Based on the moment of inertia and the rotational speed of the upper mechanism, the estimated braking angle is obtained, and braking control is performed based on the estimated braking angle;

[0058] S5: Based on the difference between the target rotation angle and the current rotation angle, the remaining rotation angle is obtained. When the estimated braking angle is the same as the remaining rotation angle and there is no brake signal from the handle, the rotation pilot oil circuit is forcibly closed to brake.

[0059] Specifically, in S4, the acquisition of the estimated braking angle includes:

[0060] When an excavator performs a swing braking maneuver, the braking deceleration remains constant. That is, when the excavator's working device posture and digging volume remain constant, the braking angle depends only on the rotational speed at the moment of braking. During this process, the deceleration depends on the braking torque and moment of inertia. Based on the moment of inertia J and the braking resistance torque M, the braking deceleration β = M / J can be derived. Therefore, to estimate the swing braking angle, it is necessary to obtain the braking torque and moment of inertia during the swing process. The prototype is equipped with a torque meter to measure the hydraulic motor's speed ω0 and driving torque M0. The transmission ratio of the hydraulic motor to the reducer is i0, and the reducer's mechanical efficiency is η. j The operating torque M of the rotary reducer can be obtained. j and operating speed ω j .

[0061] M j =M0×i0×η j (1)

[0062] ω j =ω0 / i0 (2)

[0063] Then the slewing braking angle θ z The value is:

[0064]

[0065] ω h =ω j / i h (4)

[0066] M z =M h =M j ×η h ×i h (5)

[0067] In the formula θ z (°) represents the slewing braking angle; β z (rad / s 2 ω is the braking angular acceleration; t(s) is the turning braking time; h (rad / s) represents the rotational speed of the supporting turntable at the moment braking begins; ω j (rad / s) represents the operating rotational speed of the reducer; i h M represents the transmission ratio from the rotary reducer to the support rotary table. z (N·m) represents the braking torque of the slewing support platform of the upper mechanism, M j (N·m) represents the operating torque of the rotary reducer; M h (N·m) represents the working torque of the slewing support platform; J represents the rotational moment of inertia of the upper mechanism; η h This refers to the transmission efficiency of the slewing bearing.

[0068]

[0069]

[0070]

[0071] For the same excavator As a constant, θ is proportional to J and... Proportional to M z They are inversely proportional. During the slewing braking phase, the overflow pressure p and overflow displacement V are constant, and the relationship between the overflow pressure and overflow displacement and the braking torque is as follows:

[0072]

[0073] In the formula, V (mL / r) is the motor displacement; p (MPa) is the working pressure of the rotary motor; η0, η j These are the mechanical efficiency of the rotary motor and the mechanical efficiency of the reducer, respectively.

[0074] Because during the overflow braking phase, p remains near the overflow pressure, and V is a constant, it can be known that M... z The moment of inertia J remains constant during a single-action rotation, therefore the braking angular acceleration β... z The phenomenon of stability is consistent with the measured results.

[0075] In addition, for online estimation of the moment of inertia and braking angle of the excavator's upper structure, in order to deduce the braking angle, it is necessary to deduce the hydraulic motor speed at the moment of braking, the hydraulic motor braking torque, and the moment of inertia during the rotation process. The hydraulic motor speed of the prototype can be obtained by installing a speed sensor; the braking torque is calculated based on parameters such as the overflow pressure and displacement during the braking process; throughout the entire rotation process, the excavator's working device posture and the weight of the material are constant, and the moment of inertia remains unchanged during the rotation process, which can be deduced from the speed and torque during the acceleration phase of the rotation.

[0076] In addition, in order to improve the positioning accuracy and response speed of the large inertia rotation system, reduce the collision risk caused by the uncertainty of braking distance during rotation, and improve rotation safety, this paper proposes a control strategy based on braking distance prediction and composite feedback of speed and position.

[0077] The basic principle is as follows: During the rotation process, a large-opening rotation is performed according to the target rotation angle. By collecting the speed, torque and rotation position of the hydraulic motor during the rotation process, the rotation braking angular displacement is estimated in real time. The estimated braking angular displacement is used as the braking advance amount for braking. While ensuring work efficiency, the positioning accuracy and rotation safety of the rotation process are improved.

