Excavator work range setting method, terminal device, and readable storage medium

Abstract

This application relates to the field of construction machinery technology, and discloses a method for setting the working range of an excavator, a terminal device, and a computer-readable storage medium. The method includes: upon receiving an excavation task, acquiring a working image, dimensions, and boundaries corresponding to the working range of the excavation task; programming the working image, dimensions, and boundaries to generate pattern data corresponding to a programmable pattern card; acquiring the current position and vehicle posture data of the excavator, and controlling a laser imager located on the top of the excavator or pre-set in the working area to project onto the working surface according to the vehicle posture data and the pattern data, displaying the working range corresponding to the excavation task. This solves the problem of inaccuracy in defining the working range of an excavator, achieving the effect of improving the accuracy of delineating the working range of the excavator.

Description

Technical Field

[0001] This application relates to the field of engineering machinery technology, and in particular to a method for setting the working range of an excavator, a terminal device, and a computer-readable storage medium. Background Technology

[0002] An excavator is an earthmoving machine that uses a bucket to dig materials above or below the machine's bearing surface and load them into transport vehicles or unload them into a stockpile. In recent years, the development of excavators has been relatively rapid, and they have become one of the most important pieces of construction machinery.

[0003] In many excavator applications, it's necessary to define a clear work area to ensure accurate operation and prevent unauthorized personnel from entering the work zone. Currently, the work area is typically defined using markings or GPS positioning. However, in actual operation, markings or GPS positioning are easily affected by the surrounding environment, leading to inaccurate work areas. Summary of the Invention

[0004] This application provides a method for setting the working range of an excavator, a terminal device, and a computer-readable storage medium, which solves the problem of inaccuracy in defining the working range of an excavator and improves the accuracy of marking the working range of the excavator.

[0005] This application provides a method for setting the working range of an excavator, the method including:

[0006] Upon receiving a mining task, obtain the work image, dimensions, and boundaries corresponding to the work area in the mining task;

[0007] The work image, the size, and the boundary are programmed to generate pattern data corresponding to the programmable pattern card;

[0008] The current position and vehicle posture data of the excavator are acquired, and a laser imager located on the top of the excavator or in the work area is controlled to project onto the work surface based on the vehicle posture data and the pattern data, thereby displaying the work area corresponding to the excavation task.

[0009] Optionally, the step of acquiring the current position and vehicle posture data of the excavator, and controlling a laser imager located on the top of the excavator or in the work area to project onto the work surface based on the vehicle posture data and the pattern data to display the work area corresponding to the excavation task includes:

[0010] After acquiring the current position and vehicle posture data, the imaging scale of the laser imager is adjusted according to the distance between the current position and the calibration point of the working surface;

[0011] The laser offset angle of the laser imager is adjusted based on the angle between the vehicle body posture data and the calibration point.

[0012] The working range is displayed on the working surface according to the imaging scale and the laser offset angle.

[0013] Optionally, the step of acquiring the current position and vehicle posture data of the excavator, and controlling a laser imager located on the top of the excavator or in the work area to project onto the work surface based on the vehicle posture data and the pattern data to display the work area corresponding to the excavation task includes:

[0014] Obtain the current location and determine the work site based on the excavation task;

[0015] Based on the current location and the work site, the movement route of the excavator is planned;

[0016] After the excavator reaches the work site, the excavator's body posture is adjusted according to the vehicle posture data;

[0017] The laser imager is controlled to emit lasers according to the pattern data, forming the working area on the working surface.

[0018] Optionally, the step of planning the excavator's movement route based on the current location and the work point includes:

[0019] Obtain the coordinate information of the current location and the work point, and calculate all paths of the excavator;

[0020] Obtain the terrain conditions of all the paths, and select the movement route based on the terrain conditions;

[0021] The motion path is transmitted to the motion control system of the excavator.

[0022] Optionally, after the step of acquiring the current position and vehicle posture data of the excavator, and combining it with the pattern data to project an image onto the work surface to display the working range corresponding to the excavation task, the method further includes:

[0023] Upon receiving a size adjustment instruction, the positional dimension data of the size adjustment instruction is obtained;

[0024] Based on the position and size data, the control motor is adjusted to modify the working range in the working surface.