[0078] In enclosed environments or operating environments with obvious obstacles, by obtaining the excavator's position at the moment of rotation and its distance from the obstacle, the limit safe rotation angle can be estimated. This limit angle is then reduced by a factor greater than 10° (i.e., a set angle, which can also be reasonably selected based on other specific working conditions, not elaborated here) as the limit value for the rotation angle. When the excavator rotates, let the target rotation angle be θ. tar The moment of inertia J is calculated during the initial acceleration phase of the rotation, and the braking distance at the current rotational speed is calculated based on the real-time rotational speed. If the rotation enters the constant speed phase, the braking angle θ is calculated. z ′ is a fixed angle; when the slewing is in the acceleration phase, the slewing braking angle θ is... z As the rotational speed increases, the braking angle needs to be estimated in real time. When the estimated braking angle equals the remaining angle of the rotational motion, and the driver still hasn't applied the brakes, a braking command is sent to forcibly close the rotational pilot oil circuit for braking. The control principle is as follows: Figure 3 As shown.

[0079] In this embodiment, the effectiveness of the slewing safety control strategy was verified through experiments. The speed and torque of the slewing motor were still read from the torque meter. The excavator was on a horizontal ground and under full load in a single-action slewing motion. The target slewing angles were set to 90° and 180°, and the corresponding limit slewing angles were set to 100° and 190°, respectively. The controller calculated the braking time of the slewing process based on the acquired slewing process state variables and automatically sent a command to brake.

[0080] The test results in the 90° rotation test are as follows: Figure 1 As shown, the total time for the slewing process was 2.8s, and the braking time was 2.5s. During the acceleration phase, after the torque reached its maximum value, the moment of inertia was calculated. The braking distance was estimated using the moment of inertia and the real-time rotational speed, and braking was performed at t = 3.8s. The experimental data are shown in Table 1, and the slewing positioning deviation was 5.5°.

[0081] Table 1: Test results of the 90° rotation strategy.

[0082]

[0083] The test results in the 180° rotation test, such as Figure 2 As shown, the total time for the slewing process was 3.6 seconds, and the braking time was 3.2 seconds. The test data are shown in Table 2, and the slewing positioning deviation was 8.3°.

[0084] Table 2: Test results of the 180° rotation strategy.

[0085]

[0086] The results of the 90° and 180° rotation positioning tests show that the positioning deviation angle is within 10°. Considering that the maximum deviation of the estimated rotation braking distance is 10°, the test results are in line with expectations, which can ensure the safety of the equipment during rotation and avoid collisions.

[0087] Example 2:

[0088] Embodiment 2 of the present invention provides an excavator safety slewing anti-collision system, comprising:

[0089] The data acquisition module is configured to acquire the hydraulic motor torque, hydraulic motor speed, and hydraulic motor position of the excavator.

[0090] The slewing speed calculation module is configured to: obtain the slewing speed of the upper mechanism based on the hydraulic motor speed;

[0091] The moment of inertia calculation module is configured to: obtain the slewing torque of the upper mechanism based on the torque of the hydraulic motor, and calculate the moment of inertia based on the slewing torque of the upper mechanism during the initial acceleration phase of slewing;

[0092] The estimated braking angle calculation module is configured to: obtain the estimated braking angle based on the moment of inertia and the rotational speed of the upper mechanism, and perform braking control based on the estimated braking angle;

[0093] The safety control module is configured to: obtain the remaining angle of rotation based on the difference between the target rotation angle and the current rotation angle; and when the estimated braking angle is the same as the remaining angle of rotation and there is no brake signal from the handle, forcibly shut off the rotation pilot oil circuit to brake.

[0094] The working method of the system is the same as that of the excavator safe slewing anti-collision method provided in Embodiment 1, and will not be described again here.

[0095] Example 3:

[0096] Embodiment 3 of the present invention provides a computer-readable storage medium having a program stored thereon, which, when executed by a processor, implements the steps of the excavator safe slewing collision avoidance method as described in Embodiment 1 of the present invention.

[0097] Example 4:

[0098] Embodiment 4 of the present invention provides an electronic device, including a memory, a processor, and a program stored in the memory and executable on the processor. When the processor executes the program, it implements the steps in the excavator safe slewing anti-collision method as described in Embodiment 1 of the present invention.

[0099] Those skilled in the art will understand that embodiments of the present invention can be provided as methods, systems, or computer program products. Therefore, the present invention can take the form of hardware embodiments, software embodiments, or embodiments combining software and hardware aspects. Furthermore, the present invention 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 and optical storage) containing computer-usable program code.