[0025] Optionally, after the step of acquiring the current position and vehicle posture data of the excavator, and combining it with the pattern data to project an image onto the work surface to display the working range corresponding to the excavation task, the method further includes:

[0026] The excavator is controlled to begin digging according to the digging task; wherein, the excavator determines the excavator rotation position based on the angle sensor on the vehicle; determines the boom position based on the inertial sensor on the boom; determines the stick position based on the relationship sensor on the stick; and determines the bucket angle based on the angle sensor at the bucket pin.

[0027] Optionally, after the step of controlling the excavator to start digging according to the digging task, the following steps are included:

[0028] During the excavation process, the work area is scanned to check for any obstacles.

[0029] If there are static obstacles, the excavator is controlled to correct its trajectory to avoid the static obstacles;

[0030] If there are dynamic obstacles, the speed and direction of movement of the dynamic obstacles are predicted, and the dynamic obstacles are avoided.

[0031] Optionally, if a dynamic obstacle exists, the step of predicting the speed and direction of movement of the dynamic obstacle and avoiding the dynamic obstacle includes:

[0032] If it is predicted that the dynamic obstacle will enter the collision radius of the excavator within a preset time, the excavator will be stopped and an alarm will be triggered.

[0033] The excavator is started when it is detected that the dynamic obstacle has left the collision radius and will not re-enter the collision radius within the preset time.

[0034] In addition, to achieve the above objectives, embodiments of the present invention also provide a terminal device, including a memory, a processor, and an excavator working range setting program stored in the memory and executable on the processor. When the processor executes the excavator working range setting program, it implements the method described above.

[0035] In addition, to achieve the above objectives, embodiments of the present invention also provide a computer-readable storage medium storing an excavator working range setting program, which, when executed by a processor, implements the method described above.

[0036] One or more technical solutions provided in the embodiments of this application have at least the following technical effects or advantages:

[0037] Upon receiving an excavation task, the system acquires the working image, dimensions, and boundaries corresponding to the working area within the task. This image, dimensions, and boundaries are then processed to generate pattern data that can be converted into a pattern card. Next, the system acquires the excavator's current position and vehicle posture data. A laser imager, positioned on the top of the excavator or pre-set in the working area, projects this data onto the working surface based on the vehicle posture data and the acquired pattern data, displaying the working area corresponding to the excavation task. In other words, the system can directly project the received working area pattern onto the working surface. This solves the problem of complex and inaccurate operation when setting the excavator's working area in related technologies, thus improving the accuracy of marking the excavator's working area. Attached Figure Description

[0038] Figure 1 A flowchart illustrating an embodiment of the method for setting the operating range of an excavator according to this application;

[0039] Figure 2 This application provides a laser imager placement method for defining the excavator's operating range.

[0040] Figure 3 Another laser imager placement method for the excavator working range setting method of this application;

[0041] Figure 4 A flowchart illustrating Embodiment 2 of the method for setting the operating range of an excavator according to this application;

[0042] Figure 5 This is a schematic diagram of the terminal structure of the hardware operating environment involved in one embodiment of this application. Detailed Implementation

[0043] When receiving a task to define a pre-defined working area for an excavator, the current technology requires manual marking by workers or GPS positioning, which is inefficient and easily affected by environmental factors, leading to inaccurate marking. To address this issue, this application provides a method for setting the working area of ​​an excavator. Upon receiving an excavation task, the method acquires the working image, dimensions, and boundaries corresponding to the working area in the task; it then programs the working image, dimensions, and boundaries to generate pattern data corresponding to a programmable pattern card; it acquires the current position and vehicle posture data of the excavator, and controls a laser imager located on the top of the excavator or in the working area to project the data onto the working surface based on the vehicle posture data and the pattern data, displaying the working area corresponding to the excavation task. In other words, upon receiving an excavation task, the system automatically generates pattern data and transmits it to the laser imager, which then projects the working area onto the working surface, improving the accuracy of marking the excavator's working area.

[0044] To better understand the above technical solutions, exemplary embodiments of this application will be described in more detail below with reference to the accompanying drawings. Although exemplary embodiments of this application are shown in the drawings, it should be understood that this application can be implemented in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided to enable a more thorough understanding of this application and to fully convey the scope of this application to those skilled in the art.

[0045] To better understand the above technical solutions, the following will provide a detailed explanation of the technical solutions in conjunction with the accompanying drawings and specific implementation methods.

[0046] Example 1

[0047] In this embodiment, a method for setting the working range of an excavator is provided.

[0048] Reference Figure 1 The method for setting the excavator's working range in this embodiment includes the following steps:

[0049] Step S100: Upon receiving a digging task, obtain the work image, dimensions, and boundaries corresponding to the work area in the digging task;

[0050] In this embodiment, the excavator operating system includes a laser imaging device, a vehicle position sensor, and a vehicle attitude sensor. The laser imaging device comprises a laser emitter, a programmable pattern card, an adjustment cylinder, an adjustment motor, and a controller. The laser emitter can be a laser imager. The laser imager and the adjustment motor are powered by the vehicle. The programmable pattern card and the controller both communicate with the onboard computing platform and respond to its control.

[0051] As an optional implementation, after receiving an excavation task, the excavator operation system analyzes the task to obtain the working range of the current excavation task. The working range includes the working image, dimensions, and boundaries. The working image determines the shape to be excavated, the dimensions determine the size of the excavation range, and the boundaries determine the edge range of the excavation.

[0052] For example, upon receiving a digging task, the task is parsed to obtain requirements such as the work area, digging target, and digging depth. Based on the work area, data such as patterns, dimensions, and boundaries to be marked on the work surface are determined. Other data related to the actual operation, such as the digging target and digging depth, are then sent to the module responsible for the actual digging.

[0053] As another optional implementation, after acquiring the work image, it can be compared with existing pattern data in the work database. If the same work pattern exists in the database, the pattern data corresponding to the existing work image in the system can be directly extracted. Then, based on the size and boundary data of this excavation task, the pattern data is modified to improve efficiency.

[0054] Step S200: Program the work image, the size, and the boundary to generate pattern data corresponding to the programmable pattern card;

[0055] In this embodiment, the programmable pattern card is programmed according to the work image, size and boundary to generate pattern data. The pattern data can be directly sent to the projection imager so that the projection imager can project the excavator's work image.

[0056] As an alternative implementation, the work image needs to be converted to a black and white image first, or the work image needs to be smoothed first. Then, the work image is programmed and controlled by a programmable pattern card.

[0057] For example, processing the image to black and white can improve its contrast, which helps to improve the accuracy and processing speed of image recognition. Smoothing the image can reduce noise interference, which helps to improve the accuracy and robustness of image recognition. Furthermore, some programming algorithms are only applicable to black and white or grayscale images; black and white processing or smoothing can make these algorithms more convenient to apply.

[0058] Step S300: Obtain the current position and vehicle posture data of the excavator, and control the laser imager located on the top of the excavator or in the work area to project onto the work surface according to the vehicle posture data and the pattern data, so as to display the work range corresponding to the excavation task.

[0059] In this embodiment, the excavator is equipped with a vehicle position sensor and a body attitude sensor, which can be used to determine the position of the excavator and bucket during operation. The excavator can use satellite differential RTK for spatial positioning. An angle sensor is installed on the excavator body to determine the excavator's swing position; an inertial measurement unit (IMU) is installed on the excavator boom to determine the boom's position; an IMU is also installed on the excavator stick to determine the stick's position; and an angle sensor is installed at the excavator's bucket pin to determine the bucket angle. Using the data collected by these sensors, the excavator's own position and the position of the working point can be calculated.

[0060] As an alternative implementation, the laser imager can be fixed to the top of the excavator or positioned near the excavator's working area. (See reference...) Figure 2If installed near the excavator's working area, the projected work pattern will remain fixed during excavator operation. This laser imager, also known as a laser projection device, is powered independently and is a detachable laser projector. It can be installed near different work surfaces according to actual needs. After installation, the position data needs to be synchronized to the pattern programming card so that the pattern data generated by the programming card is adapted to the laser projector. (Refer to...) Figure 3 If the laser imager, also known as a laser projection device, is fixed on the top of the excavator, the excavator's position will change during operation, rather than remaining at the initial laser emission position. Therefore, when the laser imager is fixed on the top of the excavator, the imaging data needs to be adjusted in real time according to the changes in the excavator's position to ensure that the image projected onto the work surface remains unchanged.