[0100] This invention is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. 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 illustrations and / or block diagrams. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0101] 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.

[0102] 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.

[0103] Those skilled in the art will understand that all or part of the processes in the above embodiments can be implemented by a computer program instructing related hardware. The program can be stored in a computer-readable storage medium, and when executed, it can include the processes of the embodiments of the above methods. The storage medium can be a magnetic disk, optical disk, read-only memory (ROM), or random access memory (RAM), etc.

[0104] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A method for preventing collisions during safe slewing of an excavator, characterized in that, The process includes the following: Obtain the hydraulic motor torque, hydraulic motor speed, and hydraulic motor position of the excavator; The rotational speed of the upper mechanism is obtained based on the speed of the hydraulic motor; The slewing torque of the upper mechanism is obtained from the hydraulic motor torque. The moment of inertia is calculated based on this torque during the initial acceleration phase of slewing, including: the moment of inertia is the ratio of the braking torque to the braking deceleration of the upper mechanism's slewing support platform; the braking deceleration is obtained through the derivative of the upper mechanism's slewing speed with respect to time; the braking torque of the upper mechanism's slewing support platform is: in, Motor displacement For the working pressure of the rotary motor, , These are the mechanical efficiency of the rotary motor and the mechanical efficiency of the reducer, respectively. The transmission ratio of the hydraulic motor to the reducer. Reducer mechanical efficiency For the transmission efficiency of the slewing bearing. i h This refers to the transmission ratio from the rotary reducer to the supporting rotary table. Based on the moment of inertia and the rotational speed of the upper mechanism, the estimated braking angle is obtained, and braking control is performed based on the estimated braking angle, including: in, The braking torque of the slewing support platform of the upper mechanism. For the transmission efficiency of the slewing bearing. J is the rotational speed of the rotary table at the moment braking begins; A control strategy based on braking distance prediction and combined speed and position feedback is adopted: During the slewing process, a large-angle slewing is performed according to the target slewing angle. By collecting the speed, torque, and slewing position of the hydraulic motor during the slewing process, the slewing braking angular displacement is estimated in real time, and the estimated braking angular displacement is used as the braking advance. The acquisition of the target slewing angle includes: obtaining the limit safe slewing angle based on the slewing position of the upper structure and the position of the obstacle; subtracting the set angle from the limit safe slewing angle to obtain the target slewing angle; and obtaining the remaining slewing angle based on the difference between the target slewing angle and the current slewing angle. When the excavator slewing, the target rotation angle is set as... Calculate the moment of inertia during the initial acceleration phase of rotation. The braking distance at the current rotation speed is calculated based on the real-time rotation speed; if the rotation enters a constant speed phase, the angle of the rotation braking is... It is a fixed angle; when the slewing is constantly in the acceleration phase, the slewing braking angle is... As the rotational speed increases, the estimated value of the slewing braking angle needs to be calculated in real time. When the estimated braking angle is the same as the remaining angle of the slewing motion and there is no handbrake signal, the slewing pilot oil circuit is forcibly closed to brake.

2. An excavator safe slewing collision avoidance system, employing the excavator safe slewing collision avoidance method as described in claim 1, characterized in that, include: The data acquisition module is configured to acquire the hydraulic motor torque, hydraulic motor speed, and hydraulic motor position of the excavator. The slewing speed calculation module is configured to: obtain the slewing speed of the upper mechanism based on the hydraulic motor speed; The moment of inertia calculation module is configured to: obtain the slewing torque of the upper mechanism based on the torque of the hydraulic motor, and calculate the moment of inertia based on the slewing torque of the upper mechanism during the initial acceleration phase of slewing; The estimated braking angle calculation module is configured to: obtain the estimated braking angle based on the moment of inertia and the rotational speed of the upper mechanism, and perform braking control based on the estimated braking angle; The safety control module is configured to: obtain the remaining angle of rotation based on the difference between the target rotation angle and the current rotation angle; and when the estimated braking angle is the same as the remaining angle of rotation and there is no brake signal from the handle, forcibly shut off the rotation pilot oil circuit to brake.

3. A computer-readable storage medium having a program stored thereon, characterized in that, When the program is executed by the processor, it implements the steps in the excavator safe slewing collision avoidance method as described in claim 1.

4. An electronic device comprising a memory, a processor, and a program stored in the memory and executable on the processor, characterized in that, When the processor executes the program, it implements the steps in the excavator safe slewing collision avoidance method as described in claim 1.

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