[0061] For example, during excavator operation, it is necessary to acquire the excavator's current position and vehicle posture data in real time. Based on the distance between the current position and various calibration points on the work surface, the imaging scale of the laser imager is adjusted. Then, based on the angular relationship between the vehicle posture data and the calibration points, the laser offset angle of the laser imager is adjusted. Based on the imaging scale and laser offset angle, the work area is displayed on the work surface, keeping the work area fixed. Calibration points are set on the work surface. When the excavator arrives at the work area, it first identifies the calibration points, generates an initial distance and initial angular relationship with the calibration points, and then controls the laser imager to project the work pattern onto the work surface. During the excavator's digging operation, the real-time distance between the excavator's current position and the calibration points, as well as the real-time angular relationship between the vehicle posture data and the calibration points, are monitored. Based on the deviations between the real-time distance and the initial distance, and the deviations between the real-time angular relationship and the initial angular relationship, the imaging scale and laser offset angle of the laser imager are adjusted.

[0062] As an alternative implementation, after the laser imager projects the work image onto the work surface, the operator can adjust the actual projected image according to the actual projection conditions. Upon receiving the adjustment command, the laser imager adjusts the position and size of the projection on the work surface by adjusting the motor-controlled adjustment cylinder. Since the pattern programming card can be programmed on the vehicle display screen, mobile phone, and control and dispatch terminal, the convenience of projection adjustment is greatly improved.

[0063] As another optional implementation, after generating the pattern data, it is necessary to first obtain the current position of the excavator. If the current position is not at the work point corresponding to the excavation task, the excavator needs to be driven to the work point. Based on the current position and the work point, the movement route of the excavator is planned. After the excavator arrives at the work point, since the front of the vehicle body may not be facing the work surface, it is necessary to adjust the vehicle body posture according to the vehicle body posture data so that the front of the excavator faces the work surface. Then, the laser imager is controlled to emit a laser to project the work area onto the work surface.

[0064] For example, when planning a route based on the excavator's current position and the work site, the coordinates of the current position and the work site are first obtained, and all paths that the excavator can travel on are calculated. Then, all terrain conditions corresponding to these paths are obtained. Considering factors such as the excavator's safety and communication speed, paths with steep slopes, landslides, or other obstacles that could easily cause the excavator to roll over or fall are eliminated. The path with the fewest obstacles is then selected as the movement route. The movement route is transmitted to the excavator's motion control system, enabling the excavator to travel to the work site.

[0065] Optionally, if the excavator fails to reach the work location accurately or fails to reach the work location, it can issue an audible and visual signal to alert management personnel for maintenance. For example, if the excavator encounters an obstacle or runs out of power while traveling to the work location and cannot continue, it can issue an audible and visual signal.

[0066] In this embodiment, after receiving an excavation task, the excavator operation system generates a corresponding work image and transmits it to a laser imager. Once the excavator reaches the work location, it adjusts its vehicle posture, and the laser imager projects the excavator's work area onto the work surface. This allows the excavator to complete the excavation task based on the projected work area. Because the excavator operation system can automatically generate pattern data and transmit it to the laser imager, which then projects the work area onto the work surface, manual operation is unnecessary, thus improving the accuracy of the excavator's work area marking.

[0067] Example 2

[0068] Based on Embodiment 1, another embodiment of this application is proposed, with reference to... Figure 4 After acquiring the excavator's current position and vehicle posture data, and combining them with the pattern data to project an image onto the work surface to display the working area corresponding to the excavation task, the process includes the following steps:

[0069] Step S400: Control the excavator to start digging according to the digging task;

[0070] In this embodiment, after the working area is displayed on the working surface, the excavator can be controlled to start digging according to the digging task. In addition to the working area, the digging task also includes the working time, the digging depth at different locations, and the digging target.

[0071] Step S500: During the excavation process, scan the work area to see if there are any obstacles;

[0072] Step S600: If there is a static obstacle, control the excavator to correct its trajectory to avoid the static obstacle;

[0073] In this embodiment, obstacles may appear within the working area during the excavation process. When obstacles appear, the movement of the excavator needs to be controlled according to the type of obstacle.

[0074] As an optional implementation, when an obstacle is detected within the working area, images of the obstacle are continuously acquired, and it is determined whether the obstacle has a movement trajectory. If no movement trajectory is found, it is determined to be a static obstacle, and the excavator is controlled to correct its movement trajectory to avoid the static obstacle.

[0075] For example, during excavator operation, an environmental monitoring device (laser scanner) cyclically scans obstacles within the excavator's working radius, sending periodic data to the onboard controller for modeling. Based on the modeling results, the presence of obstacles is determined, and the nature of the obstacles is defined. A deep neural network is used to segment the obstacle image, and a clustering method is employed to obtain the three-dimensional coordinate center of the obstacle, generating a spherical collision range. The excavator's trajectory is then corrected based on the spherical collision range to avoid the static obstacles.

[0076] Step S700: If there is a dynamic obstacle, predict the speed and direction of the dynamic obstacle and avoid the dynamic obstacle.

[0077] As an optional real-time method, if the obstacle is determined to be a dynamic obstacle based on the scanning results, it is necessary to predict the speed and direction of movement of the dynamic obstacle. If it is predicted that the dynamic obstacle will enter the collision radius of the excavator within a preset time, the excavator is controlled to stop and an alarm is triggered. When it is detected that the dynamic obstacle leaves the collision radius and will not re-enter the collision radius within the preset time, the excavator is started.

[0078] For example, the speed detection module predicts the position, speed, and direction of movement of an obstacle using position data at different times. It also determines the excavator's current collision radius and the maximum safe contact radius with the moving obstacle. When it is predicted that a dynamic obstacle will enter the collision radius within a preset time, the excavator is stopped and an alarm is issued. The position and direction of movement of the dynamic obstacle are continuously monitored; if the obstacle leaves the collision radius, the excavator can resume operation.

[0079] In this embodiment, the excavator can identify obstacles during the excavation operation and avoid them according to their actual condition, thus ensuring operational safety.

[0080] Example 3

[0081] In this application embodiment, an excavator working range setting device is proposed.

[0082] Reference Figure 5 , Figure 5 This is a schematic diagram of the terminal structure of the hardware operating environment involved in one embodiment of this application.

[0083] like Figure 5 As shown, the control terminal may include: a processor 1001, such as a CPU, a network interface 1003, a memory 1004, and a communication bus 1002. The communication bus 1002 is used to enable communication between these components. The network interface 1003 may optionally include a standard wired interface or a wireless interface (such as a Wi-Fi interface). The memory 1004 may be high-speed RAM or stable non-volatile memory, such as a disk drive. Alternatively, the memory 1004 may be a storage device independent of the aforementioned processor 1001.

[0084] Those skilled in the art will understand that Figure 5 The terminal structure shown does not constitute a limitation on the terminal and may include more or fewer components than shown, or combine certain components, or have different component arrangements.

[0085] like Figure 5 As shown, the memory 1004, which serves as a computer storage medium, may include an operating system, a network communication module, and an excavator working range setting program.

[0086] exist Figure 5 In the hardware structure of the excavator working range setting device shown, the processor 1001 can call the excavator working range setting program stored in the memory 1004 and perform the following operations:

[0087] Upon receiving a mining task, obtain the work image, dimensions, and boundaries corresponding to the work area in the mining task;

[0088] The work image, the size, and the boundary are programmed to generate pattern data corresponding to the programmable pattern card;

[0089] The current position and vehicle posture data of the excavator are acquired, and a laser imager located on the top of the excavator or in the work area is controlled to project onto the work surface based on the vehicle posture data and the pattern data, thereby displaying the work area corresponding to the excavation task.

[0090] Optionally, the processor 1001 may call the excavator working range setting program stored in the memory 1004 and also perform the following operations:

[0091] After acquiring the current position and vehicle posture data, the imaging scale of the laser imager is adjusted according to the distance between the current position and the calibration point of the working surface;

[0092] The laser offset angle of the laser imager is adjusted based on the angle between the vehicle body posture data and the calibration point.

[0093] The working range is displayed on the working surface according to the imaging scale and the laser offset angle.

[0094] Optionally, the processor 1001 may call the excavator working range setting program stored in the memory 1004 and also perform the following operations:

[0095] Obtain the current location and determine the work site based on the excavation task;

[0096] Based on the current location and the work site, the movement route of the excavator is planned;

[0097] After the excavator reaches the work site, the excavator's body posture is adjusted according to the vehicle posture data;

[0098] The laser imager is controlled to emit lasers according to the pattern data, forming the working area on the working surface.

[0099] Optionally, the processor 1001 may call the excavator working range setting program stored in the memory 1004 and also perform the following operations:

[0100] Obtain the coordinate information of the current location and the work point, and calculate all paths of the excavator;

[0101] Obtain the terrain conditions of all the paths, and select the movement route based on the terrain conditions;

[0102] The motion path is transmitted to the motion control system of the excavator.

[0103] Optionally, the processor 1001 may call the excavator working range setting program stored in the memory 1004 and also perform the following operations:

[0104] Upon receiving a size adjustment instruction, the positional dimension data of the size adjustment instruction is obtained;

[0105] Based on the position and size data, the control motor is adjusted to modify the working range in the working surface.

[0106] Optionally, the processor 1001 may call the excavator working range setting program stored in the memory 1004 and also perform the following operations:

[0107] The excavator is controlled to begin digging according to the digging task; wherein, the excavator determines the excavator rotation position based on the angle sensor on the vehicle; determines the boom position based on the inertial sensor on the excavator boom; determines the stick position based on the relationship sensor on the excavator stick; and determines the bucket angle based on the angle sensor at the bucket pin.

[0108] Optionally, the processor 1001 may call the excavator working range setting program stored in the memory 1004 and also perform the following operations:

[0109] During the excavation process, the work area is scanned to check for any obstacles.

[0110] If there are static obstacles, the excavator is controlled to correct its trajectory to avoid the static obstacles;

[0111] If there are dynamic obstacles, the speed and direction of movement of the dynamic obstacles are predicted, and the dynamic obstacles are avoided.

[0112] Optionally, the processor 1001 may call the excavator working range setting program stored in the memory 1004 and also perform the following operations:

[0113] If it is predicted that the dynamic obstacle will enter the collision radius of the excavator within a preset time, the excavator will be stopped and an alarm will be triggered.

[0114] The excavator is started when it is detected that the dynamic obstacle has left the collision radius and will not re-enter the collision radius within the preset time.

[0115] In addition, to achieve the above objectives, embodiments of the present invention also provide a terminal device, including a memory, a processor, and an excavator working range setting program stored in the memory and executable on the processor. When the processor executes the excavator working range setting program, it implements the excavator working range setting method as described above.

[0116] In addition, to achieve the above objectives, embodiments of the present invention also provide a computer-readable storage medium storing an excavator working range setting program, wherein when the excavator working range setting program is executed by a processor, the excavator working range setting method described above is implemented.

[0117] 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.

[0118] 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.

[0119] 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.

[0120] 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.

[0121] It should be noted that any reference signs placed between parentheses in the claims should not be construed as limiting the claims. The word "comprising" does not exclude the presence of components or steps not listed in the claims. The word "a" or "an" preceding a component does not exclude the presence of a plurality of such components. This application can be implemented by means of hardware comprising several different components and by means of a suitably programmed computer. In a unit claim enumerating several means, several of these means may be embodied by the same item of hardware. The use of the words first, second, and third, etc., does not indicate any order. These words can be interpreted as names.

[0122] Although preferred embodiments of this application have been described, those skilled in the art, upon learning the basic inventive concept, can make other changes and modifications to these embodiments. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments as well as all changes and modifications falling within the scope of this application.

[0123] Obviously, those skilled in the art can make various modifications and variations to this application without departing from the spirit and scope of the invention. Therefore, if these modifications and variations fall within the scope of the claims of this application and their equivalents, this application also intends to include these modifications and variations.

Claims

1. A method for setting the working range of an excavator, characterized in that, The steps of the method for setting the working range of the excavator include: Upon receiving a mining task, obtain the work image, dimensions, and boundaries corresponding to the work area in the mining task; The work image, the size, and the boundary are programmed to generate pattern data corresponding to the programmable pattern card; The current position and vehicle posture data of the excavator are acquired, and a laser imager located on the top of the excavator or in the work area is controlled to project onto the work surface based on the vehicle posture data and the pattern data, thereby displaying the work area corresponding to the excavation task. The steps of acquiring the current position and vehicle posture data of the excavator, and controlling a laser imager located on the top of the excavator or in the work area to project onto the work surface based on the vehicle posture data and the pattern data to display the work area corresponding to the excavation task include: After acquiring the current position and vehicle posture data, the imaging scale of the laser imager is adjusted according to the distance between the current position and the calibration point of the working surface; The laser offset angle of the laser imager is adjusted based on the angle between the vehicle body posture data and the calibration point. The working range is displayed on the working surface according to the imaging scale and the laser offset angle.

2. The method for setting the operating range of an excavator as described in claim 1, characterized in that, The step of acquiring the current position and vehicle posture data of the excavator, and controlling a laser imager located on the top of the excavator or in the work area to project onto the work surface based on the vehicle posture data and the pattern data to display the work area corresponding to the excavation task, further includes: Determine the work location based on the excavation task; Based on the current location and the work site, the movement route of the excavator is planned; After the excavator reaches the work site, the excavator's body posture is adjusted according to the vehicle posture data; The laser imager is controlled to emit lasers according to the pattern data, forming the working area on the working surface.

3. The method for setting the operating range of an excavator as described in claim 2, characterized in that, The step of planning the excavator's movement route based on the current location and the work point includes: Obtain the coordinate information of the current location and the work point, and calculate all paths of the excavator; Obtain the terrain conditions of all the paths, and select the movement route based on the terrain conditions; The motion path is transmitted to the motion control system of the excavator.

4. The method for setting the operating range of an excavator as described in claim 1, characterized in that, After the step of acquiring the excavator's current position and vehicle posture data, and combining them with the pattern data to project an image onto the work surface to display the working range corresponding to the excavation task, the method further includes: Upon receiving a size adjustment instruction, the positional dimension data of the size adjustment instruction is obtained; Based on the position and size data, the control motor is adjusted to modify the working range in the working surface.

5. The method for setting the operating range of an excavator as described in claim 1, characterized in that, After the step of acquiring the excavator's current position and vehicle posture data, and combining them with the pattern data to project an image onto the work surface to display the working range corresponding to the excavation task, the method includes: The excavator is controlled to begin digging according to the digging task; wherein, the excavator determines the excavator rotation position based on the angle sensor on the vehicle; determines the boom position based on the inertial sensor on the boom; determines the stick position based on the relationship sensor on the stick; and determines the bucket angle based on the angle sensor at the bucket pin.

6. The method for setting the working range of an excavator as described in claim 5, characterized in that, After the step of controlling the excavator to start digging according to the digging task, the following steps are included: During the excavation process, the work area is scanned to check for any obstacles. If there are static obstacles, the excavator is controlled to correct its trajectory to avoid the static obstacles; If there are dynamic obstacles, the speed and direction of movement of the dynamic obstacles are predicted, and the dynamic obstacles are avoided.

7. The method for setting the operating range of an excavator as described in claim 6, characterized in that, If a dynamic obstacle exists, the step of predicting the speed and direction of movement of the dynamic obstacle and avoiding the dynamic obstacle includes: If it is predicted that the dynamic obstacle will enter the collision radius of the excavator within a preset time, the excavator will be stopped and an alarm will be triggered. The excavator is started when it is detected that the dynamic obstacle has left the collision radius and will not re-enter the collision radius within the preset time.

8. A terminal device, characterized in that, The method includes a memory, a processor, and an excavator working range setting program stored in the memory and executable on the processor. When the processor executes the excavator working range setting program, it implements the method described in any one of claims 1-7.

9. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores an excavator working range setting program, which, when executed by a processor, implements the method described in any one of claims 1-7.

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